JPH0751962A - Rotational movement mechanism - Google Patents

Abstract

PURPOSE:To provide a rotation movement mechanism which is accurately revolved at a high speed. CONSTITUTION:A pair each of first shaft guides 12a and second guide shafts 14a and 14b are provided. A first shaft moving guide 16 has end parts slidably fitted in the respective second shaft guides 14a and 14b and is movable in a second axial direction Y along the second shaft guides 14a and 14b. A second shaft movement guide 20 has end parts each slidably fitted in the first shaft guide 12a and is movable in a first axial direction X along the first shaft guide 12a. A moving body 24 is movable over the first shaft guide 16 and the second guide shaft 20. A rotary shaft 30 is rotatable around an axis. A rotation drive means 32 causes rotation of a rotary shaft 30 around an axis. A lever 40 has a part rotatably fixed integrally with the rotary shaft 30 and other part pivotally mounted on the moving body 24 through a coupling shaft 46.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary motion mechanism, and more particularly to a rotary motion mechanism for rotating a movable body in a plane without changing the plane posture.

[0002]

2. Description of the Related Art For example, when a plurality of lenses are polished at the same time, a moving body equipped with lenses for polishing all the lenses to the same degree is rotated in a plane without changing the plane posture (hereinafter , A turning mechanism) has been proposed (Japanese Patent Laid-Open No. 3-115).
065). The motion mechanism disclosed in Japanese Patent Laid-Open No. 3-115065 has a structure in which a moving body is moved within a rectangular plane surrounded by the ball screws by driving ball screws arranged on four sides. The movement of the moving body is a combination of movements in the X-axis direction and the Y-axis direction caused by the ball screw. Therefore, in order to turn the moving body in a circle, the movements of the moving body in the X-axis direction and the Y-axis direction are finely combined and realized. Therefore, the rotation control of each ball screw is controlled by a computer.

[0003]

However, the above-mentioned conventional motion mechanism has the following problems. In order to turn the moving body in a circle, the ball screws in the X-axis direction and the Y-axis direction are finely controlled, and the moving amounts of the moving body in the X-axis direction and the Y-axis direction are combined, so that computer control becomes indispensable. The movement mechanism becomes expensive. In addition, it is necessary to develop a computer control program. Moreover, even if it is precisely controlled by a computer, the locus of the moving body does not become an accurate circle. Moreover, the accuracy of the ball screw and the motor for driving the ball screw is limited, and it is difficult to accurately swivel the moving body at high speed. Further, when changing the turning radius of the moving body, it is necessary to change the program, which cannot be easily done. Therefore, it is an object of the present invention to provide a rotary motion mechanism which has a simple structure and can swivel a moving body accurately at high speed and can easily change a turning radius.

[0004]

In order to solve the above problems, the present invention has the following constitution. That is, a pair of first axis guides arranged in parallel to the first axis direction, a pair of second axis guides arranged in parallel to a second axis direction orthogonal to the first axis direction, and the first A first axis movement guide which is arranged in one axis direction, each end of which is slidably fitted to the second axis guide and which is movable in the second axis direction along a second axis guide; A second axis moving guide that is arranged in two axis directions, and each end is slidably fitted to the first axis guide, and is movable along the first axis guide in the first axis direction; It is movable on the 1-axis movement guide and the 2nd axis movement guide, and is surrounded by the 1st axis guide and the 2nd axis guide integrally with the 1st axis movement guide and the 2nd axis movement guide. A moving body that can move in a rectangular plane and is arranged at a right angle to the rectangular plane, centering on the axis A rotatable rotary shaft, a rotation driving means for rotating the rotary shaft about an axis, a part of which is fixed rotatably integrally with the rotary shaft, and the other part of which is arranged at a right angle to the rectangular plane. And a lever pivotally attached to the moving body via a connecting shaft. Further, in the above rotary motion mechanism, an adjusting mechanism may be provided which enables adjustment of the axial attachment positions of the moving body and the lever.

[0005]

[Operation] The operation will be described. One part of the lever is rotatably fixed to the rotary shaft, and the other part is pivotally attached to the moving body through a connecting shaft arranged at a right angle to the rectangular plane. Therefore, when the rotary shaft is rotated via the rotary drive means, the lever rotates together with the rotary shaft in a plane parallel to the rectangular plane. Then, the moving body makes a turn with a radius between a part of the lever and a part pivotally attached via the connecting shaft. At that time, the movable body is kept in the plane posture by the first axis movement guide and the second axis movement guide. If the adjusting mechanism is provided, the axial attachment positions of the moving body and the lever can be adjusted, so that the turning radius of the moving body can be adjusted.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will now be described in detail with reference to the accompanying drawings. (First Embodiment) A first embodiment will be described with reference to FIGS. First, the configuration will be described. 10 is a base, which is formed in a rectangular shape. The base 10 is supported on the floor by support legs (not shown). Reference numerals 12a and 12b are X-axis guides, which are examples of first axis guides, and are linear motion guides. The X-axis guides 12a and 12b are separated from each other by a predetermined distance, and are arranged parallel to the X-axis direction which is an example of the first axis direction. The X-axis guides 12 a and 12 b are fixed on the base 10. The first axis guide is not limited to the linear guide, and a shaft, for example, can be used.

Reference numerals 14a and 14b denote Y-axis guides, which are an example of a second axis guide, and are linear motion guides. The Y-axis guides 14a and 14b are separated from each other by a predetermined distance and are arranged in parallel to the Y-axis direction which is an example of the second axis direction.
The Y-axis guides 14 a and 14 b are also fixed on the base 10. The second axis guide is not limited to the linear guide, and a shaft, for example, can be used. Reference numeral 16 is an X-axis rod that is an example of a first axis movement guide, and is formed of a metal rod. The X-axis rod 16 is arranged in the X-axis direction, and each end is fixed to the Y-axis sliders 18a and 18b, respectively. Lower ends of the Y-axis sliders 18a and 18b are slidably fitted to the Y-axis guides 14a and 14b, respectively, and are movable in the Y-axis direction along the Y-axis guides 14a and 14b. Therefore, the X-axis rod 16 is movable in the Y-axis direction along the Y-axis guides 14a and 14b while maintaining the posture in the X-axis direction via the Y-axis sliders 18a and 18b. The first axis movement guide is not limited to a metal rod, and a linear guide, for example, can be used.

Reference numeral 20 is a Y-axis rod which is an example of a second axis movement guide and is formed of a metal rod. Y-axis rod 2
0 is arranged in the Y-axis direction, and each end is fixed to the X-axis sliders 22a and 22b. X-axis slider 22
a and 22b have lower end portions of the X-axis guides 12a and 1a, respectively.
2b is slidably fitted to the X-axis guides 12a, 1
It is movable along the 2b in the X-axis direction. Therefore, the Y-axis rod 20 maintains the posture in the Y-axis direction via the X-axis sliders 22a and 22b while maintaining the posture in the Y-axis direction.
It is movable in the X-axis direction along a and 12b.
The second axis movement guide is not limited to the metal rod, and it is possible to use, for example, a linear motion guide.

Reference numeral 24 is a moving body, and the X-axis rod 16 and the Y-axis rod 20 are inserted through bearings. The moving body 24 is movable on the X-axis rod 16 and the Y-axis rod 20. Therefore, the moving body 24 is integrated with the X-axis rod 16 and the Y-axis rod 20, and the X-axis guide 1
2a, 12b and the Y-axis guides 14a, 14b are movable in a rectangular plane 26 surrounded by them. X-axis rod 16
Since the Y-axis rod 20 is inserted, the moving body 2
4 is always movable in a plane posture, that is, without changing the posture in the X-axis direction and the Y-axis direction. On the moving body 24, for example, a revolving table 2 for mounting a lens to be polished.
8 can be attached. Reference numeral 30 denotes a rotary shaft, which is vertically attached to the base 10. The rotary shaft 30 is rotatable about its axis through a ball bearing. The upper part of the rotary shaft 30 projects upward from the base 10, and the lower part projects downward from the base 10.

Reference numeral 32 denotes a servomotor which is an example of a rotation driving means, and is fixed to the lower surface side of the base 10 via a mounting frame 34. The output shaft 36 of the motor 32 is connected to the lower end of the rotary shaft 30 via a coupler 38.
Therefore, the motor 32 can rotate the rotating shaft 30 about an axis perpendicular to the rectangular plane 26. 40
Is a lever, the rear end of which is fixed to the rotary shaft via a key 42. Therefore, as the rotating shaft 30 rotates, the lever 40 rotates integrally with the rotating shaft 30 in a plane parallel to the rectangular plane 26. In the present embodiment, the servomotor 32 is used as the rotation driving means on the assumption of precise rotation, but a hydraulic motor or an internal combustion engine may be used as long as it is simply rotation driving means. Reference numeral 44 denotes a connecting member, which is formed in an inverted U shape. A connecting shaft 46 is provided upright on the upper surface of the connecting member 44. The connecting shaft 46 is erected parallel to the rotating shaft 30. The connecting member 44 is axially attached to the lower portion of the moving body 24 via a connecting shaft 46. The lever 40 is inserted between the inverted U-shapes of the connecting member 44.

Reference numeral 48 denotes an adjusting bolt which is an example of an adjusting mechanism, and is screwed to the side surface of the connecting member 44. When the adjustment bolt 48 is tightened, the inner end of the adjustment bolt 48 will move to the lever 4
The position of the connecting member 44 with respect to the lever 40, in other words, the position where the moving body 24 and the lever 40 are attached to the shaft is fixed. On the other hand, when the adjusting bolt 48 is loosened, the position of the connecting member 44 can be changed with respect to the lever 40.
It is possible to adjust the axial attachment positions of the moving body 24 and the lever 40. The adjusting mechanism is not limited to the adjusting bolt 48,
For example, the lever 40 may be formed of a threaded rod, the connecting member 44 may be provided with a rotation nut that is screwed into the threaded rod, and the rotation nut may be rotated to adjust the axial attachment positions of the moving body 24 and the lever 40. .

Next, the operation of the rotary motion mechanism thus constructed will be described. First, with the adjustment bolt 48 loosened, the distance between the rotating shaft 30 and the connecting shaft 46, which is the turning radius of the moving body 24, is set. When the distance between the rotating shaft 30 and the connecting shaft 46 is determined, the adjusting bolt 48 is tightened to fix the shaft mounting position of the moving body 24 and the lever 40.
When the motor 32 is rotationally driven in this state, the rotary shaft 30 rotates about the axis (arrow A). Then, the lever 40
Also rotates together with the rotating shaft 30 in the same direction. The rotational force of the lever 40 is transmitted to the moving body 24 via the connecting member 44. As a result, the moving body 24 rotates together with the lever 40 in the arrow B direction (the same direction as the arrow A).

When the moving body 24 rotates in the direction of the arrow B, the X-axis rod 16 and the Y-axis rod 20 are inserted into the moving body 24, so that the plane posture of the moving body 24 in the X-axis direction and the Y-axis direction is changed. It is always retained. Furthermore, since the moving body 24 and the lever 40 are pivotally mounted via the connecting shaft 46, the moving body 24 turns in the direction of arrow B about the rotating shaft 30. Therefore, for example, when the movable body 24 is rotated with a plurality of lenses placed on the turning table 28, all of the plurality of lenses can be rotated under the same condition.

(Second Embodiment) FIG. 4 to FIG.
This will be described with reference to FIG. The same members as those of the first embodiment are designated by the same reference numerals as those of the first embodiment, and the description thereof will be omitted. In the case of the first embodiment, the moving body 24 is the X-axis rod 1.
When the lever 40 rotates in a state in which the lever 40 is approaching either the Y-axis slider 18a or 18b with respect to the moving body 6,
The Y-axis slider 18a or 18b on the side closer to moves closer than the Y-axis slider 18b or 18a on the opposite side. As a result, the X-axis rod 16 is inclined with respect to the X-axis direction, and vibration, noise, etc. occur. Similarly mobile unit 2
A similar situation occurs when 4 approaches the X-axis slider 22a or 22b relative to the Y-axis rod 20. Therefore, in the rotary motion mechanism of the second embodiment, the first axis movement guide (X axis rod 16) and the second axis movement guide (Y
An inclination prevention mechanism is provided for preventing the inclination of the shaft rod 20).

First, the first inclination preventing mechanism for preventing the inclination of the X-axis rod 16 with respect to the X-axis will be described. 50a and 50b are Y-axis racks, and the Y-axis guide 1
The Y-axis guides 14a and 14b are arranged outside the 4a and 14b in parallel. The Y-axis racks 50 a and 50 b are also fixed on the base 10. Reference numerals 52a and 52b denote Y-axis pinions, which are fixed to the respective ends of the X-axis rod 16. The X-axis rod 16 of the second embodiment is rotatably inserted through the moving body 24 and the Y-axis sliders 18a and 18b, and both ends thereof project outward from the Y-axis sliders 18a and 18b. Therefore, the Y-axis pinions 52a and 52b are
It is possible to rotate together with the X-axis rod 16 and to rotate the Y-axis rack 5.
It is possible to roll on the Y-axis racks 50a and 50b in the Y-axis direction while meshing with 0a and 50b.

With this structure, when the lever 40 rotates while the moving body 24 approaches the Y-axis slider 18a or 18b with respect to the X-axis rod 16, the Y-axis slider on the side where the moving body 24 approaches. Since 18a or 18b tries to move ahead of the opposite Y-axis slider 18b or 18a, it tends to tilt the X-axis rod 16 with respect to the X-axis. However, the Y-axis pinions 52a and 52b fixed to both ends of the X-axis rod 16 are not attached to the Y-axis rack 50.
Since it is meshed with a and 50b, the inclination of the X-axis rod 16 is prevented. As a result, the inclination of the X-axis rod 16 with respect to the X-axis direction is prevented, and the X-axis rod 16 can always be held in a state parallel to the X-axis direction.

Next, a second inclination preventing mechanism for preventing the inclination of the Y-axis rod 20 with respect to the Y-axis will be described. 54a and 54b are X-axis racks, and the X-axis guide 1
It is arranged outside the 2a and 12b in parallel with the X-axis guides 12a and 12b. The X-axis racks 54a and 54b are also fixed on the base 10. 56a and 56b are X-axis pinions, which are fixed to the respective ends of the Y-axis rod 20. The Y-axis rod 20 of the second embodiment is also rotatably inserted through the moving body 24 and the X-axis sliders 22a and 22b, and both ends thereof project outward from the X-axis sliders 22a and 22b. Therefore, the X-axis pinions 56a and 56b are
It can rotate together with the Y-axis rod 20, and the X-axis rack 5
It is possible to roll on the X-axis racks 54a, 54b in the X-axis direction while meshing with the 4a, 54b.

With this configuration, when the lever 40 rotates while the moving body 24 approaches the Y-axis rod 20 to either the X-axis sliders 22a or 22b, the X-axis slider on the side where the moving body 24 approaches. The Y-axis rod 20 tends to be tilted with respect to the Y-axis because 22a or 22b tries to move before the opposite X-axis slider 22b or 22a. However, the X-axis pinions 56 a and 56 b fixed to both ends of the Y-axis rod 20 are not attached to the X-axis rack 54.
Since it meshes with a and 54b, it prevents the Y-axis rod 20 from tilting. As a result, the inclination of the Y-axis rod 20 with respect to the Y-axis direction is prevented, and the Y-axis rod 20 can always be held in a state parallel to the Y-axis direction.

By providing the above-mentioned first and second tilt preventing mechanisms, the rotary motion mechanism of the second embodiment prevents tilting of the X-axis rod 16 and the Y-axis rod 20, so that the moving body 24 is X-axis rod 16 and Y-axis rod 20
Even if it moves toward one end, there is no vibration or noise, and stable and precise operation is possible. The first and second tilt prevention mechanisms are not limited to the rack and pinion system described above, and, for example, a timing pulley or sprocket may be provided in place of the pinion, and a timing belt or chain may be placed in tension in place of the rack for engagement. May be.

(Third Embodiment) A third embodiment will be described with reference to FIG. The same components as those of the preceding embodiment are designated by the same reference numerals as those of the preceding embodiment, and the description thereof will be omitted. In the preceding embodiment, the moving body 24 was turned by the single motor 32. However, if the turning radius of the moving body 24 is long, or if the weight of the work or tool mounted on the moving body 24 is large, the moving body 24 is moved. It is necessary to turn with a larger torque. In the third embodiment, two rotation shafts 30a, 30b and two levers 40a, 40b are rotated by two (or more than three) motors 32a, 32b. The two levers 40a and 40b are connected to each other via the connecting shafts 46a and 46b.
It is pivotally attached to each moving body 24. Both levers 40a, 4
The distance between the 0b rotating shafts 30a and 30b and the connecting shafts 46a and 46b is set to be equal. Both motors 32a,
32b rotates in the same direction, and both motors 32a, 3a
The rotation speed of 2b is set to be substantially equal.

According to this structure, the two motors 32a,
The output of 32b can be simultaneously transmitted to one moving body 24. Therefore, since the moving body 24 can be turned with twice the torque as compared with the preceding embodiment, the moving body 24 can be rotated.
Even if the turning radius is long or the weight of the work or tool mounted on the moving body 24 is large, the moving body 24 can be swung at high speed and stably. Although various preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, but may be, for example, a rectangular flat surface 26.
Is not a horizontal plane but may be a vertical plane or an inclined plane.
Needless to say, many modifications can be made without departing from the spirit of the invention.

[0022]

When the rotary motion mechanism according to the present invention is used,
One part of the lever is rotatably fixed to the rotary shaft, and the other part is pivotally attached to the moving body through a connecting shaft arranged at a right angle to the rectangular plane. Therefore, when the rotary shaft is rotated via the rotary drive means, the lever rotates together with the rotary shaft in a plane parallel to the rectangular plane. Then, the moving body makes a turn with a radius between a part of the lever and a part pivotally attached via the connecting shaft. At that time, since the movable body is kept in the plane posture by the first axis movement guide and the second axis movement guide, it becomes possible to turn while drawing an accurate circular locus. Therefore,
Looking only at the turning of the moving body, it is not necessary to attach a computer and to develop a program, so that the moving body can be turned in an accurate circular locus and an inexpensive rotary motion mechanism can be realized.

Further, since the moving body can be turned only by the output of the rotation driving means without the conventional computer control, it is unnecessary to calculate the driving amount of the ball screw according to the position of the moving body. Therefore, high speed operation can be easily performed. Further, when the structure of claim 2 is adopted, the pivoting positions of the moving body and the lever can be adjusted, so that the turning radius of the moving body can be easily adjusted, and so on.

[Brief description of drawings]

FIG. 1 is a plan view showing a first embodiment of a rotary motion mechanism according to the present invention.

FIG. 2 is a partially cutaway plan view of the rotary motion mechanism of the first embodiment.

FIG. 3 is a front sectional view of the rotary motion mechanism of the first embodiment.

FIG. 4 is a plan view showing a second embodiment of the rotary motion mechanism according to the present invention.

FIG. 5 is a partially cutaway plan view of a rotary motion mechanism according to a second embodiment.

FIG. 6 is a front sectional view of a rotary motion mechanism according to a second embodiment.

FIG. 7 is a front sectional view of a rotary motion mechanism according to a third embodiment.

[Explanation of symbols]

 12a, 12b X-axis guide 14a, 14b Y-axis guide 16 X-axis rod 20 Y-axis rod 24 moving body 26 Rectangular plane 30, 30a, 30b Rotating shaft 32, 32a, 32b Servo motor 40, 40a, 40b Lever 46, 46a, 46b Connection shaft 48 Adjustment bolt 50a, 50b Y-axis rack 52a, 52b Y-axis pinion 54a, 54b X-axis rack 56a, 56b X-axis pinion

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location F16H 25/20 A 9242-3J Z 9242-3J

Claims (2)

[Claims] 1. A pair of firsts arranged parallel to the first axis direction.
An axis guide, and 1 arranged parallel to a second axis direction perpendicular to the first axis direction.
A pair of second shaft guides, and the second shaft guides are arranged in the first shaft direction, each end is slidably fitted in the second shaft guide, and is movable in the second shaft direction along the second shaft guide. A first axis movement guide, and the first axis movement guide is arranged in the second axis direction, and each end is slidably fitted to the first axis guide and is movable in the first axis direction along the first axis guide. A second axis movement guide, movable on the first axis movement guide and the second axis movement guide, and the first axis guide together with the first axis movement guide and the second axis movement guide. A movable body that is movable in a rectangular plane surrounded by the second axis guide, a rotary shaft that is arranged at a right angle to the rectangular plane, and is rotatable around an axis, and the rotary shaft is centered around the axis. Rotation drive means for rotating, and a part integrally with the rotation shaft Is rolling secured, rotational motion mechanism other portion is characterized by comprising a lever which is pivotally attached to the movable body via a connecting shaft disposed at a right angle with the rectangular plane. 2. The rotary motion mechanism according to claim 1, further comprising an adjusting mechanism for adjusting a shaft attachment position of the movable body and the lever.