JPH02284842A - Mechanical device - Google Patents

Abstract

PURPOSE:To give a two-dimensional or three-dimensional motion to a driven part high holding the rigidity without generating an increase of weight and complication of structure by providing actuators supported with their one end to the driven part through a universal joint and with the other end to a fixed system through a universal joint, driving means of the actuators and their control means. CONSTITUTION:A driven part 8 is supported by three actuators 5, when their action is controlled, a two-dimensional arbitrary motion can be given to the driven part 8, similarly when the driven part 8 is supported by four actuators 5, a three-dimensional motion can be given to the driven part 8. Thus by supporting the driven part 8 by a plural number of actuators 5, a drive control system of the driven part can attain its simplification of structure and lightness of weight. While by ensuring structural high rigidity in the actuator 5 constituting a supporting system, a trouble of generating a chatter or the like in a work surface of a workpiece W can be eliminated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a mechanical device that supports a driven part such as a workpiece or a tool and provides two-dimensional or three-dimensional movement to the driven part.

(Prior art) For example, in an NC machine tool that performs cutting processing such as end mill processing, orthogonal coordinates are used to determine the processing position and perform processing, and the spindle that supports and drives the tool or the workpiece He was making the necessary movements against it.

(Problem to be solved by the invention) However, in the above example, when heavy cutting is applied to the workpiece, a large bending force acts on the spindle, and this bending force deforms the tool and the spindle, making it difficult to process the workpiece. It was easy to cause problems such as cracking on the surface and damage to the tool.

In order to eliminate the above-mentioned problems, it is necessary to increase the rigidity of the spindle portion, and increasing the rigidity of the spindle portion may cause the problem of increasing the weight of the device.

The present invention has been made in view of the above problems, and its purpose is to secure necessary and sufficient rigidity without increasing the weight or complicating the structure, and to support the driven part and provide a two-dimensional structure to the driven part. Another object of the present invention is to provide a mechanical device that can provide three-dimensional J motion.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a telescoping system that supports a driven part through a universal joint at one end and is attached to a fixed system through a universal joint at the other end. The present invention is characterized in that a mechanical device is configured including a plurality of actuators, driving means for driving the actuators, and control means for controlling the operation of the actuators.

(Function) For example, if a driven part is supported by three actuators and the operation of the actuators is controlled, arbitrary two-dimensional movement can be given to the driven part. By supporting the driven part, it is possible to give the driven part three-dimensional movement. In this way, since the driven part is supported by multiple actuators, the structure of the drive control system is simplified and lightweight, and the multiple actuators that make up the support system have high structural rigidity. Therefore, the above-mentioned problems such as chatter on the machined surface of the workpiece are eliminated.

(Example) Embodiments of the present invention will be described below based on the accompanying drawings.

1 is a perspective view of a mechanical device according to the present invention, FIG. 2 is an enlarged side view of a driven portion of the device, and FIG. 3 is a view taken in the direction of arrow A in FIG.

In the mechanical device 1 shown in FIG. 1, 2 is a base, and a rectangular table 3 is fixed to the upper surface of this base.
A gate-shaped column 4 is erected on the base 2 and straddles the table 3. Note that a workpiece W, which is a workpiece to be processed, is set on the table 3.

Further, around the table 3 on the base 2, one end of each of three hydraulic cylinders 5 is attached via a flexible lever 6, and one hydraulic cylinder is attached to the column 4. The cylinder 5 is also supported via a swivel lever (not shown). Each of the rods 5a extending from these four hydraulic cylinders 5 supports a spherical driven portion 8 via a flexible fiber 7. is located above the workpiece W set on the table 3 as shown in the figure.

By the way, each of the hydraulic cylinders 5 is a hydraulic cylinder with a pulse encoder, and two hydraulic hoses 9 and 10 led out from the hydraulic cylinders 5 are connected to a controller 11 that controls the operation of the hydraulic cylinders 5. is connected to a hydraulic generator 12 consisting of a hydraulic pump, a reservoir tank, etc. Note that the controller 11
The system includes a computer (not shown) and a servo valve.

On the other hand, the driven part 8 has three built-in drive motors 13 as shown in FIGS. 2 and 3, and a tool 15 is attached to a spindle 14 that is rotationally driven by the drive motor 13. There is. Incidentally, the drive motor 13 is connected to the power source of the attached water via an electric cable 16 led out from the drive motor 13.

Next, the operation of the single-wavelength device 1 will be explained.

The pressure oil boosted by the hydraulic pressure generator 12 is sent to the controller 11.
is supplied from each hydraulic hose 9, 10 to each hydraulic cylinder 5, and each hydraulic cylinder 5 is thereby driven to cause its lot 5a to expand and contract. The program to control this is pre-entered. Therefore, the operation of the servo hartz of the controller 11 is controlled by the computer according to the program, and the amount and direction of the pressure oil supplied to each hydraulic cylinder 5 are controlled by the servo hartz, so that the operation of each hydraulic cylinder 5 is controlled. . As a result, the driven part 8 supported by the hydraulic cylinders 5 makes a predetermined three-dimensional movement with respect to the workpiece W set on the table 3, and the workpiece W is rotationally driven by the drive motor 13. It is machined into the required shape and dimension by a tool 15.

As described above, in this embodiment, the driven part 8 is supported by the four hydraulic cylinders 5, so that the structure and weight of the drive control system can be simplified and lightened. In addition, since high rigidity is ensured in the support structure of the driven part 8 supported by the hydraulic cylinders 5..., even if heavy cutting is applied to the workpiece W, chatter will not occur on the machined surface of the workpiece W. The problem of damage to the tool 15 does not occur.

Next, a second embodiment of the present invention is shown in FIGS. 4 and 5.

Fig. 4 is a side view of the mechanical device according to the present invention, and Fig. 5 is a perspective view of the main parts of the mechanical device. The driven part 8 is supported by the four hydraulic cylinders 5 . . . via universal joints 7 . In FIGS. 4 and 5, the same elements as shown in FIGS. 1 to 3 in the first embodiment are given the same reference numerals. The three hydraulic cylinders 5 are supported at each vertex of an equilateral triangle drawn on the ceiling of the column 17, and the remaining hydraulic cylinder 5 is supported at the midpoint of the equilateral triangle.

Also in this embodiment, the workpiece W set on the table 18 by the tool 15 supported by the driven part 8
can be machined into a predetermined shape and dimension.

Further, a third embodiment of the present invention is shown in FIG. 6, and the mechanical device according to this embodiment has substantially the same configuration as the second embodiment, and includes four hydraulic cylinders 5... A grinding wheel 19 is supported by the grinding wheel 19 .

Thus, in this embodiment as well, it is possible to give three-dimensional motion to the grindstone 19, and as shown in the figure, the workpiece W immersed in the abrasive liquid 21 in the bathtub 20 set on the table 18 The processed surface Wa can be polished with the grindstone 19.

Furthermore, a fourth embodiment of the present invention is shown in FIG. 7, and the mechanical device according to this embodiment basically has the same configuration as the second and third embodiments, and includes four hydraulic cylinders. A round bar-shaped workpiece W is supported on the driven part 8 supported by 5... through a chuck jig 22. For example, in forging work, the workpiece W is reliably supported and the workpiece W is three-dimensionally It can give you good exercise.

A fifth embodiment of the present invention is shown in FIGS. 8 and 9. FIG. 8 is a side view of the mechanical device, and FIG. 9 is a perspective view of the main parts of the mechanical device.

In this embodiment, a table 3 is movably supported on a base 2 via four hydraulic cylinders 5, and a drive motor 13 is fixed to a column 17. A tool 15 is attached to the holder. Also in this embodiment, one end of each hydraulic cylinder 5 is fixed to the base 2 via a universal joint 6, and the other end supports the table 3 via a universal joint 7.

Therefore, in this embodiment, the table 3 can be given a required three-dimensional movement, and thereby the workpiece W set on the table 3 can be machined into a predetermined shape and size. I can do it.

Furthermore, FIG. 1θ and FIG. 11 show a sixth embodiment of the present invention, FIG. 1O is a front view of the main part of the mechanical device, and FIG. be.

In this embodiment, three hydraulic cylinders 5 are supported by a frame 23 (having a rectangular frame shape) via one end or a universal joint 6, and the other end of the three hydraulic cylinders 5... A driven portion 8 is supported via a universal joint 7 .

In this embodiment, the driven part 8 is given two-dimensional movement, and the tool 1, such as a drill, supported by the driven part 8 is given two-dimensional motion.
5, holes are formed on a workpiece (not shown) or at a predetermined position thereof.

Although a hydraulic cylinder is used as the actuator in the embodiments described above, it goes without saying that similar effects can be obtained by using any other actuator.

(Effects of the Invention) As is clear from the above description, according to the present invention, a plurality of expandable and retractable members whose ends support a driven part via a universal joint and whose other ends are attached to a fixed system via a universal joint. Since the mechanical device includes an actuator, a driving means for driving the actuator, and a control means for controlling the operation of the actuator, the rigidity of the mechanical device can be maintained at a high level without increasing the weight or complicating the structure. In addition, it is possible to support the driven part and give it two-dimensional or three-dimensional movement.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a mechanical device according to a first embodiment of the present invention;
Fig. 2 is an enlarged side view of the driven part of the device, and Fig. 3 is an enlarged side view of the driven part of the device.
4 is a side view of the mechanical device according to the second embodiment of the present invention, FIG. 5 is a perspective view of the main part of the same device, and FIG. 6 is a view of the third embodiment of the present invention. FIG. 7 is a side view of the mechanical device according to the fourth embodiment of the present invention, and FIG. 8 is a side view of the mechanical device according to the fifth embodiment of the present invention. FIG. 9 is a perspective view of the main part of the device, and FIG. 10 is a front view of the main part of the mechanical device according to the sixth embodiment of the present invention. FIG. 11 is a sectional view taken along the line Xr-XI in FIG. 10. DESCRIPTION OF SYMBOLS 1... Mechanical device, 5... Hydraulic cylinder (actuator), a, 7... Universal joint, 8... Driven part,
11... Controller (control means), 12... Hydraulic pressure generator (driving means). Patent applicant Yamaha Motor Co., Ltd.

Claims (1)

[Claims] A plurality of telescopic actuators, one end of which supports a driven part via a universal joint, and the other end of which is attached to a fixed system via a universal joint, driving means for driving the actuators, and controlling the operation of the actuators. 1. A mechanical device comprising a control means for controlling.