JPH063579U - 2-axis orthogonal drive unit - Google Patents

Abstract

(57) [Summary] [Objective] To provide a two-axis orthogonal drive unit that enables high-speed response and avoids cost increase. [Structure] A first driving motor 1 for driving an X-axis and a second driving motor 2 for driving a Y-axis are fixed to a common frame 3, and each motor 1, 2 has a first pulley 5 and A second pulley 6 is provided, a reciprocating movable table 4 is provided on the frame 3, and a third pulley 7 is provided on the movable table 4. Y on the movable table 4
A shaft frame 18 is provided, a pulley 19 is provided on the shaft frame 18, and a belt 21 is connected between the pulley 19 and the pulley 7 to provide a Y-axis movable base 20 on the belt 21. With the belt 12 connected between the first and third pulleys 5 and 7, and the belt 13 connected between the second and third pulleys 6 and 7, each motor 1,
2 is cooperatively driven to reciprocate the movable table 4 in the X-axis direction and the Y-axis movable table 20 in the Y-axis direction.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a two-axis orthogonal drive unit used as a constituent element of an industrial robot or the like.

[0002]

[Prior art]

 The conventional two-axis orthogonal drive unit employs a basic configuration that converts the rotational movement of the motor into a linear movement. For example, by preparing two sets of units configured to convert the rotational motion of a motor into linear motions using a timing belt or ball screw, and arranging these two sets of units in an orthogonal relationship, the X-axis Direction and Y-axis direction driving force is obtained.

In the two-axis orthogonal drive unit having this configuration, a motor is provided as a drive source in each of the two sets of units, and the drive force in the X-axis direction and the drive force in the Y-axis direction are independently generated. .

[0004]

[Problems to be solved by the device]

 By the way, in the conventional two-axis orthogonal drive unit, two sets of units each having a motor are arranged in an overlapping manner, so that the weight of the motor of the upper unit is added to the lower unit. However, there is a problem that high-speed response becomes impossible.

Further, the cables connected to the motors and the like of the two sets of units are likely to be broken due to the movement of each unit. Therefore, it is necessary to use a special cable that is hard to break, so that an increase in cost cannot be avoided. .

The present invention has been made in consideration of the above problems, and an object thereof is to provide a two-axis orthogonal drive unit that enables high-speed response and avoids cost increase. .

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention comprises a movable base provided on a frame for reciprocating movement, and a unit provided on the movable base for reciprocating movement in a direction orthogonal to the reciprocating movement direction. In a two-axis orthogonal drive unit, a first drive motor having a first pulley and a second drive motor having a second pulley are fixed to the frame and rotatably supported on the movable table. And a third belt which connects the first pulley and the third pulley with a first belt, and connects the second pulley and the third pulley with a second belt. The first motor and the second motor are cooperatively driven.

[0008]

[Action]

 The first drive motor for driving the X-axis direction and the second drive motor for driving the Y-axis direction are fixed to a common frame, and each motor is provided with a first pulley and a second pulley. A movable table provided on the frame for reciprocating movement is provided with a third pulley. Then, with the first belt connected between the first and third pulleys and the second belt connected between the second and third pulleys, by the first and second drive motors. By driving in a coordinated manner, driving force in the two axial directions of the X-axis direction and the Y-axis direction is obtained.

[0009]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings. 1 and 2 are a side view and a plan view showing an embodiment of a biaxial orthogonal drive unit of the present invention. Reference numeral 1 is a first drive motor, 2 is a second drive motor, and these motors 1 and 2 are mounted on a common frame 3. Reference numeral 4 denotes a first movable base mounted on the frame 3 so as to be capable of reciprocating in the X-axis direction, and a pulley 7 is mounted on the first movable base. Reference numerals 5 and 6 are pools attached to the first and second drive motors 1 and 2.

Reference numerals 8, 9, 10, 11 and 14, 15, 16, 17 are guide rollers attached to the frame 3, and belts are provided between the pulley 5 and the pulley 7 via the guide rollers 10, 11, 16, 17. 12 is connected, and a belt 13 is connected to the pulley 6 and the pulley 7 via guide rollers 8, 9, 14, and 15.

Reference numeral 18 denotes a Y-axis frame attached to the movable table 4, to which a pulley 19 is attached, and to the pulley 7, a pulley 22 which rotates integrally with the pulley 19 is attached. The belt 21 is connected to the pulley 22 and the pulley 22. Reference numeral 20 denotes a Y-axis movable base mounted on the belt 21 so as to be reciprocally movable in the Y-axis direction.

With such a configuration, when the motor 1 rotates in the clockwise direction (in FIG. 2) by a certain angle, when the motor 2 also rotates in the same direction by the same angle, the belts 12, 2 are passed through the pulleys 5, 6. Since the pulley 13 moves, the pulley 7 rotates clockwise, and the Y-axis movable base 20 is set so as to move downward in the Y-axis direction. On the other hand, at this time, since the moving amounts of the belts 12 and 13 are equal and opposite directions, the movable table 4 is set so as not to move in the X-axis direction.

Next, when the motor 1 rotates clockwise by a certain angle and the motor 2 rotates counterclockwise by the same angle, the belts 12 and 13 both move leftward via the pulleys 5 and 6. Therefore, the movable table 4 is set so as to move leftward in the X-axis direction. On the other hand, at this time, since the pulley 7 does not rotate, the Y-axis movable base 20 is set so as not to move in the Y-axis direction.

Further, when the rotation angles of the motors 1 and 2 are not equal, the movable table 4 is set to move in the X-axis direction, and the Y-axis movable table 20 is set to move in the Y-axis direction.

Next, the operation of this embodiment will be described. When the motors 1 and 2 are both rotated by the same angle in the clockwise direction by controlling the rotation angles of the motors 1 and 2 in the configurations of FIGS. 6, the pulley 7 rotates in the clockwise direction, so that the Y-axis movable base 20 moves downward in FIG. On the other hand, at this time, since the moving amounts of the belts 12 and 13 are equal and opposite, the movable table 4 does not move in the X-axis direction. At this time, when the motors 1 and 2 both rotate counterclockwise at the same angle, the pulley 7 rotates counterclockwise, and the Y-axis movable base 20 moves upward in FIG.

Next, when the motor 1 is rotated clockwise and the motor 2 is rotated counterclockwise at the same angle, the belts 12 and 13 move leftward together via the pulleys 5 and 6, so that they are movable. The table 4 moves to the left in FIG. On the other hand, at this time, since the pulley 7 does not rotate, the Y-axis movable base 20 does not move in the Y-axis direction.

Further, when the rotation angles of the motors 1 and 2 are not equal in each operation, the movable table 4 and the Y-axis movable table 20 move together. As shown in FIG. 3, each of the belts 12 and 13 may be a timing belt, a steel belt having a sprocket structure, a wire, or the like.

As described above, according to the present embodiment, the first and second driving motors 1 and 2 are attached and fixed to the common frame 3, and the first and second motors 1 and 2 are fixed to the respective motors 1 and 2. In addition to being equipped with pulleys 5 and 6, a movable table 4 provided on the frame 3 for reciprocating motion is provided with a third pulley 7, and a Y-axis frame 18 is attached to the movable table 4 and a pulley 19 is provided thereto. The pulley 19 and the third pulley 7 are connected with a belt 21, the Y-axis movable base 4 is attached to the belt 21, and the first and third pulleys 5 and 7 are connected with a belt 12, And the third pulleys 6 and 7 are connected by the belt 13, the first and second drive motors 1 and 2 are cooperatively driven to reciprocate the movable table 4 in the X-axis direction. Further, the Y-axis movable base 20 is configured to be reciprocally movable in the Y-axis direction.

As a result, the first and second driving motors 1 and 2 are fixed to the common frame 3, so that it is possible to prevent two sets of units each having a motor from being overlapped as in the conventional case. Since it does not have the weight of the motor of the upper unit, high-speed response is possible. Further, since the motors 1 and 2 are fixed to the frame 3 and do not move, the problem of disconnection does not occur. Therefore, no special cable is required and cost can be avoided.

Further, since the two motors 1 and 2 are cooperatively driven, a double driving force is output in each axial direction as compared with the conventional case where the motors are exclusively used in each axial direction. be able to. Further, since the movable unit can be made compact and lightweight, the applicable range can be expanded. Furthermore, various units can be configured simply by changing the lengths of the frame and the belt, which facilitates standardization.

4 and 5 show another embodiment of the present invention. In addition to the driving force in the X-axis direction and the Y-axis direction in the above embodiment, a driving force in the Z-axis direction can be obtained. It shows an example of the configuration. This embodiment is different from the above embodiments in that a holder 23 containing a ball nut that rotates integrally with the pulley 7 is provided inside the pulley 7, and a spline structure 25 is provided so as not to rotate with respect to the movable table 4. This is because the ball screw 24 that he has is provided. The other structure is the same as that of the above embodiment.

According to such an embodiment, since the rotational force of the pulley 7 can be converted into the linear motion in the Z-axis direction, the rotational motion in the X-axis direction can be converted into the linear motion in the Y-axis direction. Not only that, but also linear motion in the Z-axis direction can be converted.

FIG. 6 shows another embodiment of the present invention, in which the configuration of FIG. 1 and FIG. 8 shows an example in which the belt 13 is connected to the pulley 7 via the guide rollers 9, 16 and 17 on the lower side of the drawing as well as the belt 13 is connected via the guide rollers 9, 16 and 17. . According to the present embodiment, as is apparent from comparison with FIG. 2, the number of guide rollers can be reduced and the same operation can be performed, so that there is an advantage that the number of parts can be reduced.

[0024]

[Effect of device]

 As is clear from the above description, according to the present invention, the first drive motor and the second drive motor are fixed to a common frame, and each motor is provided with a pulley and is reciprocally movable in the frame. Since other pulleys are provided on the movable base and the belts are connected between these pulleys, the first and second drive motors are configured to be driven cooperatively, which enables high-speed response and increases cost. Can be avoided.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a two-axis orthogonal drive unit of the present invention.

FIG. 2 is a plan view showing this embodiment.

FIG. 3 is a schematic diagram showing another configuration example of a part of the present embodiment.

FIG. 4 is a side view showing another embodiment of the present invention.

FIG. 5 is a plan view showing another embodiment of the present invention.

FIG. 6 is a plan view showing another embodiment of the present invention.

[Explanation of symbols]

 1, 2 Drive motor 3, 18 Frame 5, 6, 7, 19, 22 Pulley 12, 13, 21 Belt 4, 20 Movable base 23 Holder 24 Ball screw 25 Spline structure

Claims (1)

[Scope of utility model registration request] 1. A two-axis orthogonal drive unit comprising a movable base reciprocally provided on a frame and a unit reciprocally movable in a direction orthogonal to the reciprocating direction provided on the movable base, A first drive motor having a first pulley and a second drive motor having a second pulley are fixed to the frame, and a third pulley rotatably supported by the movable table is provided. The first pulley and the third pulley are connected by a first belt, the second pulley and the third pulley are connected by a second belt, and the first motor and the A two-axis orthogonal drive unit, characterized by being driven in cooperation with a second motor.