JPH08272446A - Object figure controller - Google Patents

Abstract

PURPOSE: To provide the object figure controller which moves the prescribed object to the required position at the place where the safety and the airtightness are required. CONSTITUTION: A sphere 11 which covers the internal space with the global shell of the prescribed width is provided. An object movement means 12 is installed inside of the sphere 11. A 2nd object 17 is controlled to move freely to the required position close to or abutted to the inside surface of the sphere 11. In this case, the 1st object 42 and the 2nd object 17 are located to pull against each other by the magnetic force through the sphere 11. Thus, the 1st object 42 can be freely slided on the outside surface of the sphere 11 together with the movement of the 2nd object 17. As the result, an object figure controller 10 capable of moving the 1st object 42 to the required position at the place where the safety and the airtightness are required on the outside surface of the sphere 11 can be realized.

Description

Detailed Description of the Invention

[0001]

[Table of Contents] The present invention will be described in the following order. Field of Industrial Application Conventional Technology Problem to be Solved by the Invention (FIGS. 7 and 8) Means for Solving the Problem (FIGS. 1 to 6) Action (FIGS. 1 to 6) Example (FIG. 1 to FIG. 1) Figure 6) Effect of the invention

[0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an object attitude control device, and is suitable for application to, for example, an object attitude control device that holds the attitude of an object in a predetermined state.

[0003]

2. Description of the Related Art Conventionally, as this type of object attitude control device, various types of mechanisms for holding an object in a predetermined state have been proposed and realized.

[0004]

However, many of such object attitude control devices have a structure in which the drive mechanism is formed so as to project to the outside. Therefore, sufficient performance in terms of airtightness and safety is obtained. It was difficult to demonstrate. That is, for example, in an environment where airtightness is required such as in a clean room for semiconductor manufacturing or in water with high external pressure, or in a place where safety is required such as in a city or at home, such an object attitude control device is used. There was a problem that it was difficult to use.

As one method for solving this problem, there has been proposed an object attitude control device provided with a gyroscope 1 using a gimbal mechanism as shown in FIG. In the gyroscope 1, a first annular member 3 rotatably supported between two shaft rods 2A and 2B having a parallel relationship with each other can rotate in a direction indicated by an arrow a or a direction opposite thereto. It is done like this. A second annular member 4 which is slightly smaller than the first annular member 3 is rotatably supported on the inner side of the first annular member 3 in the direction indicated by arrow b or in the opposite direction. Ie the first
The annular member 3 can be rotated in a direction perpendicular to the rotation axis.

A shaft rod 5 is rotatably supported by the second annular member 4 while maintaining a vertical relationship with respect to a rotation axis of the second annular member 4, and the shaft rod 5 is vertically supported. Second as axis
A disc 6 that is slightly smaller than the annular member 4 is integrally formed with the shaft rod 5. Therefore, the disc 6 can rotate together with the shaft rod 5 in the direction indicated by the arrow c or in the opposite direction. As a result, the gyroscope 1 can move an object (not shown) held at a predetermined position on the disk 6 in an arbitrary direction. However, gyroscope 1
Has the function of holding the object in a certain posture,
There is a problem that it is difficult to control the movement of the posture of the object to a predetermined position.

Further, as shown in FIG. 8, a conventional universal joint 7 is used.
As such, there is proposed a structure in which the first and second joint members 8 and 9 are rotatably connected to each other. That is, the second connecting portion 9A of the second joint member 9 is fitted to the first connecting portion 8A of the first joint member 8, and the second connecting portion 9A of the first joint member 8 is connected to the first shaft rod 8B of the first joint member 8. The second shaft rod 9B of the second joint member 9 can freely rotate at an arbitrary inclination angle. However, since the tilt angle of the second shaft rod 9B with respect to the first shaft rod 8B is mechanically constrained, the operating range of the object coupled to the second shaft rod 9B is also limited. Therefore, there is a problem that it is difficult to move the coupled object of the second shaft rod 9B to an arbitrary position.

The present invention has been made in consideration of the above points, and proposes an object attitude control device for moving a predetermined object to a desired position in a place where safety and airtightness are required. Is.

[0009]

In order to solve such a problem, in the present invention, a sphere having an inner space covered with a spherical shell having a predetermined thickness is provided, and an object moving means is provided in the inner space of the sphere. It is installed so that the second object is movably controlled to a desired position in the vicinity of or in contact with the inner surface of the sphere. At that time, the first magnetic member connected to the holding surface for the sphere of the first object is made of a material that attracts the first magnetic member by magnetic force, and the second magnetic body approaches or abuts on the sphere. The second magnetic member connected to the surface is aligned with each other so that the first object freely slides on the outer surface of the sphere in the attracted state as the second object moves.

[0010]

A spherical body having a spherical shell having a predetermined thickness covering the internal space is provided, and an object moving means is installed in the internal space of the spherical body so that the second object comes close to or touches the inner surface of the spherical body. It should be movably controlled to the desired contact position. At that time, by aligning the first object and the second object so as to attract each other by magnetic force through the sphere, the first object is moved on the outer surface of the sphere as the second object moves. Can be freely slid in the adsorbed state.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings.

In FIG. 1, reference numeral 10 denotes an object attitude control apparatus as a whole, which is a spherical body (hereinafter referred to as a spherical shell body) 11 in which an internal space is hermetically covered with a spherical shell having a predetermined thickness. The object moving device 12 is movably held in a state where the object moving device 12 partially contacts the inner surface of the spherical shell 11.

The object moving device 12 has a motor 14 fixed to the upper end of a base frame 13 so that the base frame 13 is sandwiched between them. A rotary frame 15 is provided on the output shaft of the motor 14. The rotary rail 15 and the motor 16 are integrally attached together with the motor 16, whereby the rotary rail 15 and the motor 16 are rotated in the direction indicated by the arrow α or in the opposite direction (hereinafter referred to as the roll direction). It is designed to be able to rotate.

Here, a rail (hereinafter referred to as an arch-shaped rail) 15A protruding in an arch shape is provided on the rotating frame 15.
Is formed, and one end of the arch-shaped rail 15A is rotatably mounted on the side end of the flange 13A extending outward from the base frame 13 and about the rotation axis in the roll direction. . In addition, a carriage is slidably mounted on the arched rail 15A (hereinafter, this is referred to as a spherical shell internal moving carriage).
A belt 18 stretched along the arched rail 15A is attached to the carriage 17 with the spherical shell inside moving carriage 17 attached thereto.
It is attached to a part of.

In this case, the space between the arch-shaped rail 15A and the motor 16 in the rotating frame 15 is constructed as shown in FIG. That is, a bevel gear 19 is attached to the output shaft 16A of the motor 16, and a bevel gear 20 having a rotating shaft orthogonal to the rotating shaft of the bevel gear 19 is attached to the rotating frame 15. It is attached to the belt drive shaft 21 so as to mesh with the tooth gear 19. Further, the pulley 22 mounted coaxially with the belt drive shaft 21 is a bevel gear 2
It is designed to rotate with the rotation of 0.

As described above, the belt 18 is passed from the arched rail 15A through the pulley 22 and then transmitted through the pulley holding portion 23 and the pulley 24 formed to project on the rotating frame 15, and further to one end of the arched rail 15A. It is stretched once along the arched rail 15A via the attached pulley 25, and is driven by the rotation of the motor 16 in the direction indicated by the arrow β or in the opposite direction (hereinafter,
This is called the pitch direction).

As a result, the spherical shell internal moving carriage 17 can move in the roll direction by the rotational driving of the motor 14, and can also move in the pitch direction by the rotational driving of the motor 16.

A base frame 26 is provided at a position opposed to the base frame 13 so that the lower side portion of the base frame 13 below the fixing portion of the motor 14 has the same shape. 13 and 26 are fixed shafts 27
Are connected to each other via. That is, the motors 28 and 29 are fixed to the lower side portion of the motor 14 of the base frame 13 and the upper side portion of the base frame 26 so as to sandwich the base frames 13 and 26, respectively.
Gears (hereinafter, referred to as output shaft gears) 30 and 31 are attached to the output shafts of Nos. 29 and 29, respectively, at positions facing each other.

Here, on the fixed shaft 27, spur gears 32 and 3 are provided.
3 are rotatably attached to each of the output shaft gears 30.
And 31 are engaged with each other. In addition, at the lower end portions of the base frames 13 and 26, the base frame 13 is
The rotary drive shafts 34 and 35 are rotatably inserted through the rotary drive shafts 26 and 26, respectively, and a gear (hereinafter, referred to as a drive shaft gear) 38 is provided at each one end of the rotary drive shafts 34 and 35. And 39 are mounted so as to face each other, and are engaged with the spur gears 32 and 33, respectively.

At the other ends of the rotary drive shafts 34 and 35,
Wheels 36 and 37 are attached so as to abut the inner surface of the spherical shell 11, respectively, and these are independently rotated as the corresponding drive shaft gears 38 and 39 are rotated. At this time, one of the wheels 36 and 37 rotates in the direction indicated by the arrow γ and the other rotates in the opposite direction to the direction indicated by the arrow γ at the same angular velocity, so that the object moving device 12 moves the object shell 12 of the spherical shell 11. It rotates on the inner side surface in the direction perpendicular to the rotary drive shafts 34 and 35, that is, in the direction indicated by the arrow θ or in the opposite direction (hereinafter referred to as the yaw direction).

Incidentally, as shown in the schematic view of the spherical shell 11 and the object moving device 12 in FIG. 3, when the object moving device 12 is rotationally driven in the direction shown by the arrow θ, a reaction occurs in the rotating operation. In some cases, the spherical shell 11 may rotate in the direction indicated by the arrow θ ′, that is, in the direction opposite to the rotation direction of the object moving device 12. However, in this case, the frictional force generated between the contact portion such as the floor where the spherical shell 11 is installed and the spherical shell 11 is large, or the inertia force of the object moving device 12 causes the wheels 36 and 37 to rotate. When the inertial force is large, the wheels 36 of the object moving device 12 are larger than the rotation angles of the wheels 36 and 37.
And the rotation angle in the opposite direction to 37 becomes larger. As a result, the spherical shell internal moving carriage 17 mounted in the object moving device 12 changes its direction with respect to the contact portion such as the floor on which the spherical shell 11 is installed.

Further, from predetermined positions below the base frames 13 and 26, casters 40A and 40B are extended in both outer directions so as to have a vertical relationship with the fixed shaft 27, respectively.
And 41A and 41B are provided, and the base frames 13 and 26 are supported on the inner surface of the spherical shell 11 by the four casters. As a result, the object moving device 12 is moved to the wheels 36 and 37 and the casters 40A and 40B and 41A.
And 41B so as to be held on the inner surface of the spherical shell 11.

As a result, the spherical shell internal moving carriage 17 is not limited to the roll direction and the pitch direction, but also the motors 28 and 29.
Can also move in the yaw direction by rotating in opposite directions. As a result, the spherical shell internal movement carriage 17 can freely move inside the spherical shell 11 to a desired position that is close to or in contact with the inner surface of the spherical shell 11.

Here, as shown in FIG. 4, when the spherical shell internal moving carriage 17 is controlled to move to a predetermined position inside the spherical shell 11, the rear surface side with respect to the inner side surface which approaches or abuts the predetermined position. A carriage (hereinafter, referred to as a spherical shell external movement carriage) 42 that is slidably movable on the external surface is mounted on the outer surface of the above, and the spherical shell internal movement carriage 17 and the spherical shell external movement are mounted. The carts 42 are magnetically coupled to each other in a non-contact manner.

That is, the spherical shell internal moving carriage 17 has a structure in which a table 17B made of a magnet is magnetized or bonded onto a connecting member 17A connected to a belt 18. In addition, the spherical shell external movement carriage 42 includes a table 42 made of a magnetic material.
A predetermined number of spherical wheels made of steel (hereinafter referred to as steel balls) 42B are slidably attached to the lower side of A.

The table 17B of the spherical shell internal moving carriage 17 and the spherical shell in the state where the spherical shell external moving carriage 42 is placed on the outer surface of the spherical shell body 11 so as to be aligned with the spherical shell internal moving carriage 17. Since the table 42A of the external moving carriage 42 attracts each other by magnetic force, the spherical shell external moving carriage 4
2 will be adsorbed on the outer surface of the spherical shell 11. At this time, since a predetermined number of steel balls 42B are slidably attached to the spherical shell external moving carriage 42, the spherical shell external moving carriage 42 moves along with the movement of the spherical shell internal moving carriage 17 of the spherical shell body 11. It can slide on the outer surface in any direction.

In FIG. 1, the object moving device 12 is provided with a control unit (not shown), and the control unit receives the motors 14, 16, 28 and 2 based on a control command from the outside.
9 are driven and controlled.

In the above structure, the object moving device 12 drives and controls the motor 14 inside the spherical shell 11 to move the spherical shell internal moving carriage 17 in the roll direction and drive and control the motor 23. As a result, the spherical shell internal movement carriage 17 can be moved also in the pitch direction. Further, by driving and controlling the motors 36 and 37 so as to rotate in mutually opposite directions, the spherical shell internal moving carriage 17 can be moved also in the yaw direction.

As a result, the spherical shell internal movement carriage 17 can freely move within the spherical shell body 11 to a desired position that is close to or abuts the inner surface of the spherical shell body 11. Further, in this case, the spherical shell outer moving carriage 42 is placed on the outer surface of the spherical shell 11 so as to be aligned with the spherical shell inner moving carriage 17, and the spherical shell inner moving carriage 17 and the spherical shell outer moving carriage 4 are mounted.
Since the two are attracted to each other by a magnetic force in a non-contact state, the spherical shell external moving carriage 42 can freely slide on the outer surface of the spherical shell body 11 along with the spherical shell internal moving carriage 17. it can.

According to the above construction, a drive mechanism is provided inside the spherical shell 11 for freely moving the spherical shell internal moving carriage 17 to a desired position in proximity to or in contact with the inner surface of the spherical shell 11. The spherical shell external moving carriage 4 and the spherical shell external moving carriage 4 are aligned by aligning the spherical shell external moving carriage 17 and the spherical shell external moving carriage 42 so as to attract each other by magnetic force through the spherical shell body 11.
2 can be freely slid on the outer surface of the spherical shell 11 in the adsorbed state with the movement of the spherical shell internal moving carriage 17. As a result, the object attitude control device 10 can move the spherical shell external movement carriage 42 to a desired position on the outer surface of the spherical shell 11 at a place where safety and airtightness are required.

That is, the object attitude control device 10 is used when it is used in a clean room for semiconductor manufacturing because the object moving device 12 as a drive system is hermetically sealed inside the spherical shell 12 having a strong characteristic against external pressure. When used in water or the like where the external pressure is high, it is possible to maintain the posture of the conveyed object or the like or perform the conveying operation to a desired position while preventing dust and water from entering the drive system.

Further, the object attitude control device 10 is excellent in safety since it has a spherical structure without protrusions as a whole, and it can be applied as a robot for working in a home such as a child or an elderly person. Is also possible.

In the above embodiment, as shown in FIG. 5, in the object attitude control device 10, the object moving device 1 is used.
The position 2 of the outer shell moving body 17 is controlled by controlling the position of the inner shell moving carriage 17 such that the outer shell moving carriage 42 is always held at a position vertically above the outer surface of the spherical shell 11. It can be applied by incorporating it in a carrier device (not shown) for safely carrying the object 45 placed on the table 42A of the movable carriage 42.

In the above embodiment, the spherical shell 11
Although the case where the spherical shell external movement carriage 42 is placed on the outer surface of the above has been described, the present invention is not limited to this, and for example, as shown in FIG. It may be applied as a highly versatile joint by attaching three arms 50 to 52).

Further, in the above-mentioned embodiment, the case where the table 17A of the spherical shell internal moving carriage 17 is made of a magnet and the table 42A of the spherical shell external moving carriage 42 is made of a magnetic material has been described. However, the present invention is not limited to this, and the table 17A may be made of a magnetic material and the table 42A may be made of a magnet. Further, both the tables 17A and 42A may be magnets.

Further, in the above-mentioned embodiment, the case where the spherical shell external moving carriage 42 is slidably movable on the outer surface of the spherical shell 11 via the steel ball 42B has been described. Is not limited to this, the oxygen shell can be injected from the outer surface side of the spherical shell 11 or the spherical shell external moving carriage 42 side, for example, by injecting an oxygen cylinder as a sliding means to generate an air film, so that the spherical shell external moving carriage 42 is moved. The body 11 may be slidably floated on the outer side surface thereof.

Further, in the above-described embodiment, when the carriage for moving inside the spherical shell 17 is moved in the pitch direction, it is moved by the belt 18 stretched along the arched rail 15A. However, the present invention is not limited to this, and for example, the spherical shell internal moving carriage 17 may be used as a linear motor to move on the arched rail 15A.

Further, in the above-mentioned embodiment, the control unit provided in the object moving device 12 has the motors 14, 16, 28.
In the case of driving and controlling 29 and 29 respectively, the case of executing them based on a control command from the outside has been described.
The present invention is not limited to this, and for example, a program for driving each motor may be read from a ROM in which a predetermined program is stored in advance, and the control unit may drive and control each motor based on the program.

[0039]

As described above, according to the present invention, a spherical body is provided in which the inner space is covered with a spherical shell having a predetermined thickness, and the object moving means is installed in the inner space of the spherical body. The second object is movably controlled to a desired position where the object approaches or contacts the inner surface of the sphere. At that time, by aligning the first object and the second object so as to attract each other by magnetic force through the sphere, the first object is moved on the outer surface of the sphere as the second object moves. Can be freely slid in the adsorbed state. As a result, it is possible to realize an object attitude control device that can move the first object to a desired position on the outer surface of the sphere at a place where safety and airtightness are required.

[Brief description of drawings]

FIG. 1 is a perspective view showing an overall configuration of an embodiment of an object attitude control device according to the present invention.

FIG. 2 is a partial cross-sectional view showing a configuration for moving a sphere internal moving carriage in the pitch direction.

FIG. 3 is a schematic diagram for explaining an operation of the object moving device in a yaw direction.

FIG. 4 is a partial cross-sectional view for explaining the relationship of the carriage on the inner and outer surfaces of the spherical shell.

FIG. 5 is a perspective view showing an object attitude control device according to another embodiment.

FIG. 6 is a perspective view showing an object attitude control device according to another embodiment.

FIG. 7 is a schematic diagram showing a configuration of a conventional gyroscope.

FIG. 8 is a perspective view showing a configuration of a conventional universal joint.

[Explanation of symbols]

10 ... Object attitude control device, 11 ... Spherical shell, 12 ...
Object moving device, 13, 26 ... Base frame, 14, 1
6, 28, 29 ... Motor, 15 ... Rotating frame, 1
5A ... Arch rail, 17 ... Truck for moving inside spherical shell,
18 ... Belt, 27 ... Fixed shaft, 36, 37 ... Wheels, 42 ... Ball-shell external moving carriage.

Claims (3)

[Claims] 1. An object attitude control apparatus for holding a first object in a predetermined state, a sphere having an inner space covered with a spherical shell having a predetermined thickness, and provided in the inner space of the sphere, An object moving means for movably controlling the second object to a desired position in proximity to or in contact with the inner surface of the sphere; and a first magnetic member connected to a holding surface of the first object for the sphere. A second magnetic member which is made of a material attracting the first magnetic member by magnetic force and is connected to a surface of the second object which is close to or in contact with the spherical body, The first and second magnetic members are aligned with each other so that the first object is allowed to freely slide on the outer surface of the sphere in the attracted state along with the movement of the second object. Characteristic object attitude control device. 2. The object attitude control device according to claim 1, wherein the internal space of the sphere is in a closed state. 3. A sliding means is provided between a holding surface of the first object for holding the sphere and an outer surface of the sphere, and the first object is slidable on the outer surface of the sphere through the sliding means. The object attitude control apparatus according to claim 1, wherein the object attitude control apparatus is configured to move to.