JPH068854U - Two-dimensional motion device - Google Patents

Abstract

(57) [Abstract] [Purpose] To suppress the deflection of each part and improve the positioning accuracy in the Z-axis direction. [Structure] X-axis guide members 9A, 9 extended in the X-axis direction
X-direction movable member 15 whose both ends are movably supported by B
And Y-axis guide members 11A and 11B extending in the Y-axis direction
Y direction movable member 19 movably supported at both ends thereof
And a slider 21 that is supported by the X-direction movable member 15 and the Y-direction movable member 19 and is movable in the X-axis and Y-axis directions, and the X-axis guide member 9A, 9B and Y-axis guide members 11A, 11B are supported by a supporting member 20.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a two-dimensional motion device in which a slider moves in the X-axis and Y-axis directions.

[0002]

[Prior art]

 As a prior art example of a two-dimensional movement device in which a slider moves in the X-axis and Y-axis directions, there is one having a structure as described in, for example, Japanese Patent Application Laid-Open No. 1-303359 (hereinafter simply referred to as a prior art example).

[0003]

[Problems to be solved by the device]

 In the conventional structure such as the prior art example, nut members movably screwed on ball screws in the X-axis direction, which are provided in parallel with each other, support both ends of the X-direction movable member. Both ends of the Y-direction movable member are supported by nut members that are movably screwed into parallel ball screws. Then, the slider is moved in the X-axis and Y-axis directions by the X-direction movable member and the Y-direction movable member.

In the above conventional configuration, when the stroke of the slider is doubled or tripled, the X-axis ball screw and the Y-axis direction ball screw, and the X-direction movable member and the Y-direction movable member that movably support the slider. The length of the member becomes longer, and the flexure slider does not move smoothly due to its own weight. Then, there is a problem in that the positional change of the Z axis provided on the slider in the vertical direction becomes large, the positioning of the Z axis varies, and the positioning accuracy cannot be ensured.

In addition, in the above-described conventional configuration, since the ball screws provided in parallel with each other are used, many expensive ball screws are used, which is expensive. Further, since a bevel gear or the like is used to synchronously rotate the ball screws provided in parallel, there is a problem that the structure becomes complicated accordingly.

An object of the present invention is to provide a two-dimensional motion device which reduces the cost while suppressing the deflection of each part to improve the positioning accuracy in the Z-axis direction in order to improve the above problems. .

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention provides an X-axis movable member whose both ends are movably supported by an X-axis guide member extending in the X-axis direction and a Y-axis guide member extending in the Y-axis direction. A two-dimensional movement device including a Y-direction movable member whose both ends are movably supported, 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. Then, a two-dimensional motion device is constructed by providing a supporting member for supporting the X-axis guide member and the Y-axis guide member.

Further, according to the present invention, the X-direction movable member is movably supported at both ends by the X-axis guide member extending in the X-axis direction, and the both ends are moved at the Y-axis guide member extending in the Y-axis direction. A two-dimensional movement device comprising a Y-movable member movably supported and an X-direction movable member and a slider supported by the Y-direction movable member and movable in the X-axis and Y-axis directions, A plurality of X-direction movable members and Y-direction movable members are provided in parallel to each other to form a two-dimensional motion device.

Further, according to the present invention, the X-direction movable member movably supported at both ends by the X-axis guide member extending in the X-axis direction and the both ends moved by the Y-axis guide member extending in the Y-axis direction. A two-dimensional movement device comprising a freely movable Y-direction movable member and a slider that 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. Two-dimensional movement is provided by mounting a bearing member that is slidable only in a linear direction on a movable block that supports the X-direction movable member and the Y-direction movable member that are movable by engaging the X-axis guide member and the Y-axis guide member. Configured the device.

[0010]

[Action]

 By adopting the two-dimensional motion device of the present invention, a support member for supporting the X-axis guide member and the Y-axis guide member is provided in order to prevent the X-axis guide member and the Y-axis guide member from bending. Alternatively, the X-direction movable member and the Y-direction movable member are composed of a plurality of parallel members. Therefore, the deflection of the slider in the Z-axis direction is suppressed, and the positioning accuracy in the Z-axis direction is improved.

In addition, the movable block supporting both ends of the X-direction movable member and the Y-direction movable member, which are fitted with the sliders that are movable by engaging the X-axis guide member and the Y-axis guide member, is provided only in the direct direction. A bearing member that can slide is attached. For this reason, both ends of the X-direction movable member and the Y-direction movable member are fixed, and when a load is applied to the slider, they become fixed beams at both ends, and the amount of deflection of the X-direction movable member and the Y-direction movable member becomes small. Deflection in the axial direction is suppressed.

[0012]

【Example】

 Referring to FIG. 1, the two-dimensional movement device 1 according to the present embodiment includes a square annular base 5 on the upper part 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. Both ends of the Y axis guide members 11A and 11B extending in the Y axis direction are supported. The X-axis guide members 9A and 9B and the Y-axis guide members 11A and 11B are provided at different heights in the vertical direction, as is apparent from FIG.

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

Movable blocks 17A and 17B are movably supported by the Y-axis guide members 11A and 11B, respectively. The movable blocks 17A and 17B include a plurality of Ys extending in the X-axis direction. Both ends of the directionally movable member 19 are supported. A supporting member 20 is provided on the base 5 to prevent the X-axis guide members 9A and 9B and the Y-axis guide members 11A and 11B from bending.

The X-direction movable member 15 and the Y-direction movable member 19 intersect with each other in a three-dimensional manner, and the three-dimensionally intersecting portion is supported so as to be movable in the Y-axis direction with respect to the X-direction movable member 15. 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 the present embodiment, an appropriate hand device 22 such as a robot hand is mounted on 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, in this embodiment, the first servomotor M1 mounted on the support block 7. The first link 23 is provided. The support position of the first link 23 is not limited to the support block 7, but another support portion may be provided outside the base 5, for example, and the support portion may support the first link 23.

As shown in FIG. 2, a second servomotor M2 is mounted on the slider 21, and the base portion of the second link 25 is horizontally swingably supported via a fixed shaft 27. Has been done. The output shaft 31 of the speed reducer 29 connected to the second link 25 and the second servo motor 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 servo motor M1 is driven to drive the first link 23 in the state where the second servo motor M2 is 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 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. . Then, 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 link 25 tends to horizontally swing about the fixed shaft 27 on the tip side. However, since the tip end portion of the second link 25 is pivotally connected to the tip end portion of the first link 25, the second 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 a wide range.

The support member 20 for preventing the bending of the X-axis guide members 9A and 9B and the Y-axis guide members 11A and 11B will be described in more detail.

Referring to FIGS. 3 and 4, a support block 7 is erected on a base 5 provided on the support column 3, and the X-axis guide members 9 A and 9 B and the Y-axis are provided between the support blocks 7. Guide members 11A and 11B are mounted. The X-axis guide members 9A and 9B are provided with movable blocks 13A and 13B to which the X-direction movable member 15 is attached so as to be movable in the X-axis direction, and although not shown, the Y-axis guide members are not shown. 11A and 11B are also provided with movable blocks 17A and 17B to which a Y-direction movable member 19 is attached so as to be movable in the Y-axis direction.

A ball bush 35, for example, is attached to the movable blocks 13A, 13B or 17A, 17B, and a rotation stop plate 37 for fixing the ball bearing 35 is attached by a fastening member. The movable blocks 13A, 13B or 17A, 17B can be smoothly moved in the X-axis direction or the Y-axis direction on the X-axis guide members 9A, 9B or the Y-axis guide members 11A, 11B through the ball bearings 35. Has become.

A plurality of support members 20 are provided between the X-axis guide members 9 A and 9 B or the Y-axis guide members 11 A and 11 B and the base 5. That is, the support member 20 has a columnar shape and is fixed to the base 5 with bolts 39, and the support member 20 and the X-axis guide members 9A and 9B or the Y-axis guide members 11A and 11B are in close contact with each other by an arc surface 41. And are connected by bolts 43. The support member 20 and the X-axis guide members 9A and 9B or the Y-axis guide members 11A and 11B are closely contacted with each other by the arcuate surface 41, but as shown in FIG. It is also possible to provide a V-shaped groove 45 having a shape for close contact.

With the above configuration, when the stroke of the two-dimensional motion device 1 becomes long, even if the lengths of the X-axis guide members 9A and 9B and the Y-axis guide members 11A and 11B become long, a plurality of support members 20 are provided. Since the X, Y-axis guide members 9A, 9B, 11A, 11B are not bent by their own weight, they can be moved smoothly and the positioning accuracy of the Z-axis can be improved.

6 and 7 show another embodiment of the support member 20.

Referring to FIG. 6, a block 47 as a support member 20 is provided on the base 5, and X-axis and Y-axis guide members 9 A and 9 B extending on the block 47 in the X-axis direction and the Y-axis direction are provided. , 11A and 11B are provided as rails 49. On the other hand, a bracket 51 is fixed to the back surface of each of the movable blocks 13A, 13B, 17A, 17B, a wheel 55 is rotatably provided on the bracket 51 via a shaft 53, and the wheel 55 rotates on the rail 49. Meanwhile, the movable blocks 13A, 13B, 17A, 17B are moved in the X and Y axis directions.

Thus, the movable blocks 13A, 13B, 17A, 17B do not bend and the same effects as those of the first embodiment can be exhibited.

Further, in the embodiment shown in FIG. 7, a linear motion bearing is provided instead of the wheel 55 of the embodiment shown in FIG. That is, a block 47 as a support member 20 is provided on the base 5, and a rail 57 as an X-axis and Y-axis guide member 9A, 9B, 11A, 11B extending in the X-axis direction and the Y-axis direction is provided on the block 47. Is provided. On the other hand, a bracket 61 that houses a linear motion bearing 59 is provided on the back surface of the movable blocks 13A, 13B, 17A, 17B, and through the linear motion bearing 59, the movable blocks 13A, 13B are moved in the X and Y axis directions. , 17A, 17B will be moved.

Thus, the movable blocks 13A, 13B, 17A, 17B do not bend, and the same effects as those of the first embodiment can be exhibited.

The embodiment shown in FIG. 8 shows means for preventing the deflection of the slider 21. That is, a plurality of X-axis movable members 15 and two Y-axis movable members 19 (two in this embodiment), which are supported by the movable brackets 13A, 13B, 17A, and 17B at both ends and in which the slider 21 is movable, are provided in parallel. There is.

Thus, the strength of the X and Y axis movable members 15 and 19 is improved, and the deflection of the X and Y axis movable members 15 and 19 that affects the slider 21 can be suppressed. The positioning accuracy of the Z axis in the Z axis direction can be improved.

The X-axis guide members 9A and 9B, the Y-axis guide members 11A and 11B, and the movable members which are engaged with the X-axis and Y-axis guide members 9A, 9B, 11A and 11B and are movable in the X-axis and Y-axis directions. The blocks 13A, 13B and 17A, 17B will be described in more detail.

Referring to FIGS. 9 and 10, the X-axis guide members 9A and 9B and the Y-axis guide members 11A and 11B are formed by spline shafts, and the X-axis and Y-axis guide members 9A, 9B, 11A and 11B. A ball bearing 35 that engages with the spline shaft is attached to the movable blocks 13A, 13B and 17A, 17B via a key 49. The ball bearing 35 is a commercially available product, so a detailed description of the structure will be omitted. However, a plurality of balls 51 engaged with the spline groove of the spline shaft are held in the form of an endless groove. The holder 53 is mounted in the container 53, and the holder 53 is held in the outer cylinder 55. Reference numeral 57 is a rubber seal, and reference numeral 59 is an oil hole.

With the above structure, the ball bearing 35 as a bearing member mounted on the movable blocks 13A, 13B and 17A, 17B engages with the X-axis and Y-axis guide members 9A, 9B, 11A, 11B which are spline shafts. Thus, the movable blocks 13A and 13B are movable in the X axis direction, and the movable blocks 17A and 17B are movable in the Y axis direction. As shown in FIG. 10, the ball bearing 35 has a non-rotatable structure and is movable only in the linear direction.

Therefore, as shown in FIG. 1, since the X-direction movable member 15 and the Y-direction movable member 19 both ends of which are supported by the movable blocks 13A, 13B, 17A, 17B do not rotate, a rotation moment is generated. It can be regarded as a fixed beam with both ends supported.

The amount of deflection of the slider 21 supported by the X-direction movable member 15 and the Y-direction movable member 19 and the Z-axis hand device 22 provided on the slider 21 is such that the slider 21 is in four directions. Since it is supported and can also support the rotation moment, it has half the deflection of a normal fixed beam at both ends.

Δ _max = 1/2 · (WL ³ / 192EI) = 1/128 · (WL ³ / 3EI). δ _max = maximum deflection amount, W = load on Z axis, L = distance between fulcrums.

That is, when the conventional ball bush guide is used, the both ends support beams and the deflection amount δ _max is δ _max = WL ³ / 48EI = 1/16 · (WL ³ / 3EI). Therefore, the beam fixed at both ends of this embodiment has a bending amount four times smaller than that of the conventional support beam at both ends.

Further, in comparison with the amount of deflection when a cantilever type robot is used, the amount of deflection δ of the cantilever is δ = WL ³ / 3EI, and the amount of deflection in this embodiment is 128 for the cantilever type robot. It will be twice as small. This leads to 128 times the payload capacity.

By adopting the support system of fixing both ends by the above-mentioned configuration, the cost can be reduced with a simple configuration and the rigidity is improved, the deflection of the Z axis is suppressed, and the positioning accuracy of the Z axis is improved. Can be planned.

The present invention is not limited to the above-described embodiments, but can be implemented in other modes by making appropriate changes. For example, the base 5 may be a single body or a divided body, and it is also possible to appropriately combine reinforcing materials.

[0045]

[Effect of device]

 As can be understood from the above description of the embodiments, according to the present invention, since the structure is as described in the scope of claims for utility model registration, the support member for supporting the X-axis and Y-axis guide members is provided. Is provided, or a plurality of movable members in the X and Y directions are provided in parallel to support the slider, and further, the X-axis and Y-axis guide members are made into spline shafts so that the X-axis and Y-axis guide members and Deflection due to the weight of the movable members in the X and Y directions can be suppressed, and the positioning accuracy in the Z axis direction can be improved. Moreover, the simple structure can reduce the cost.

[Brief description of drawings]

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

FIG. 2 is a cross-sectional explanatory view of a slider portion.

FIG. 3 is an enlarged side view of the III arrow part in FIG.

FIG. 4 is an enlarged sectional view taken along line IV-IV in FIG.

FIG. 5 is a cross-sectional explanatory view of a support member showing another embodiment.

FIG. 6 is a cross-sectional explanatory view of a support member showing another embodiment.

FIG. 7 is a cross-sectional explanatory view of a support member showing another embodiment.

FIG. 8 is an explanatory plan view showing an X-direction and Y-direction movable member that supports a slider.

FIG. 9 is a cross-sectional explanatory view of a ball bearing that is a bearing member.

10 is an explanatory cross-sectional view taken along the line X in FIG.

[Explanation of symbols]

 1 Two-dimensional motion device 9A, 9B X-axis guide member 11A, 11B Y-axis guide member 15 X-direction movable member 19 Y-direction movable member 20 Support member 21 Slider 35 Ball bearing (bearing member)

Claims (3)

[Scope of utility model registration request] 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 including a Y-direction movable member, and an X-direction movable member and a slider supported by the Y-direction movable member and movable in the X-axis and Y-axis directions. A two-dimensional motion device comprising a support member that supports a Y-axis guide member. 2. 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. A two-dimensional movement device comprising a plurality of Y-direction movable members provided in parallel with each other. 3. 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 including a Y-direction movable member, and an X-direction movable member and a slider supported by the Y-direction movable member and movable in the X-axis and Y-axis directions. Two-dimensional movement characterized in that a movable block which is engaged with a Y-axis guide member and is movable and which supports the movable X-direction member and a movable Y-direction member is provided with a bearing member slidable only in a linear direction. apparatus.