JP7343892B2 - Processing mechanism - Google Patents

Description

The present invention relates to a processing mechanism that performs predetermined processing on a material by moving a head equipped with a processing tool.

For example, it is possible to attach processing tools such as a drawing tool such as an inkjet, a cutting tool such as a laser ejector or a cutting blade, and by moving the head to which this processing tool is attached, a predetermined processing is performed on the material. Processing mechanisms that can perform this are known. As such a processing mechanism, the present applicant has proposed an apparatus shown in Patent Document 1. This device uses a cutting blade as a processing tool to perform a predetermined cutting process on a material. In this device, the head is equipped with a tilting drive mechanism for tilting the cutting blade, and by moving the head with the cutting blade tilted relative to the material, it is possible to cut the material diagonally. be.

JP2014-237215A

By the way, in the above-mentioned tilting drive mechanism, the mounting part for attaching the cutting blade to the head body is rotatably supported via a swing shaft, and by rotating this swing shaft with a motor etc., cutting is performed. It tilts the blade. That is, since the directions in which the cutting blade can be tilted are limited to the directions in which it can be rotated by the swing shaft, there are restrictions on the shapes that can be cut.

The present invention was made in view of these points, and it is possible to tilt a processing tool such as a cutting blade in a more free direction, thereby making it possible to perform various processing on materials. The purpose of this is to provide a processing mechanism that is easy to use.

The processing mechanism of the present invention includes a main body and a head including a mounting part to which a processing tool for processing a material is attached, and the head is oriented in a direction toward and away from the material with respect to the main body. supported so as to be movable along a first axis extending in the same direction, and rotatable about a second axis extending in a direction intersecting the first axis; a support part rotatable around a third axis intersecting each of the second axes; and a spherical joint part located on the opposite side of the mounting part with respect to the support part, The main body includes a plurality of track parts extending along the first axis, a plurality of slide parts that move while being guided by each of the track parts, and a plurality of rods having one end connected to each of the slide parts. and a receiving portion having a concave spherical inner circumferential surface, which is connected to the other end of each of the rods, and which is connected to the joint portion, and which is connected to the first shaft according to the movement of the slide portion. a moving body that moves along a predetermined reference plane orthogonal to the head to change the attitude of the head.

In such a processing mechanism, it is preferable that the support part is supported by the track part.

Further, in such a processing mechanism, it is preferable that the head includes a rotation drive unit that can rotate the processing tool around the first axis.

Further, it is preferable that the distance between the support portion and the joint portion be configured to be changeable.

Preferably, the main body includes three track sections, and these track sections are arranged at positions forming a substantially equilateral triangle when viewed directly toward the reference plane.

Note that in this specification, etc., processing a material is not limited to processing that removes material, such as with a cutting blade, but also processing that laminates a new material on top of the original material, such as with a three-dimensional printer. Also included.

According to the processing mechanism of the present invention, the movable body can be moved to an arbitrary position along a predetermined reference plane according to the amount of movement of the plurality of slide parts provided on the main body. Here, the head includes a mounting part to which a processing tool for processing the material is attached, and is supported by the main body part by a support part, and on the opposite side of the mounting part with respect to the support part, a moving body It has a joint part that connects to. Further, the support portion is rotatable around the second axis and the third axis. Therefore, when the joint portion moves together with the moving body, the processing tool together with the head can be tilted in any direction with respect to the first axis. In addition, since the support part is movably supported with respect to the main body along the first axis, as the slide part moves, the processing tool along with the head can be moved in the direction toward or away from the material. can. As described above, according to the processing mechanism of the present invention, the processing tool together with the head can be moved toward or away from the material, or tilted in any direction, making it possible to perform various processing on the material. can be administered.

Here, in supporting the support part on the main body, a track part may be provided separately from the track part that guides the slide part, but by using it also as the track part of the slide part, the structure can be simplified. Cost reduction can be achieved.

In addition, if the head is provided with a rotation drive unit that can rotate the processing tool around the first axis, the degree of freedom of rotation of the processing tool is 3, and the processing tool can be oriented in any direction. Therefore, even more diverse processing can be performed on the material.

If the distance between the support part and the joint part is configured to be changeable, the tilt angle of the head can be changed without changing the amount of movement of the movable body. Therefore, for example, even if there is a limit to the amount of movement of the moving body, it is possible to tilt the head significantly.

1 is a perspective view schematically showing a cutting mechanism which is an embodiment of a processing mechanism according to the present invention. FIG. 2 is a plan view of the cutting mechanism shown in FIG. 1; FIG. 2 is a sectional view of a movable body in the cutting mechanism shown in FIG. 1. FIG. 2 is an explanatory diagram showing the position of a moving body and the inclination of a head in the cutting mechanism shown in FIG. 1. FIG. 2 is a diagram showing an example of a shape that can be cut when cutting a material with the cutting mechanism shown in FIG. 1. FIG.

Hereinafter, a cutting mechanism that is an embodiment of the processing mechanism according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram schematically showing an embodiment of a cutting mechanism according to the present invention. The cutting mechanism 1 of this embodiment is composed of a head 2 on which a cutting blade S is attached, and a main body 3 in which the head 2 can be moved.By moving the head 2 with respect to the main body 3, the cutting blade S This is to cut the material W. In this embodiment, it is assumed that the material W is placed on a plane parallel to the XY plane in the XYZ orthogonal coordinate system. It is also assumed that the head 2 is oriented parallel to the Z axis. In the XYZ orthogonal coordinate system illustrated here, the XY plane is oriented in the horizontal direction, and the Z axis is oriented in the vertical direction. Note that the first axis, second axis, and third axis in this specification and the like correspond to the Z axis, X axis, and Y axis in this embodiment, respectively.

First, the cutting blade S will be explained. The cutting blade S of this embodiment has an upper end that is removably held by the head 2, extends relatively long toward the lower end (cutting tip S1), and has a flat extending surface S2. It has a flat blade shape. A cutting edge S3 for cutting the material W is provided on both side edges of the extending surface S2.

The head 2 is generally formed into a long axis shape, and a mounting portion 10 to which the upper end of the cutting blade S is attached is provided at its lower end. The mounting portion 10 is configured such that once the cutting blade S is attached, it is held integrally to the mounting portion 10, and the cutting blade S can be removed by performing a release operation. The mounting section 10 can have various configurations, and may be one that utilizes mechanical force, generally referred to as a mechanical chuck, or one that utilizes magnetism, which is generally referred to as a magnetic chuck.

Further, inside the head 2, a rotation drive section 11 is provided that can rotate the mounting section 10 around the Z-axis while the head 2 is oriented parallel to the Z-axis. Thereby, the cutting blade S attached to the mounting part 10 can be rotated around the Z axis. The rotation drive unit 11 includes, for example, a servo motor, and can move the cutting blade S to any angle around the Z-axis according to a command given to the servo motor.

A disk-shaped flange 12 is provided at the longitudinally intermediate portion of the head 2, and a support portion 13 for supporting the head 2 with respect to the main body 3 is provided on the radially outer side of the flange 12. ing. As shown in FIG. 2, the support portion 13 of this embodiment includes an annular inner support portion 14 provided adjacent to the radially outer side of the flange 12, and an annular inner support portion 14 provided adjacent to the radially outer side of the inner support portion 14. An annular outer support portion 15 is provided. Further, the flange 12 and the inner support part 14 are connected via an X-axis rotating part 16 that can rotate the flange 12 around the X-axis with respect to the inner support part 14. The inner support part 14 and the outer support part 15 are connected via a Y-axis rotating part 17 that can rotate the inner support part 14 around the Y-axis with respect to the outer support part 15. Thereby, the head 2 can be tilted in any direction with respect to the outer support portion 15 with respect to both the X axis and the Y axis.

As shown in FIG. 3, a joint portion 18 is provided at the upper end of the head 2 and is connected to the head 2 via a cylindrical portion. The joint portion 18 of this embodiment is formed into a spherical shape.

Next, the main body 3 will be explained. The main body 3 includes a base 19 extending along the Z axis. As shown in FIG. 2, a total of three base portions 19 in this embodiment are provided in a positional relationship such that they are arranged at the vertices of a substantially equilateral triangle in plan view.

When the base 19 is arranged in a substantially equilateral triangle, the inner surface includes a track section 20 extending along the Z-axis, and a slide section (first slide section) that moves in the Z-axis direction guided by the track section 20. 21) is provided. In this embodiment, as shown in FIG. 1, two track parts 20 are arranged parallel to each base 19, and the first slide part 21 is arranged so as to straddle these track parts 20. However, the configurations of the track section 20 and the first slide section 21 are not limited to this. Although not shown, a drive mechanism that is a combination of a servo motor and a ball screw, for example, is connected to the first slide section 21, and the first slide section 21 is moved along the Z axis according to a command given to the servo motor. It is possible to move it to any position in the direction.

Further, each track portion 20 is provided with a slide portion (second slide portion 22) provided separately from the first slide portion 21. Each of the second slide parts 22 is connected to the outer support part 15 as shown in FIG. 2, and the outer support part 15 moves along the Z-axis direction together with the second slide part 22. Note that the second slide section 22 is not provided with the drive mechanism provided in the first slide section 21.

A rod 23 is attached to the first slide portion 21 as shown in FIG. In this embodiment, two rods 23 are provided parallel to one first slide portion 21 . Note that a universal joint 24 is provided at one end and the other end of each rod 23, and the first slide portion 21 and the rod 23 are connected via the universal joint 24.

A flat movable body 25 extending along the XY plane is connected to a universal joint 24 provided at the other end of the rod 23 . As illustrated, the movable body 25 of this embodiment is connected to a total of three first slide parts 21 by a total of six rods 23. Further, as shown in FIG. 3, a receiving part 26 is provided at the center of the movable body 25, the inner peripheral surface of which has a concave spherical shape corresponding to the joint part 18, and which rotatably holds the joint part 18. The receiving part 26 of this embodiment is located near the center of the spherical joint part 18, and holds the joint part 18 so that it cannot come off in the vertical direction.

According to the main body 3 having such a configuration, the movable body 25 can be moved to any position within the plane along the XY plane. As shown in FIG. 4(a), for example, one first slide portion 21 (the first slide portion 21 located on the left side in FIG. 4(a)) is moved upward in the Z-axis direction, while the other one is moved upward in the Z-axis direction. By moving the first slide part 21 (the first slide part 21 located on the right side in FIG. 4(a)) downward in the Z-axis direction, the movable body 25 is moved to the first slide part on the left side in FIG. 4(a). It can be moved along the XY plane so as to approach the section 21. Further, as shown in FIG. 4(b), if the first slide portion 21 is moved largely to the opposite side from the state shown in FIG. 4(a), the moving body 25 also moves to the opposite side along the XY plane. It can be moved a lot. In this way, by individually changing the amount of movement of the three first slide parts 21, the movable body 25 moves to any position within the plane along the XY plane.

When moving the movable body 25 in this manner, the joint portion 18 of the head 2 is held in the receiving portion 26 of the movable body 25, and the head 2 is Since the head 2 can be tilted in both directions, the head 2 can be tilted in any direction depending on the position to which the movable body 25 moves.

Furthermore, if the three first slide parts 21 are moved together in the Z-axis direction, the movable body 25 can be raised or lowered in the Z-axis direction, as shown in FIGS. 4(a) and 4(c). You can also do so.

Here, since the joint part 18 is attached to the receiving part 26 so that it cannot be removed, the head 2 can also be raised and lowered as the movable body 25 is raised and lowered in the Z-axis direction.

As described above, according to the cutting mechanism 1 of this embodiment, since the head 2 can be tilted with respect to the main body 3 with respect to both the X axis and the Y axis, the cutting blade S attached to the head 2 can also be tilted. It can be tilted as well. Furthermore, the rotation drive unit 11 allows the cutting blade S to be moved to any angle around the Z axis. Therefore, the cutting blade S can be oriented in any direction with respect to the X-axis, Y-axis, and Z-axis. Further, the cutting mechanism 1 can also raise and lower the head 2 to any position in the Z-axis direction, so that the cutting blade S can be moved toward and away from the material W. As described above, according to the cutting mechanism of the present invention, the cutting blade S can be moved toward or away from the material W, or can be tilted in any direction, so that, for example, as shown in FIG. Furthermore, it is also possible to drill a circular hole in a material W placed on a horizontal surface, the center axis of which is inclined with respect to the Z-axis direction.

Although the cutting mechanism of the present invention has been described above by showing specific embodiments, the present invention is not limited to the embodiments described so far, and various modifications may be made within the scope of the claims. It also includes things. For example, a total of three base portions 19, track portions 20, and first slide portions 21 of the main body 3 were provided in a positional relationship in which they were arranged at the vertices of a substantially equilateral triangle in a plan view, but an arrangement other than an equilateral triangle was adopted. Good too. Further, the number of these is not limited to three, but may be more than one. Furthermore, although the second slide section 22 moves along the same track section 20 as the first slide section 21, it may be guided along a different track section from the track section 20.

Further, in this embodiment, as shown in FIG. 1, the first slide part 21 is located above the moving body 25, and the rod 23 is directed diagonally downward from the first sliding part 21 toward the moving body 25. However, the first slide part 21 may be positioned below the moving body 25, and the rod 23 may be directed diagonally upward from the first sliding part 21 toward the moving body 25.

Alternatively, the flange 12 may be configured to be movable along the axis of the head 2 so that the distance between the flange 12 and the joint portion 18 can be changed. Thereby, the tilt angle of the head 2 can be changed without changing the amount of movement of the moving body 25. Therefore, even if there is a limit to the amount of movement of the movable body 25, for example, the head 2 can be tilted significantly, and the range in which the material W can be processed can be expanded.

Further, the receiving part 26 is located near the center of the spherical joint part 18 and holds the joint part 18 so that it cannot be pulled out in the vertical direction. It may also be positioned. In this case, for example, an elastic body that biases the support portion 13 upward is provided. That is, in this configuration, even if the support part 13 moves the movable body 25 upward with respect to the main body 3, the joint part 18 cannot be pulled up by the receiving part 26, but the support part 13 is urged upward. Due to the elastic body, the receiving part 26 and the joint part 18 move integrally in the vertical direction. Therefore, even with this configuration, the cutting blade S can be moved toward or away from the material W, or can be tilted in any direction.

Furthermore, in the embodiment described above, a cutting blade S is attached as a processing tool to cut the material, but a laser ejector is provided in place of the cutting blade S so that the material can be processed by laser. Good too. Further, the processing tool is not limited to one that cuts the material, and may be configured to attach a drawing tool such as an inkjet or a writing instrument (brush, pen, etc.) to apply a predetermined drawing to the material. Further, a configuration may be adopted in which a ruling tool for providing ruled lines on cardboard or the like can be attached. Additionally, it may be configured to attach a lamination tool, such as a three-dimensional printer, that laminates the new material onto the original material.

1: Cutting mechanism (processing mechanism)
2: Head 3: Main body 10: Mounting section 11: Rotation drive section 12: Flange 13: Support section 14: Inner support section 15: Outer support section 16: X-axis rotation section 17: Y-axis rotation section 18: Joint section 19 : Base 20 : Track part 21 : First slide part (slide part)
22: Second sliding part 23: Rod 24: Universal joint 25: Moving body 26: Receiving part S: Cutting blade (processing tool)
S1: Cutting edge S2: Extension surface S3: Cutting edge W: Material

Claims (5)

The main body and
A head including a mounting part to which a processing tool for processing a material is attached,
The head is
The main body is movably supported along a first axis extending toward and away from the material, and around a second axis extending in a direction crossing the first axis. a support part that is rotatable and rotatable around a third axis intersecting each of the first axis and the second axis;
a spherical joint part located on the opposite side of the mounting part with respect to the support part,
The main body is
a plurality of track sections extending along the first axis;
a plurality of slide parts that move while being guided by each of the track parts;
a plurality of rods having one end connected to each of the slide parts;
The inner circumferential surface has a receiving part having a concave spherical shape, and is connected to the other end of each of the rods, and the receiving part is connected to the joint part, and is perpendicular to the first axis according to the movement of the sliding part. a moving body that changes the attitude of the head by moving along a predetermined reference plane. The processing mechanism according to claim 1, wherein the support section is supported by the track section. The processing mechanism according to claim 1 or 2, wherein the head includes a rotation drive unit that can rotate the processing tool about the first axis. The processing mechanism according to any one of claims 1 to 3, wherein the processing mechanism is configured such that a distance between the support portion and the joint portion can be changed. Any one of claims 1 to 4, wherein the main body includes three track parts, and these track parts are arranged at positions forming a substantially equilateral triangle when viewed squarely toward the reference plane. The processing mechanism described in item 1.

Images