JP7012463B2 - Positioner - Google Patents

Description

The present invention relates to a positioner.

A positioner is known that can rotate a work table on which a work is set around a horizontal axis and rotate around an axis orthogonal to the horizontal axis. In the following, this type of positioner will be referred to as a "biaxial positioner". For example, Patent Document 1 describes a specific configuration example of a biaxial positioner.

The biaxial positioner described in Patent Document 1 includes first and second units. By driving the first drive motor, the first unit swings the work table around the X axis parallel to the installation surface of the positioner. By driving the second drive motor, the second unit rotates the work table around the Y axis orthogonal to the X axis.

By the way, when operating the positioner, an electromagnetic clamp device for holding the work may be installed on the table surface of the work table. In this case, a cable for supplying electric power from a power supply unit (for example, a power supply device or a commercial power source) installed outside the positioner is connected to the electromagnetic clamp device.

In the configuration in which the cable is directly pulled out from the electromagnetic clamp device on the table surface to the power supply unit and connected, the part near the connection end of the cable with the electromagnetic clamp device becomes the work table as the work table swings or rotates. On the other hand, it sways and there is a risk that the cable will hit the clamp device or work on the table surface.

Japanese Patent No. 5301371

In order to avoid the above-mentioned problem, the cable is once drawn from the electromagnetic clamping device into the positioner through the central opening formed in the center of the table surface, and is connected to the power supply part via the inside of the positioner. Can be considered. In this way, if the wiring method that draws the cable from the central opening of the table surface into the positioner is adopted, the position of the cable part located on the table surface is fixed, so that the cable hits the electromagnetic clamp device or the work. Is avoided.

Here, in the biaxial positioner described in Patent Document 1, a method of pulling the cable into the positioner once through the central opening formed in the center of the table surface as described above and then pulling it out will be examined. The biaxial positioner described in Patent Document 1 is formed with a through hole penetrating from the central opening of the table surface to the lower surface of the second unit along the vertical direction. The cable is drawn, for example, from an electromagnetic clamping device on the table surface to the bottom of the second unit through a through hole. The cable pulled out below the second unit is routed along the lower surface and the side surface of the second unit, and then outside the positioner through the hollow portion of the first unit (first crank shaft) extending horizontally. It is pulled out to and connected to the external power supply unit.

That is, in the configuration described in Patent Document 1, the operator draws the cable drawn from the electromagnetic clamping device into the through hole from the central opening of the table surface and pulls it out below the second unit, and further, the second unit. The downwardly drawn cable is bent laterally along the lower surface of the second unit. Next, the operator bends the cable along the lower surface of the second unit upward, along the side surface of the second unit, and bends the cable along the side surface of the second unit sideways. , Pull into the hollow part of the first unit. Further, the operator pulls out the cable from the hollow portion of the first unit and connects it to the external power supply unit.

As described above, in the case of pulling out the cable from the inside of the positioner to the outside in the biaxial positioner described in Patent Document 1, the operator is forced to perform complicated work. Therefore, it is desired to simplify the cable routing work inside the positioner.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a positioner capable of simplifying the cable routing work inside the positioner.

The positioner according to an embodiment of the present invention includes a pair of support portions connected via a base, a first drive portion supported by at least one of the pair of support portions, and a pair of support portions by the first drive portion. It is a positioner equipped with a second drive unit that is swingably supported around the first axis connecting the two, and a table that rotates around the second axis that is different from the first axis by the second drive unit. In the configuration, at least one of the pair of support portions has a support portion side opening, and the second drive portion has a first opening opening to the table side and a support portion side communicated with the first opening portion. It has a second opening formed towards the opening. Further, a gap portion is formed in the base portion in a part where the second drive portion swings, and the first drive portion has the second drive portion at a position where the second opening portion faces the support portion side opening. To support.

In the positioner configured in this way, since the second opening on the second drive portion side faces the opening on the support portion side, the cable once pulled into the positioner from the table surface side via the first opening is inserted. It is possible to pull out from the second opening almost straight to the outside via the opening on the support portion side. Therefore, it becomes possible to simplify the cable routing work inside the positioner.

The first drive unit sets the second drive unit so that at least a part of the second opening overlaps with the support portion side opening when the support portion side opening is viewed facing the support portion side opening. It may be a supportive configuration.

The first drive unit may be configured to support the second drive unit at a position where the central axis of the second opening and the central axis of the support side opening are substantially coaxial with each other.

The support portion side opening may be formed at a position where it intersects with the first axis. In this case, the first drive unit supports the second drive unit at a position where the second opening intersects the first axis.

The first drive unit may be configured to support the second drive unit at a position where at least a part of the second opening can be visually recognized from the outside of the positioner through the support portion side opening.

The support portion side opening is formed larger than the second opening so that the second drive portion faces the second opening regardless of the position of the swing range of the second drive portion. It may have been done.

One of the pair of support parts supports the bearing, and the second drive part is swingably supported around the first axis by the bearing and the first drive part supported by the other of the pair of support parts. May be. In this case, the support side opening is an opening formed in the bearing.

The base may have a connecting portion that extends parallel to the first axis and connects the pair of supporting portions outside the range in which the second driving portion swings.

The connecting portion may be located below the first axis in the installed state of the positioner. In this case, the voids are formed on both sides of the connecting portion in the horizontal direction and in the direction orthogonal to the direction of the first axis.

When the second drive unit is configured to swing in a predetermined angle range, even if the gap portion is formed in a part of the swing range of the second drive unit that swings in a predetermined angle range. good.

The connecting portion is preferably located outside the swing range of the second drive section that swings within a predetermined angle range.

The first drive unit may have a first motor and a first speed reducer that is connected to the first motor and swings the second drive unit. Further, the second drive unit may have a second motor and a second speed reducer that is connected to the second motor and rotates the table. In this case, the first motor, the first speed reducer, the second motor, and the second speed reducer may have substantially the same position in the height direction when the positioner is installed.

The first motor and the first speed reducer in the first drive unit may be arranged so that their respective axes are parallel to each other.

The second motor and the second speed reducer in the second drive unit may be arranged in a positional relationship in which their respective axes are orthogonal to each other.

The positioner according to an embodiment of the present invention includes a pair of support portions connected via a base portion, a first drive unit supported by at least one of the pair of support portions, and the pair of support portions supported by the first drive unit. It is a positioner equipped with a second drive unit that is swingably supported around the first axis connecting the units and a table that is rotated around the second axis different from the first axis by the second drive unit. In this configuration, at least one of the pair of support portions has a support portion side opening, and the second drive portion is communicated with and supported by the first opening opening on the table side and the first opening portion. It has a second opening formed toward the portion-side opening. Further, the first drive unit supports the second drive unit at a position where the second opening portion faces the support portion side opening.

In the positioner configured in this way, since the second opening on the second drive portion side faces the opening on the support portion side, the cable once pulled into the positioner from the table surface side via the first opening is inserted. It is possible to pull out from the second opening almost straight to the outside via the opening on the support portion side. Therefore, it becomes possible to simplify the cable routing work inside the positioner.

When considering the structure of the positioner from the viewpoint of how to simplify the cable routing inside the positioner, it is desirable that the path from the opening opened in the center of the table to the opening on the support side is configured at the shortest. The positioner according to one aspect of the present invention includes a pair of support portions connected via a base portion, a first drive portion supported by at least one of the pair of support portions, and the pair of support portions by the first drive portion. A second drive unit that is swingably supported around the first axis connecting the two, and a table that rotates around the second axis that is different from the first axis by the second drive unit.
At least one of the pair of support portions has a support portion side opening, and the second drive portion has a table side opening that opens to the central portion of the table side. Further, the positioner has a hollow path portion that penetrates from the table-side opening to the internal space of the second drive along the second axis and linearly communicates from the internal space to the support-side opening.

In the positioner configured in this way, the hollow path reaches the internal space vertically downward from the opening on the table side, and then reaches the opening on the support side substantially linearly horizontally and can communicate with the outside. Therefore, it is possible to construct a hollow path for inserting the cable inside the positioner in a substantially shortest time. Therefore, it becomes possible to simplify the cable routing work inside the positioner.

It is preferable that the portion of the hollow path portion that linearly communicates with the support portion side opening from the internal space is formed along the first axis.

The second drive unit includes an input shaft to which a driving force is input, a driven shaft that rotates around an axis different from the input shaft according to the rotation of the input shaft, and a deceleration unit that decelerates the rotation transmitted by the driven shaft. May have. In this case, the input axis is orthogonal to the second axis, the driven axis is parallel to the second axis, and the input axis and the driven axis are arranged at positions displaced outward in the radial direction with respect to the second axis. It is preferable that it is.

One of the pair of supports supports the bearing, the first drive is supported by the other of the pair of supports, and the second drive is centered on the first axis between the bearing and the first drive. It is preferably swingably supported, and the support side opening is preferably formed as an opening of a bearing.

It is preferable that the input shaft and the driven shaft of the second drive unit are arranged so as to be displaced from the first shaft on one side with respect to the first shaft when viewed from above in the installed state of the positioner.

According to one embodiment of the present invention, there is provided a positioner capable of simplifying the cable routing work inside the positioner.

It is a side view of the biaxial positioner which concerns on one Embodiment of this invention. It is a figure A arrow of FIG. It is sectional drawing of the 2nd unit provided in the biaxial positioner which concerns on one Embodiment of this invention. It is sectional drawing in BB line of FIG. The CC arrow diagram (FIG. 5 (a)) of FIG. 1 and the diagram schematically showing the relationship between the frame and the second unit provided in the biaxial positioner according to the embodiment of the present invention (FIG. 5 (b)). )). It is a bottom view (FIG. 6 (a)) of the biaxial positioner of the conventional configuration, and the figure (FIG. 6 (b)) schematically showing the relationship between the second unit provided in the biaxial positioner of the conventional configuration and the frame.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Hereinafter, as an embodiment of the present invention, a biaxial positioner will be described as an example. The positioner to which the present invention is applied is not limited to the biaxial positioner. The present invention may also be applied to a multi-axis positioner (eg, a positioner capable of rotating a work table around three axes or more than three axes).

FIG. 1 is a side view of a biaxial positioner 1 according to an embodiment of the present invention. Note that FIG. 1 shows the internal structure of the two-dot chain line of the biaxial positioner 1 for convenience of explanation. Specifically, FIG. 1 illustrates the internal structure around the cable 2 in order to visualize the path of the cable 2 routed inside the biaxial positioner 1. Further, in order to show the position of the side wall opening OP4 (described later), the internal structure around the side wall opening OP4 is also shown in the figure.

As shown in FIG. 1, in the present embodiment, the horizontal direction parallel to the paper surface of FIG. 1 is the x direction, the vertical direction orthogonal to the x direction and parallel to the paper surface of FIG. 1 is the y direction, and the x direction and The horizontal direction orthogonal to the y direction and orthogonal to the paper surface of FIG. 1 is defined as the z direction. Further, the plane including the x-direction and the y-direction is defined as the xy plane, the plane including the x-direction and the z-direction is defined as the xz plane, and the plane including the y-direction and the z-direction is defined as the yz plane. For convenience of explanation, not only the plane including the arrows in the x-direction and the y-direction in FIG. 1, but all the planes parallel to the arrows are described as xy planes. The same applies to the xz plane and the yz plane.

FIG. 2 is a diagram shown by arrow A in FIG. In FIG. 2, the cable 2 is not shown for convenience of explanation.

As shown in FIGS. 1 and 2, the biaxial positioner 1 includes a first unit 10 (first drive unit), a second unit 20 (second drive unit), and a frame 30. The frame 30 is mounted on the installation floor (positioner mounting surface FP) by a fastening member (not shown).

The frame 30 has a pair of support portions 304 and 306. The support portion 304 supports the first unit 10. On the other hand, the support portion 306 supports the bearing 308. The first unit 10 and the bearing 308 swingably support the second unit 20 around the first axis (X-axis parallel to the positioner mounting surface FP) connecting the support portion 304 and the support portion 306.

The second unit 20 has a rocking table 250. The rocking table 250 can be swung around the X axis by the first unit 10 and the bearing 308.

A speed reducer 20D constituting the second unit 20 is mounted on the mounting surface P1 of the rocking table 250 by a fastening member (not shown). FIG. 3 shows a cross-sectional view of the speed reducer 20D on the yz plane including the central axis (Y axis orthogonal to the X axis) of the speed reducer 20D. In FIG. 3, for convenience of explanation, a turntable TT (broken line in FIG. 3) supported by the speed reducer 20D is shown.

As shown in FIG. 3, the speed reducer 20D converts the rotation input from the unit base 202, the input shaft 204 rotatably supported by the unit base 202, and the input shaft 204 into rotations centered on different axes. It has a conversion unit 206, a speed reduction unit 208 for decelerating the rotation transmitted from the conversion unit 206, and a turntable support unit 220 for supporting the turntable TT.

The speed reducer 20D is mounted on the rocking table 250 with the base end surface 202a of the unit base 202 mounted on the mounting surface P1.

The unit base 202 has a top surface portion 202b and a side wall portion 202c. The top surface portion 202b has a substantially disk shape. The side wall 202c has a shape extending downward from the entire circumference (outer peripheral edge) of the top surface portion 202b. The lower surface of the side wall 202c is the base end surface 202a. The top surface portion 202b is not limited to a substantially disk shape, and may be, for example, a polygonal plate shape.

As shown in FIGS. 1 and 3, the side wall 202c (that is, the side surface of the unit base 202) has a plurality of openings facing in different directions, the outside (side) and the inside (side) of the unit base 202. Side wall openings OP1 to OP4 (second openings) communicating with the space S) are formed. The space S is a space surrounded by the top surface portion 202b, the side wall 202c, and the mounting surface P1.

A bearing 222 is provided between the side wall opening OP1 and the input shaft 204. The input shaft 204 is rotatably supported by the unit base 202 via a bearing 222. A drive side gear 204b is formed at the tip of the input shaft 204. A press-fit hole 204a is formed on the rear end side of the input shaft 204.

A motor support member 226 is attached to the unit base 202. A servomotor 224 is supported by the motor support member 226. The servomotor 224 has a drive shaft 224a. The drive shaft 224a is press-fitted into the press-fit hole 204a of the input shaft 204.

The unit base 202 is formed with a bottom portion 202d extending inward of the side wall 202c. On the top surface portion 202b (that is, the top surface of the unit base 202), two top surface openings OP5 and OP6 that communicate the outside (upper side) of the unit base 202 and the space S are formed.

A support hole 202dA having a circular cross section is formed in the bottom portion 202d at a position facing the top opening OP6. A bearing 228 is provided between the support hole 202dA and the conversion shaft 242a. The conversion shaft 242a is rotatably supported by the unit base 202 via a bearing 228.

The unit base 202 is formed with a partition wall portion 202e that connects the bottom portion 202d and the top surface portion 202b. The partition wall portion 202e divides the space S into two spaces (first space S1 and second space S2). The first space S1 is a space surrounded by a top surface portion 202b, a side wall portion 202c, a bottom portion 202d, and a partition wall portion 202e. Further, the second space S2 is a space surrounded by a top surface portion 202b, a side wall portion 202c, a partition wall portion 202e, and a rocking table 250 (mounting surface P1).

The support hole 202dA penetrates the bottom portion 202d toward the lower side of the unit base 202. The support hole 202dA is closed by attaching the plug portion 240 to the bottom portion 202d. As a result, the support hole 202dA located in the first space S1 becomes bottomed, and the exposure of the first space S1 to the outside of the unit base 202 is prevented.

The first space S1 communicates with the deceleration portion 208 via the top surface opening OP6. On the other hand, the second space S2 does not communicate with the deceleration unit 208. Therefore, the lubricating oil in the deceleration unit 208 does not flow into the second space S2.

The conversion unit 206 has a conversion shaft 242a. A driven side gear 242b that meshes with the drive side gear 204b is integrally formed on the conversion shaft 242a. Specifically, a plurality of teeth are arranged side by side on the outer end portion of the disk-shaped portion protruding in the radial direction (xz plane direction) from the outer peripheral surface of the conversion shaft 242a, and these teeth form the driven side gear 242b. It is composed.

The drive side gear 204b and the driven side gear 242b are, for example, bevel gears. The drive side gear 204b and the driven side gear 242b are not limited to bevel gears. The drive-side gear 204b and the driven-side gear 242b may be replaced with another form of transmission mechanism capable of transmitting the driving force from the input shaft 204 to the conversion unit 206.

The conversion shaft 242a is rotatably supported by the unit base 202 via the bearing 228 in a posture in which the axis is orthogonal to the axis of the input shaft 204. In this embodiment, the input axis 204 and the conversion axis 242a have a positional relationship in which their axes are orthogonal to each other. In another embodiment, if the driving force can be transmitted from the driving side gear 204b to the driven side gear 242b, the axial lines may not be orthogonal to each other.

The deceleration unit 208 is a fixed unit 210 fixed to the unit base 202, an output unit 212 that can rotate about the Y axis with respect to the fixed unit 210, and a first unit arranged between the fixed unit 210 and the output unit 212. It has a main bearing 214 and a second main bearing 216, and a transmission unit 218 that transmits a driving force for rotating the output unit 212 from the conversion unit 206 to the output unit 212.

The fixing portion 210 is arranged inside the output portion 212 formed in an annular shape in the radial direction. The fixing portion 210 is attached to the top surface portion 202b by the fastener 230.

FIG. 4 shows a cross-sectional view taken along the line BB of FIG.

On the inner peripheral surface 212a of the output unit 212, a plurality of pin grooves 212aA are formed so as to be arranged at a predetermined pitch in the circumferential direction between the first main bearing 214 and the second main bearing 216. An internal tooth pin 212c, which is a columnar member, is fitted in each pin groove 212aA. As a result, the output unit 212 is configured as an annular member having internal teeth.

An outer edge side annular rib 202bB is formed on the outer peripheral edge portion of the top surface portion 202b over the entire circumference. On the other hand, on the inner peripheral edge portion of the top surface portion 202b, an inner edge side annular rib 202bC is formed over the entire circumference. The fixing portion 210 is arranged on the top surface portion 202b between the outer edge side annular rib 202bB and the inner edge side annular rib 202bC.

At the center of the fixed portion 210, a central through hole portion 210a that penetrates the fixed portion 210 in the axial direction (Y direction) is formed. A tubular body 234 is inserted into the central through hole portion 210a. The lower end of the cylinder 234 is fitted in the top opening OP5. The tubular body 234 has an upper end side opening OP7 (first opening) that opens to the turntable TT side. The upper end side opening OP7 communicates with the side wall openings OP1 to OP4 of the unit base 202 via the top surface opening OP5 and the second space S2. The turntable TT is arranged between both ends of the second unit 20 in the axial direction (Y direction) of the second unit 20, and the frame 30 (including the pair of support portions 304 and 306) is the turntable TT. It is arranged on one side (lower in the present embodiment), and the upper end side opening OP7 is open on the other side (upper in the present embodiment) of the turntable TT.

The turntable support portion 220 has a flange shape that protrudes in the xz plane direction over the entire circumference from the outer peripheral surface 212b of the output portion 212. The turntable support portion 220 is formed at a position as low as possible while considering avoidance of mechanical interference with other parts such as the unit base 202 and the servomotor 224.

Specifically, as shown in FIG. 3, the turntable support portion 220 is formed at a height position closer to the unit base 202, not on the upper surface of the output portion 212. By forming the turntable support portion 220 at a position lower than the upper surface of the output portion 212 in this way, the turntable TT can be supported at a lower position. Since the turntable TT is supported at a low position, the height of the biaxial positioner 1 can be kept low (the biaxial positioner 1 has a lower floor).

When the servomotor 224 is driven, the input shaft 204 rotates. Along with the rotation of the input shaft 204, the driven side gear 242b that meshes with the drive side gear 204b formed at the tip of the input shaft 204 is driven, and the conversion shaft 242a rotates about the axis. A crank shaft 236 is coupled to the conversion shaft 242a, and the conversion shaft 242a and the crank shaft 236 form a driven shaft that rotates according to the rotation of the input shaft 204.

A swing gear 244 having external teeth is arranged inside the output portion 212 formed in an annular shape in the radial direction. When the crank shaft 236 coupled to the conversion shaft 242a rotates, the swing gear 244 swings while changing the meshing position with the internal tooth pin 212c as the eccentric portion 236a provided on the crank shaft 236 rotates. Along with performing a revolving motion, a rotating motion is performed at a rotation speed decelerated from the revolving rotation speed. When the rotation motion of the decelerated rocking gear 244 is transmitted to the output unit 212 via the internal tooth pin 212c, the output unit 212 rotates with respect to the fixed unit 210. As a result, the turntable TT rotates about the Y axis at a decelerated speed.

As shown in FIG. 1, the first unit 10 includes a speed reducer 10D. The speed reducer 20D is a orthogonal input type speed reducer in which the input shaft (input shaft 204) and the output shaft (rotary shaft of the output unit 212) are orthogonal to each other, whereas the speed reducer 10D has an input shaft and an output shaft. Is a straight input type reducer located coaxially. The main difference between the speed reducer 10D and the speed reducer 20D is that, for example, the speed reducer 10D is not provided with the conversion unit 206. However, the basic structure excluding the conversion unit 206 is substantially the same between the speed reducer 10D and the speed reducer 20D. Therefore, in the following, for the sake of avoiding duplication, the description of the specific configuration of the speed reducer 10D will be omitted as appropriate.

In the speed reducer 10D, the fixed portion 110 of the speed reducer 10D is supported by the support portion 304. That is, the speed reducer 10D is supported by the support unit 304 so that the output unit 112 of the speed reducer 10D can rotate about the output shaft.

The rocking table 250 is arranged between the support portion 304 and the support portion 306. A pair of support walls 254 and 256 are erected in the vertical direction (Y direction) at both ends of the rocking table 250.

The support walls 254 and 256 are arranged close to each other at positions facing the support portions 304 and 306, respectively. The output unit 112 of the speed reducer 10D is fastened to the support wall 254 by a fastening member (not shown). In other words, one end (support wall 254) of the second unit 20 is supported by the first unit 10 (reducer 10D).

In the present embodiment, the output portion of the reducer 10D is the shaft of the reducer 10D (fixed portion 210 in the reduction gear 20D), and the fixed portion is the case of the reducer 10D (in the reducer 20D). It is an output unit 212). In another embodiment, the speed reducer 10D may have a structure in which a shaft is attached to a support portion 304 and a case is attached to a support wall 254 (that is, an output portion is a case and a fixed portion is a shaft configuration).

The drive shaft of the servomotor 124 is connected to the input shaft of the speed reducer 10D. When the servomotor 124 is driven, the rotation of the input shaft of the speed reducer 10D is transmitted to the swing gear, and the output portion of the speed reducer 10D rotates at a speed decelerated with respect to the fixed portion. As a result, the support wall 254 attached to the output unit rotates about the X axis.

The bearing 308 is, for example, a bearing having a hollow structure with an open center, and has a rotating ring body 308b, a rolling element (ball, cone, cylinder, etc.) 308c, and a fixed ring body 308d. The rotating ring body 308b rotates about the X axis with respect to the fixed ring body 308d via the rolling element 308c.

The rotating ring body 308b and the fixing ring body 308d of the bearing 308 are fixed to the support wall 256 and the support portion 306, respectively. That is, the other end (support wall 256) of the second unit 20 is supported by the bearing 308. For convenience of explanation, the opening formed in the fixed ring body 308d is referred to as "support side opening 308A", and the bearing 308 including the opening formed in the support side opening 308A and the rotating ring body 308b is used as the whole bearing 308. The opening is referred to as "bearing opening 308a".

One end (support wall 254) of the rocking table 250 is supported by the speed reducer 10D so as to be swingable around the X axis, and the other end (support wall 256) of the rocking table 250 is centered on the X axis by the bearing 308. It is supported so that it can swing. Therefore, the speed reducer 20D installed on the rocking table 250 can swing around the X axis together with the rocking table 250.

Therefore, the turntable TT rotates about two rotation axes according to the output of the first unit 10 (swing around the X axis) and the output of the second unit 20 (rotation about the center of the Y axis).

If the shaft position shifts between one end of the X axis (output shaft of the reducer 10D) and the other end of the X axis (central axis of the bearing 308), the second unit 20 swings accurately to the center of the X axis. I can't let you. The support portion 304 that supports the speed reducer 10D determines the position of one end of the X-axis (output shaft of the speed reducer 10D), and the support portion 306 that supports the bearing 308 is the other end of the X-axis (central axis of the bearing 308). Determine the position of. In order to suppress the displacement between the ends of the X-axis, it is desirable to fix the relative positions of the support portion 304 and the support portion 306.

Therefore, in the present embodiment, the frame 30 has a frame base portion 302 that connects the support portion 304 and the support portion 306 between the pair of support portions 304 and 306. The support portions 304 and 306 are erected in the vertical direction (Y direction) at each end of the frame base portion 302.

By connecting the pair of support portions 304 and 306 via the frame base portion 302, the relative positions of the support portion 304 and the support portion 306 are fixed. As a result, the displacement between the ends of the X-axis is suppressed, and the second unit 20 can be swung around the center of the X-axis with high accuracy.

As an example, a clamp device (for example, an electromagnetic clamp) for holding a work is installed on the table surface of the turntable TT. One end of the cable 2 is connected to the clamp device. The other end of the cable 2 connected to the clamp device is connected to a power supply unit (for example, a power supply device installed outside the biaxial positioner 1 or a commercial power source) (not shown).

Specifically, as shown in FIG. 1, the operator connects the cable 2 pulled out from the clamp device from the upper end side opening OP7 located at the center of the table surface to the unit base 202 via the tubular body 234 ( Pull into the second space S2).

The unit base 202 has a side wall opening OP3 formed toward the support side opening 308A of the bearing 308. The first unit 10 and the bearing 308 support both ends (support walls 254 and 256) of the second unit 20 at a position where the side wall opening OP3 faces the support side opening 308A. As an example, the first unit 10 and the bearing 308 are positioned so that the side wall opening OP3 is substantially coaxial with the support side opening 308A (for example, on the X axis or on an axis located near the X axis parallel to the X axis). It supports both ends of the second unit 20.

In this embodiment, as an example, a state in which the amount of deviation between the center of the support portion side opening 308A and the center of the side wall opening OP3 is within N% (for example, 20%) of the radius of the side wall opening OP3 is defined. It is assumed that the support portion side opening 308A and the side wall opening OP3 are arranged "substantially coaxially".

As shown in FIG. 1, the operator directs the cable 2 drawn into the unit base 202 (second space S2) to the side wall opening OP3 and the cable 2 directed to the side wall opening OP3 to the side wall opening. It can be pulled out almost straight to the outside of the biaxial positioner 1 via the OP3 and the bearing opening 308a and connected to, for example, a power supply unit.

As described above, in the present embodiment, the second unit 20 is supported by the first unit 10 and the bearing 308 at a position where the side wall opening OP3 faces the support side opening 308A. As a result, the cable 2 can be connected to the power supply unit without being complicatedly routed inside the biaxial positioner 1 (simply pulling out the cable 2 toward the side wall opening OP3 in the unit base 202). There is. Therefore, the work man-hours of the worker are reduced, and the work of routing the cable 2 becomes simple. Thereby, for example, the manufacturing cost can be suppressed and the lead time can be shortened.

Further, by using a bearing 308 (bearing opening 308a) that swingably supports the second unit 20 about the center of the X axis to pass the cable 2, a dedicated opening for passing the cable 2 is provided. It is not necessary to separately form the support portion 306.

Here, consider a case where the support portion side opening 308A and the side wall opening OP3 are arranged eccentrically (in other words, the center of the support side opening 308A and the center of the side wall opening OP3 are deviated from each other). In this case, when the second unit 20 swings, the side wall opening OP3 is positioned with respect to the support side opening 308A according to the amount of eccentricity with the support side opening 308A in the front view with respect to the support side opening 308A. Changes. Depending on the amount of eccentricity with the support portion side opening 308A, it is conceivable that the side wall opening OP3 moves to a position not facing the support side opening 308A when the second unit 20 swings. Therefore, in the present embodiment, the support portion side opening 308A is located from the side wall opening OP3 so as to face the side wall opening OP3 regardless of the position of the second unit 20 in the swing range. Is also formed large.

In the present embodiment, one end of the second unit 20 is supported by the speed reducer 10D and the other end is supported by the bearing 308, but in another embodiment, the second unit 20 has only the speed reducer 10D. It may be a configuration supported by (that is, a cantilever-supported configuration). In this case, the first unit 10 alone supports the second unit 20 at a position where the side wall opening OP3 faces the support portion side opening 308A.

Here, the higher the position of the first unit 10 and the bearing 308 (away from the frame 30 mounted on the positioner mounting surface FP), the higher the position of the second unit 20 supported by the first unit 10 and the bearing 308. Therefore, the height of the biaxial positioner 1 becomes higher as a whole. However, there are cases where the biaxial positioner 1 is required by a user to have a low-floor configuration (a configuration in which the height is kept low). In order to meet this demand, for example, it is desirable to arrange the first unit 10 and the bearing 308 at a low position and also arrange the second unit 20 at a low position.

In the present embodiment, the side wall opening OP3 is formed in the unit base 202, so that the cable 2 can be pulled out to the side of the second unit 20 instead of below the second unit 20. .. Since it is not necessary to secure an area for pulling out the cable 2 below the second unit 20, the second unit 20 is arranged close to the frame 30 together with the first unit 10 and the bearing 308, and the height of the biaxial positioner 1 is lowered. It can be suppressed (that is, configured on a low floor).

By arranging the second unit 20 at a lower position, the relative positions of the frame base 302 arranged below the second unit 20 and the second unit 20 become closer between the pair of support portions 304 and 306. .. As a result, when the second unit 20 swings about the X axis, it may interfere with the frame base 302.

The interference between the second unit and the frame base will be described with reference to FIGS. 5 and 6. FIG. 5A schematically shows the CC arrow diagram of FIG. 1 (bottom view of the biaxial positioner 1 according to the present embodiment). FIG. 5B is a diagram schematically showing the relationship between the second unit 20 of the biaxial positioner 1 and the frame 30.

FIG. 6 is a diagram of the biaxial positioner 1'according to the reference example. FIG. 6A is a diagram similar to FIG. 5A, and schematically shows a bottom view of the biaxial positioner 1'according to the reference example. FIG. 6B is a diagram similar to FIG. 5B, and is a diagram schematically showing the relationship between the second unit 20'of the biaxial positioner 1'and the frame 30' according to the reference example.

The biaxial positioner 1'according to the reference example has the same configuration as the biaxial positioner 1 according to the present embodiment except that the shape of the frame base is different. For convenience of distinguishing between the constituent requirements of the biaxial positioner 1 according to the present embodiment and the constituent requirements of the biaxial positioner 1'according to the reference example, "'" is added to the reference numerals of the constituent elements of the biaxial positioner 1'.

As shown in FIG. 6A, in the biaxial positioner 1 ′ according to the reference example, the frame base portion 302 ′ of the frame 30 has a rectangular plate shape. In the reference example, for example, when the second unit 20'is swung in the same angle range as the second unit 20 of the biaxial positioner 1 according to the present embodiment, the second unit 20 is shown in FIG. 6 (b). A part of'interferes with the frame base 302'(see the overlap between the second unit 20' and the frame base 302'shown by the alternate long and short dash line).

Therefore, in the present embodiment, as shown in FIG. 5A, a gap portion 302c is formed in the frame base portion 302. A specific configuration of the frame base 302 including the gap 302c will be described.

The frame base 302 has a pair of legs 302b mounted on the positioner mounting surface FP by a fastening member (not shown). Support portions 304 and 306 are erected on each leg portion 302b, respectively. The frame base 302 has a connecting portion 302a that extends between the pair of leg portions 302b and connects the pair of leg portions 302b. The connecting portion 302a has a shape extending in parallel with the X axis below the X axis. The gap portion 302c is formed on both sides of the connecting portion 302a.

FIG. 5B schematically shows the relationship between the second unit 20 and the frame 30 (connecting portion 302a and gap portion 302c). As shown in FIG. 5B, the second unit 20 swings around the X axis in a range of an angle θ. The gap 302c is formed in at least a part of the range where the second unit 20 swings.

By forming the gap portion 302c, interference between the second unit 20 and the frame base 302 during rocking can be avoided even in a configuration in which the second unit 20 is arranged close to the frame 30. Therefore, in the present embodiment, the first unit 10, the bearing 308, and the second unit 20 are arranged at low positions to suppress the height of the biaxial positioner 1 as a whole, while the side wall opening OP3 and the support side opening. It is possible to arrange it in a position where it faces the 308A.

A symbol L is attached to a line that bisects the swing range of the second unit 20 represented by the angle θ (see FIG. 5 (b)). As shown in FIG. 5B, the connecting portion 302a is arranged in a region (that is, below the X axis) separated from the X axis in the line L direction. This region is located outside the range in which the second unit 20 swings. That is, the connecting portion 302a is configured to extend in parallel with the X axis to connect the pair of supporting portions 304 and 306 to the outside of the range in which the second unit 20 swings, and does not interfere with the second unit 20. ..

In this embodiment, the speed reducer 20D and the servomotor 224 are arranged in the z direction (horizontal direction) by adopting the orthogonal input type speed reducer as the speed reducer 20D for rotating the turntable TT. More specifically, the servomotor 224, the input shaft 204 and the driven shaft of the speed reducer 20D are arranged at positions displaced radially outward from the Y axis, and one side in the horizontal direction with respect to the X axis. It is arranged at a position displaced to (see FIG. 3). Further, by adopting a straight input type speed reducer as the speed reducer 10D that swings the second unit 20, the speed reducer 10D and the servomotor 124 are arranged in the x direction (horizontal direction). Further, in the first unit 10 and the bearing 308, the positions of the speed reducer 20D and the servomotor 224 in the height direction (y direction) substantially coincide with the positions of the drive shaft (X axis) of the servomotor 124 in the height direction. As such, it supports the second unit 20. That is, in the present embodiment, the speed reducers 10D and 20D and the servomotors 124 and 224 are all arranged side by side at the same height position as the height position of the X axis, so that the height of the biaxial positioner 1 is high. It is suppressed.

In the above-described embodiment, when considering how the path for inserting the cable 2 is configured, it can be expressed as follows. That is, in the above-described embodiment, the path for inserting the cable 2 penetrates from the upper end side opening OP7 to the second space S2 along the Y axis, and from the second space S2 to the support portion side opening 308A. It communicates linearly along the X axis. According to such a configuration, in the biaxial positioner 1 whose floor is lowered as described above, the path for inserting the cable 2 is L-shaped as shown in FIG. 1, and the support portion is formed from the upper opening OP7. It can be configured in the shortest time up to the side opening 308A. Therefore, it becomes possible to simplify the cable routing work inside the positioner.

The above is the description of the exemplary embodiment of the present invention. The embodiments of the present invention are not limited to those described above, and various modifications can be made within the scope of the technical idea of the present invention. For example, the embodiment of the present application also includes the content of an appropriate combination of an embodiment or the like exemplarily specified in the specification or a trivial embodiment or the like.

In the above embodiment, as an example of the configuration in which the side wall opening OP3 is arranged at a position facing the support side opening 308A, the side wall opening OP3 whose cross-sectional shape along the plane perpendicular to the axial direction is substantially circular. And the support portion side opening 308A are arranged so as to be substantially coaxial (that is, the central axis of the side wall opening OP3 and the central axis of the support portion side opening 308A are substantially coaxial). However, the configuration example in which the support portion side opening 308A and the side wall opening OP3 are arranged facing each other is not limited to this.

For example, the biaxial positioner 1 may be configured to support the second unit 20 at a position where the side wall opening OP3 intersects the X axis by the first unit 10 and the bearing 308. With this configuration, even if the side wall opening OP3 is not substantially coaxial with the support side opening 308A, the cable 2 directed to the side wall opening OP3 in the unit base 202 can be connected to the biaxial positioner. It is possible to pull it out almost straight to the outside of 1. If the side wall opening OP3 is arranged at a position where it intersects with the X axis, if the opening formed on the support portion side is formed at a position where it intersects with the X axis, the cable 2 is similarly connected. It is possible to pull out the biaxial positioner 1 so that it is almost straight to the outside.

Further, the biaxial positioner 1 sees the support portion side opening 308A facing the support portion side opening 308A in the arrow A drawing (FIG. 2) by the first unit 10 and the bearing 308. In the state), the second unit 20 may be supported so that at least a part of the side wall opening OP3 overlaps with the support side opening 308A. Even in such a configuration, the cable 2 directed to the side wall opening OP3 in the unit base 202 can be pulled out substantially straight to the outside of the biaxial positioner 1. In this case, it is preferable that the overlap between the side wall opening OP3 and the support side opening 308A has, for example, a size that allows at least the outer diameter (outer diameter in the radial direction) of the cable 2 to fit. With this configuration, it is possible to pull out the cable 2 directed to the side wall opening OP3 in the unit base 202 straight to the outside of the biaxial positioner 1.

Further, the biaxial positioner 1 is configured to support the second unit 20 at a position where at least a part of the side wall opening OP3 can be visually recognized from the outside through the support portion side opening 308A by the first unit 10 and the bearing 308. Is also good. In other words, it suffices if the operator can visually recognize the side wall opening OP3 through the support side opening 308A. With such a configuration, the cable 2 directed to the side wall opening OP3 in the unit base 202 can be pulled out substantially straight to the outside of the biaxial positioner 1.

In the above-described embodiment, the support portion side opening 308A and the side wall opening OP3 are arranged in a positional relationship in which the cross sections in the direction perpendicular to the axial direction are parallel (both are arranged on the yz plane). However, strictly speaking, there are error factors such as component errors and assembly errors. Therefore, the cross sections of the support side opening 308A and the side wall opening OP3 in the direction perpendicular to the axial direction may not be completely parallel. Therefore, in the present specification, for convenience, even when the cross sections of the support portion side opening 308A and the side wall opening OP3 in the direction perpendicular to the axial direction are arranged in a non-parallel positional relationship, they are within the tolerance. If so, it is considered that they are arranged in a parallel positional relationship.

Further, in the biaxial positioner 1, the side wall opening OP3 and the support side opening 308A are relatively inclined by the first unit 10 and the bearing 308 (that is, the cross sections in the direction perpendicular to the axial direction are non-parallel to each other. ) The second unit 20 may be supported in a posture. Even with such a positional relationship, the cable 2 directed to the side wall opening OP3 in the unit base 202 can be pulled out substantially straight to the outside of the biaxial positioner 1. As an example, the angle at which the side wall opening OP3 is tilted with respect to the support side opening 308A is within ± 10 °. In this case, the cable 2 directed to the side wall opening OP3 in the unit base 202 can be pulled out straight to the outside of the biaxial positioner 1.

That is, even if the support portion side opening 308A and the side wall opening OP3 are in a non-parallel positional relationship (that is, the cross sections in the direction perpendicular to the axial direction are non-parallel to each other), the support portion side opening 308A and the side wall are not parallel to each other. If the opening OP3 faces each other (for example, at least a part of the side wall opening OP3 can be visually recognized from the outside through the support side opening 308A), the workability of routing the cable 2 can be improved. Can be done.

In the above-described embodiment, the side wall opening OP3 and the support side opening 308A are each formed to have a substantially circular cross-sectional shape along a plane perpendicular to the axial direction. Needless to say, it is not limited to just a few examples. For example, the cross-sectional shape of the side wall opening OP3 and the support side opening 308A along the plane perpendicular to the axial direction is a shape in which a geometric center such as an ellipse or a rectangle is defined, or other shapes. It can have various shapes.

In the above embodiment, the support side opening 308A is larger than the side wall opening OP3 so as to face the side wall opening OP3 regardless of the position of the second unit 20 in its swing range. It is formed large. On the other hand, in another embodiment, the support portion side opening 308A faces the side wall opening OP3 only when the second unit 20 is within the swing range in which the swing amount is less than a predetermined amount. , Position and size may be set.

Further, the installation direction of the speed reducer 20D on the rocking table 250 may be changed by, for example, 180 degrees with respect to FIG. 1. In this case, the side wall opening OP4 instead of the side wall opening OP3 faces the support side opening 308A, and the protruding direction of the servomotor 224 changes by 180 degrees.

Here, in the configuration of the above embodiment (the configuration in which the side wall opening OP3 faces the support side opening 308A), the structure around the biaxial positioner 1 and the servomotor 224 interfere with each other to provide the biaxial positioner 1. There may be cases where it cannot be installed. In this case, for example, by changing the installation direction of the speed reducer 20D on the rocking table 250 by 180 degrees and changing the protruding direction of the servomotor 224 by 180 degrees, the support portion side opening 308A and the side wall opening OP4 are made to face each other. While maintaining a configuration in which the cable 2 pulled out from the unit base 202 can be pulled out straight to the outside of the biaxial positioner 1, the structure around the biaxial positioner 1 and the servomotor 224 Measures can be taken to avoid interference.

That is, since a plurality of side wall openings facing in different directions are formed in the unit base 202, the biaxial positioner 1 is installed while maintaining a configuration capable of simplifying the routing work of the cable 2. The degree of freedom can be improved.

In the above embodiment, the configuration in which the cable 2 is passed through the bearing 308 having a hollow structure is adopted. In another embodiment, the speed reducer 10D may be replaced with a hollow type similar to the speed reducer 20D. In this case, the operator directs the cable 2 drawn into the unit base 202 toward the side wall opening OP4 and the cable 2 directed at the side wall opening OP4 via the side wall opening OP4 and the hollow portion of the speed reducer 10D. The biaxial positioner 1 can be pulled out almost straight to the outside and connected to, for example, a power supply unit.

1 Biaxial positioner 2 Cable 10 1st unit 10D reducer 20 2nd unit 20D reducer 30 Frame 110 Fixed part 112 Output part 124 Servo motor 202 Unit base 202a Base end surface 202b Top surface part 202bB Outer edge side annular rib 202bC Inner edge side circle Ring rib 202c Side wall 202d Bottom 202dA Support hole 202e Bulkhead 204 Input shaft 204a Press-fit hole 204b Drive side gear 206 Conversion part 208 Deceleration part 210 Fixed part 210a Central through hole part 212 Output part 212a Inner peripheral surface 212a A Pin groove 212b Outer peripheral surface 212c Internal tooth pin 214 1st main bearing 216 2nd main bearing 218 Transmission part 220 Turntable support part 222 Bearing 224 Servo motor 224a Drive shaft 226 Motor support member 228 Bearing 230 Fastener 234 Cylinder 236 Crank shaft 236a Eccentric part 240 Plug part 242a Conversion shaft 242b Driven side gear 244 Swing gear 250 Swing base 254, 256 Support wall 302 Frame base 302a Connecting part 302b Leg 302c Air gap 304, 306 Support part 308 Bearing 308a Bearing opening 308A Support side opening OP1 ~ OP4 Side wall opening OP5, OP6 Top surface opening OP7 Upper end side opening

Claims (20)

A pair of supports connected via a base,
A first drive unit supported by at least one of the pair of support units,
A second drive unit swingably supported around a first axis connecting the pair of support units by the first drive unit, and a second drive unit.
A table that is rotated around a second axis different from the first axis by the second drive unit,
With,
In the positioner
In the axial direction of the second axis, the table is arranged between both ends of the second drive unit.
At least one of the pair of support portions arranged on one side of the table has a support portion side opening.
The second drive unit is
The first opening that opens on the other side of the table and
A second opening that communicates with the first opening and is formed toward the support side opening.
Have,
A gap portion is formed in the base portion in a part of the range where the second drive portion swings.
The first drive unit
The second drive portion is supported at a position where the second opening faces the support portion side opening.
Positioner. The first drive unit is such that at least a part of the second opening overlaps with the support side opening in a state where the support side opening is viewed facing the support side opening. Supports the second drive,
The positioner according to claim 1. The first drive unit
The second drive unit is supported at a position where the central axis of the second opening and the central axis of the support side opening are substantially coaxial with each other.
The positioner according to claim 1 or 2. The support side opening is
It is formed at the position where it intersects the first axis,
The first drive unit
The second drive unit is supported at a position where the second opening intersects with the first axis.
The positioner according to any one of claims 1 to 3. The first drive unit
The second drive portion is supported at a position where at least a part of the second opening can be visually recognized from the outside of the positioner through the support portion side opening.
The positioner according to any one of claims 1 to 4. The support side opening is
The second drive portion is formed larger than the second opening so as to face the second opening regardless of the position of the swing range of the second drive portion. ,
The positioner according to any one of claims 1 to 5. One of the pair of supports
Supports bearings,
The second drive unit is
The bearing and the first drive portion supported by the other of the pair of support portions are swingably supported around the first shaft.
The support side opening is
An opening formed in the bearing.
The positioner according to any one of claims 1 to 6. The base is
A connecting portion extending in parallel with the first axis and connecting the pair of supporting portions is provided outside the range in which the second driving portion swings.
The positioner according to any one of claims 1 to 7. The connecting portion is located below the first axis in the installed state of the positioner.
The gaps are formed on both sides of the connecting portion in the horizontal direction and in the direction orthogonal to the direction of the first axis.
The positioner according to claim 8. The second drive unit swings within a predetermined angle range and
The gap portion is formed in a part of the swing range of the second drive portion that swings in the predetermined angle range.
The positioner according to claim 9. The connecting portion is located outside the swing range of the second drive unit that swings within the predetermined angle range.
The positioner according to claim 10. The first drive unit
With the first motor
It has a first speed reducer that is connected to the first motor and swings the second drive unit.
The second drive unit is
With the second motor
It has a second speed reducer, which is connected to the second motor and rotates the table.
The first motor, the first speed reducer, the second motor, and the second speed reducer have substantially the same position in the height direction in the installed state of the positioner.
The positioner according to any one of claims 1 to 11. The first motor and the first speed reducer in the first drive unit are arranged so that their axes are parallel to each other.
The positioner according to claim 12. The second motor and the second speed reducer in the second drive unit are arranged in a positional relationship in which their respective axes are orthogonal to each other.
The positioner according to claim 12 or 13. A pair of supports connected via a base,
A first drive unit supported by at least one of the pair of support units,
A second drive unit swingably supported around a first axis connecting the pair of support units by the first drive unit, and a second drive unit.
A table that is rotated around a second axis different from the first axis by the second drive unit,
With,
In the positioner
In the axial direction of the second axis, the table is arranged between both ends of the second drive unit.
At least one of the pair of support portions arranged on one side of the table has a support portion side opening.
The second drive unit is
The first opening that opens on the other side of the table and
A second opening that communicates with the first opening and is formed toward the support side opening.
Have,
The first drive unit
The second drive portion is supported at a position where the second opening faces the support portion side opening.
Positioner. A pair of supports connected via a base,
A first drive unit supported by at least one of the pair of support units,
A second drive unit swingably supported around a first axis connecting the pair of support units by the first drive unit, and a second drive unit.
A table that is rotated around a second axis different from the first axis by the second drive unit,
With,
In the positioner
In the axial direction of the second axis, the table is arranged between both ends of the second drive unit.
At least one of the pair of support portions arranged on one side of the table has a support portion side opening.
The second drive unit has a table-side opening that opens to the center on the other surface side of the table, and penetrates from the table-side opening to the internal space of the second drive unit along the second axis. It has a hollow path portion that linearly communicates from the internal space to the support portion side opening.
Positioner. The portion of the hollow path portion that linearly communicates from the internal space to the support portion side opening is formed along the first axis.
The positioner according to claim 16. The second drive unit is
The input shaft to which the driving force is input and
A driven shaft that rotates around an axis different from the input shaft according to the rotation of the input shaft,
A deceleration unit that decelerates the rotation transmitted by the driven shaft,
Have,
The input axis is orthogonal to the second axis and
The driven axis is parallel to the second axis and
The input shaft and the driven shaft are arranged at positions displaced outward in the radial direction with respect to the second shaft.
The positioner according to claim 16 or 17. One of the pair of supports supports the bearing and
The first drive unit is supported by the other of the pair of support units.
The second drive unit is swingably supported between the bearing and the first drive unit about the first shaft.
The support side opening is formed as an opening of the bearing.
The positioner according to claim 18. The input shaft and the driven shaft of the second drive unit are arranged so as to be displaced from the first shaft on one side with respect to the first shaft when viewed from above in the installed state of the positioner. Yes,
The positioner according to claim 19.

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