JPH04322927A - Rotatable support method with arbitrary solid angle with respect to imaginal center, and structure therefor - Google Patents

Abstract

PURPOSE:To provide a method and a structure for linearly changing the solid angle by rotation of rotary shafts without necessity of the synthesis of multiple rotations and for supporting a spindle without the necessity of X-, Y-and Z axial correcting linear movements for compensation for a positional displacement caused by rotation. CONSTITUTION:First and second blocks 9, 10 are coupled at three points at the apices of a triangle. The first block 9 is rotated about a rotational axis passing through the point P and is also rotated about a second line 14 as a rotational axis which is orthogonal, at an imaginal center O, to a first line 17 which is orthogonal to the rotational axis passing through the point P and is parallel with a line connecting between the first and second blocks. Accordingly, the solid angle of the second block with respect to the imaginal center O may be arbitrarily changed.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a support method and structure thereof that allows a block to which a processing spindle or the like is attached in a processing machine to be rotated through all solid angles about a virtual center.

0002

[Prior Art] In a processing machine that requires this type of support method or structure, a processing spindle is given plane rotation about one axis at a point in space, and a workpiece is given a rotation perpendicular to this. 2 rotation axes forming an angle of 45 degrees.
There was one that synthesized solid angles by pairing them.

0003

[Problems to be Solved by the Invention] In all of the conventional processing machines described above, it is not possible to easily create and move the processing spindle to a set solid angle by linear movement of the actuator. In particular, in conventional systems, the angular movement between the machining spindle and the workpiece due to the rotation of multiple members is accompanied by a displacement of the tip position of the machining spindle. Since the X, Y, and Z correction movements for canceling displacement had to be multidimensionally synthesized, there was a problem in that even small angle movement required a large amount of calculation, rotational movement, and linear correction movement. In addition, the spherical angle movement range of the processing spindle is limited to a narrow area of less than a hemisphere.

The object of the present invention is to be able to linearly change the solid angle by rotating each rotation axis without requiring the synthesis of multiple rotations, and to make it possible to change the solid angle linearly by rotating each rotation axis without the need for combining multiple rotations. It is an object of the present invention to provide a spindle support method and its structure that do not require Z linear correction movement.

[0005]

[Means for Solving the Problems] The present invention provides a solid angle free rotary support method with respect to a virtual center, in which the first and second blocks are connected at three points arranged in a triangle so as to be freely rotatable.
The first block is rotated around the rotation axis passing through point P, and the first block is perpendicular to the first line at the virtual center O, which is perpendicular to the rotation axis passing through point P and parallel to the straight line connecting the first and second blocks. It is characterized in that the solid angle of the second block with respect to the virtual center O can be freely varied by rotating the first block about the two lines as the rotation axis. In addition, its structure consists of a first and second block, three arms that are rotatable and connect the first and second blocks at three points arranged in a triangular shape, and a point P that passes through the second block. A second line is supported in a rotatable state around the rotation axis, and is perpendicular to the first line passing through point P and parallel to the straight line connecting the first and second blocks at a virtual center O. It consists of a swing arm that rotates as a rotating shaft, a vertical movement table that moves the swing arm in the Z-axis direction, and X- and Y-direction slides that move the workpiece in the X and Y directions, respectively.

[0006]

[Operation] In the present invention, the first and second blocks are connected at three points arranged in a triangle, and when the first block is rotated about the rotation axis passing through point P, the first block is rotated about the rotation axis passing through point P. The second block rotates by the same rotation angle as the first block. Also, when the first block is rotated using the second line passing through point O as the rotation axis, the first block is rotated using the second line as the rotation axis.
The second block rotates by the same rotation angle as the block. Thereby, the second block is supported so as to be rotatable through a rotation angle of 360 degrees around point O.

[0007]

[Embodiment] Fig. 1 is a perspective view of a processing machine according to an embodiment of the present invention, Fig. 2 is a side view showing the spindle support mechanism shown in Fig. 1, and Fig. 3 is a view taken in the direction of arrow A in Fig. 2. . This processing machine has an X-direction slide 2 on a base 1, a Y-direction slide 3 above it, a vertically movable table 5 that moves in the Z direction along a column 4 erected on the base 1, and L that is attached to the stand 5 and rotates around the rotation axis in the X direction
A shaped swing arm 6 is provided. A spindle 7 in this processing machine is attached to a swing arm 6 via a spindle support mechanism 8 shown in FIGS. 2 and 3.

This spindle support mechanism 8 uses first and second blocks 9, 10 and three arms 11 to 13 that connect them.

The first block 9 includes three pieces 9a to 9c.
are connected by shafts 9d and 9e, respectively,
The tips of each elemental piece 9a to 9c are arranged in a triangular manner. A shaft 9d connecting the pieces 9a and 9b is rotatably attached to the swing arm 6 so as to pass through point P at the tip of the swing arm 6 and face in a direction (Y direction) perpendicular to the rotation axis 14. .

The second block 10 is composed of a base portion 10b on which the spindle 7 is attached, and two protruding portions 10a and 10c that protrude from the upper surface of the base portion 10b in the drawing.

One end of each of the arms 11 to 13 is rotatably attached near the tip of the pieces 9a to 9c of the first block 9, and each other end is attached to the protrusion 1 of the second block 10.
0a, is rotatably attached to the end of the platform 10b and the tip of the protrusion 10c. Attachment portions 15a to 15c between the arms 11 to 13 and the first block 9, and the arm 11
The mounting portions 16a to 16c of the second block 13 and the second block 10 are both set to form a triangle.

In the above structure, the spindle 7 is attached to the second block 10 such that the tip of the spindle 7 is located at the intersection O between the rotating shaft 14 and a line 17 that is perpendicular thereto and passes through the point P.

In the processing machine configured as described above, when the shaft 9d of the first block 9 is rotated by the actuator, the second block 10 rotates about point O while maintaining a parallel relationship with the first block 9. The first and second blocks 9 and 10 and the arms 12 and 13 are connected in a crank shape as shown in FIG. 3, so that they can rotate 360 degrees, and from the state shown in FIG. When the first block 9 is rotated counterclockwise or clockwise by 270 degrees, the state shown in FIG. 4 is obtained.

As described above, since the second blocks 10 can be connected and rotated 360 degrees, it is possible to continuously process vertical and horizontal cylinders and spheres as shown in FIGS. 5 to 7. can.

Further, the load in the vertical direction (Z direction) in the drawing on the spindle support mechanism 8 is received by the tension of the arms 11 to 13, and the X-axis and Y-axis moments are received by the arms 11 to 13 and the first block 9. Therefore, in order to increase the rigidity of this spindle support mechanism 8, it is sufficient to increase the rigidity of the arms 11 to 13 and the first block 9.
The arm 11 is strengthened so that the rigidity of the arm 11 and the two arms 12 and 13 are equal from the left and right balance of the blocks 9 and 10, and the pieces 9b and 9c of the first block are changed to the pieces shown in FIG. Just by integrating it like No. 18, extremely high rigidity can be achieved. Further, the shape of the second block 10 may also be formed into a triangle or the like like the elemental piece 19 shown in FIG.

Among the above main structures, 11, 12, 13
The arm of the machine must always be kept vertical, and it is important to have a mechanism for this purpose. There are various styles of this vertical holding mechanism, one example of which is illustrated below.

In the example shown in FIG. 9, the vertical arm 11 is rotated from a rotating viewpoint P on the L-shaped rotating arm 6 by a second support lever 20a that pivots on a second fulcrum Q set on a vertical line passing through a point O. The supporting point 21 of the upward extension is rotatably supported, and the supporting points 9b, 15a, Q, and 21 form a parallelogram, and PQ
This method always keeps the line parallel to the arm 11. In this case, when the swing arms 9b and 20a are aligned on the P and Q lines, that is, at the so-called top dead center and bottom dead center, there is no parallel restraining force. In this case, the rotation axis 15a of the arm 9a
A small arm 9a is attached to the tip of the arm 20a, and a small arm 20b is attached to the tip of the rotating shaft of the arm 20a to form a crank. A fourth vertical arm 22 connects between the rotational fulcrums 15d and 20b at the end of this small arm.
If you tie it with , the binding force will always be maintained.

[0018]

According to the present invention, since it is not necessary to synthesize multiple rotations, it is possible to provide a support method and structure that can linearly change the solid angle with the rotation of each rotation axis.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a processing machine according to an embodiment of the present invention.

FIG. 2 is a side view of the spindle support mechanism shown in FIG. 1;

FIG. 3 is a view taken along arrow A in FIG. 2;

FIG. 4 is a side view showing the state when the first block shown in FIG. 2 is rotated.

FIG. 5 is a diagram showing an example of processing.

FIG. 6 is a diagram showing an example of processing.

FIG. 7 is a diagram showing an example of processing.

8 is a side view showing a partially modified example of the spindle support mechanism shown in FIG. 2. FIG.

FIG. 9(a) is a side view of the vertical holding mechanism, and FIG. 9(b) is a view seen from the right side in the figure.

[Explanation of symbols]

1 Base 2 X direction slide 3
Y direction slide 4 Stem 5 Vertical movement base 6 Swing arm 7
Spindle 8 Spindle support mechanism 9
1st block 10 2nd blocks 11-13 Arm

Claims (2)

[Claims] 1. A first block and a second block are each rotatable and connected at three points arranged in a triangular shape, and the first block is rotated about a rotation axis passing through a point P, and the point P is rotated. By rotating the first block around a second line that is perpendicular to the first line that is perpendicular to the axis of rotation passing therethrough and that is parallel to the straight line connecting the first and second blocks at the virtual center O as the rotation axis, the virtual center A method for freely rotating a solid angle with respect to a virtual center, characterized in that the solid angle of a second block with respect to O is freely varied. 2. A first and a second block, three arms that are rotatable and connect the first and second blocks at three points arranged in a triangular shape, and a point P that connects the second block. The first and second
A swing arm that rotates about a second line perpendicular to a first line parallel to the straight line connecting the blocks at a virtual center O as a rotation axis, a vertical movement table that moves the swing arm in the Z-axis direction, and a vertical movement table that moves the workpiece in the X-axis direction.・Consists of X and Y direction slides for moving in the Y direction, respectively, and a second
A solid angle freely rotatable support structure with respect to a virtual center characterized by freely changing the solid angle of a block.