JPH05346149A - Two dimensional movement device - Google Patents

Abstract

PURPOSE:To provide a two dimensional movement device which is capable of easy synchronization with the movement of both end parts of both movable members in X and Y directions which and support a slider movable in X and Y directions. CONSTITUTION:A two dimensional movement device is provided with an X- directionally movable member 15 of which both ends are movably supported by a pair of X-axis guide members 9A, 9B extended in the X-axis direction, a Y-directionally movable member 19 of which both ends are movably supported by a pair of Y-axis guide members 11A, 11B extended in the Y-axis direction, and a slider 21 which is supported by the X-directionally movable member 15 and Y-directionally movable member 19 respectively and movable in X and Y directions. Driven members 37 to be operated by following the movement in X or Y direction of the slider 21 are provided on the respective end sides of the X directionally movable member 15 and the Y directionally movable member 19, and the opposite driven member 37 on the respective end sides are synchronized with each other.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a two-dimensional movement device in which a slider moves in X-axis and Y-axis directions.

[0002]

2. Description of the Related Art As a prior art example of a two-dimensional motion device in which a slider moves in the X-axis and Y-axis directions, for example, Japanese Patent Laid-Open No.
There is a structure as described in JP-A-303359 (hereinafter simply referred to as a prior art example).

[0003]

In the conventional structure such as the prior art example, the nut member movably screwed to the ball screws in the X and Y axis directions provided in parallel with each other is provided with the movable members in the X and Y directions. Both ends are supported, and a slider is supported on the three-dimensional intersections of the movable members in the X and Y directions so as to be movable in the X and Y directions.

In the above structure, ball screws provided in parallel with each other are synchronously rotated.

That is, since an expensive ball screw is used and the structure rotates synchronously, there is a problem that the structure becomes complicated.

[0006]

In view of the above-mentioned problems, the present invention provides an X-direction movable member whose both ends are movably supported by an X-axis guide member extending in the X-axis direction, and a Y-axis direction member. A Y-direction movable member whose both ends are movably supported by a Y-axis guide member extending in a vertical direction, and a slider which is supported by the X-direction movable member and the Y-direction movable member and is movable in the X-axis and Y-axis directions. In the two-dimensional movement device provided, driven members that are operated in accordance with the movement of the slider in the X-axis direction or the Y-axis direction are provided on both ends of the X-direction movable member and the Y-direction movable member. The driven members on both ends that are provided and face each other are synchronized with each other.

[0007]

In the above structure, the movable member in the X and Y directions is set to X.
By moving in the axial direction and the Y-axis direction respectively,
The slider supported by both the movable members in the X and Y directions can be moved in the X and Y axis directions. When the movable members in the X and Y directions are respectively moved, the driven members provided at both ends of the movable members are synchronized with each other so that the both end portions move in the same direction without delay. That is, the movement of both ends of each movable member can be synchronized with a simple structure.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIG. 1, a two-dimensional movement apparatus 1 according to this embodiment is provided with a square annular base 5 on top of a plurality of columns 3. A support block 7 is attached to each corner of the base 5, and each support block 7 supports both ends of X-axis guide members 9A and 9B extending in the X-axis direction, and Y Both ends of the Y-axis guide members 11A and 11B extending in the axial direction are supported.
The X-axis guide members 9A and 9B and the Y-axis guide member 11
As is clear from FIG. 1, A and 11B are provided with different heights in the vertical direction.

Movable blocks 13A and 13B are movably supported by the X-axis guide members 9A and 9B, respectively, and the movable blocks 13A and 13B have X-direction movable members 15 extending in the Y-axis direction. Both ends of are supported.

Further, the Y-axis guide members 11A, 11
B, movable blocks 17A and 17B are movably supported, respectively.
Both ends of a Y-direction movable member 19 extending in the X-axis direction are supported by.

The X-direction movable member 15 and the Y-direction movable member 19 intersect with each other in a three-dimensional manner, and in this three-dimensional intersection, the X-direction movable member 15 is supported so as to be movable in the Y-axis direction. A slider 21 is provided so as to be movable with respect to the Y-direction movable member 19 in the X-axis direction. In this embodiment, an appropriate hand device 22 such as a robot hand is attached to the slider 21 so as to be vertically movable.

In order to move and position the slider 21 in the X-axis direction and the Y-axis direction, the slider 21 is horizontally swung by an appropriate fixed position, that is, the first servomotor M1 mounted on the support block 7 in this embodiment. First link 23
Is provided. The support position of the first link 23 is not limited to that on the support block 7. For example, another support portion may be provided outside the base 5 and supported by this support portion.

A second servomotor M2 is mounted on the slider 21, and a base portion of the second link 25 is horizontally swingably supported via a fixed shaft 27 (see FIG. 2). There is. The output shaft 31 of the speed reducer 29 connected to the second link 25 and the second servomotor M2 is integrally connected via a bolt or the like.

The tip of the first link 23 and the tip of the second link 25 are pivotally connected to each other via a hinge pin 33.

With the above configuration, when the first servomotor M1 is driven to drive the first link 23 with the second servomotor M2 fixed, the tip end portion of the first link 23 is in the X-axis direction and the Y-axis direction. Is displaced to. The displacement of the tip end portion of the first link 23 in the X and Y axis directions is absorbed by the X direction movable member 15 moving in the X axis direction and the Y direction movable member 19 moving in the Y axis direction. .. And
The slider 21 moves in the X and Y axis directions according to the displacement due to the displacement of the three-dimensional intersection position between the X direction movable member 15 and the Y direction movable member 19.

Similarly, when the second servomotor M2 is driven with the first servomotor M1 fixed, the second servomotor M2
The link 25 tends to swing horizontally on the tip side about the fixed shaft 27. However, since the tip of the second link 25 is pivotally connected to the tip of the first link 25,
The link 25 is relatively swung around the hinge pin 33 on the fixed shaft 27 side.

That is, the slider 21 can be displaced in the X and Y axis directions by driving the second servo motor M2.

Therefore, by appropriately controlling and driving the first and second servomotors M1 and M2, the slider 21 can be moved and positioned in the X and Y axis directions over the expanded range.

As described above, both movable members 1 in the X and Y directions.
When moving 5 and 19 in the X-axis and Y-axis directions respectively,
Both the movable members 15 and 19 in the X-axis direction and the Y-axis direction are arranged so that both ends of the movable members 15 and 19 always move in synchronization.
As shown in FIG. 3 (not shown in FIG. 1), 19 are provided with rotary shafts 35 that rotatably pass through them, and pinions 37 as driven members are provided at both ends of each rotary shaft 35. Is provided. And each pinion 3
7 meshes with each rack 39 provided on the base 5 in the X and Y directions.

Therefore, when the slider 21 is moved in the X and Y directions as described above, each pinion 37 rotates. At this time, for example, when the other end side tends to be delayed with respect to the one end side of the X-direction movable member 15, the other end side pinion 37 rotates in synchronization with the one end side pinion 37 via the rotation shaft 35. Therefore, the tendency that the other end of the X-direction movable member 15 is delayed is eliminated.
That is, both ends of the X-direction movable member 15 are always moved in the same direction in synchronization.

Therefore, both movable members 1 in the X and Y directions
Nos. 5 and 19 allow smooth movement at all times without inclining, and the slider 21 can be accurately positioned in the X and Y directions.

FIG. 4 shows a second embodiment of the present invention.
In the second embodiment, the X-axis guide member 9A,
9B and Y-axis guide members 11A and 11B are rotatably pierced through, and a pulley 43 is provided at each end of each rotary shaft 41, and each pulley 43 is provided with a timing belt 45X and 45Y in the X and Y axis directions as driven members. The movable blocks 13A, 13B: 17A, 17B are wound around and connected to the timing belts 45X, 45Y.

Therefore, when the slider 21 moves in the X and Y directions, the timing belts 45X,
Since 45Y is rotated, both ends of the movable members 15 and 19 in the X and Y directions are synchronously moved.

Each movable block 13A, 13B: 17
It is desirable that the structure for connecting the A and 17B and the timing belts 45X and 45Y is as shown in FIG.

That is, the movable block 13A is provided with a fixed base 47 for fixing one end side of the cut timing belt 45X, and the one end side is fixed by a holding tool 49 and a plurality of bolts 51. Then, a movable table 53 facing the fixed table 47 is provided so as to be movable in a direction of approaching and separating from the fixed table 47, and the movable table 53 is urged to the fixed table 47 by an elastic member 55 such as a spring. And
Timing belt 45X with presser foot 49 and bolt 51
Fix the other end of.

With the above structure, the timing belt 45X
Can be used with an optimum length, and tension is always applied by the action of the elastic member 55, so that the timing belt can be always kept in a loose state.

[0027]

As will be understood from the above description of the embodiments, according to the present invention, both ends of both the movable members 15 and 19 in the X and Y directions which support the slider 21 have a simple structure. It is possible to move in synchronism, and smooth movement can be performed.

[Brief description of drawings]

1 is a perspective view of an apparatus according to an embodiment of the present invention.

FIG. 2 is a sectional view of a slider portion.

FIG. 3 is an explanatory plan view showing the first embodiment.

FIG. 4 is an explanatory plan view showing a second embodiment.

5 is a detailed explanatory diagram of an arrow V portion in FIG.

[Explanation of symbols]

 9A, 9B X-axis guide member 11A, 11B Y-axis guide member 15 X-direction movable member 19 Y-direction movable member 35, 41 Rotating shaft 37 Pinion 39 Rack 45X, 45Y Timing belt

Claims (1)

[Claims] 1. An X-direction movable member having both ends movably supported by an X-axis guide member extending in the X-axis direction, and both ends movably supported by a Y-axis guide member extending in the Y-axis direction. A two-dimensional movement device comprising a Y-direction movable member and a slider which is supported by the X-direction movable member and the Y-direction movable member and is movable in the X-axis and Y-axis directions. Alternatively, a driven member that is actuated following the movement in the Y-axis direction is provided at both ends of each of the X-direction movable member and the Y-direction movable member, and the driven members at both ends facing each other are synchronized with each other. A two-dimensional motion device characterized by: