JPH09218981A - Orthogonal biaxial moving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smooth the motion of a traveling stand while adopting sheet metal structure for a guiding mechanism or a base by reducing two motors required ordinarily into one motor. SOLUTION: The X direction move of a traveling stand 1 is guided through an X guide part 2. A Y guide part 3 is orthogonal with the X guide part 2 at its one terminal part and guides the parallel move from the initial position of the X guide part 2 toward Y direction. A movable engager 5 is fitted into a long hole near the orthogonal part of the X guide part 2 and energized to right in the figure. The movable engager 5 is abutted with a stopper 6 at the initial position and its Y direction movement is blocked. A fixed engager is provided on the traveling stand 1 and positioned so as to be abutted with the movable engager 5. The fixed engager is abutted with the movable engager 5 by the X direction move of the traveling stand 1, disengaged from the stopper 6 while keeping its abutted state, engaged with the inside face of a guide rail 7 later and guided in the Y direction. A belt 10 is hung on respective pulleys 31-15 in the form of T-shaped loop, and a motor 8 is directly connected to the pulley 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for moving a traveling platform in the X direction to a predetermined position, then moving it in the Y direction perpendicular to the X direction and returning it in a reverse path, or
A device for moving the traveling platform in the X direction and in the Y direction perpendicular thereto, which is especially incorporated in an automatic vending machine and holds a cup on the traveling platform to horizontally move along the L-shaped route. The present invention relates to an orthogonal two-axis moving device that is made.

[0002]

2. Description of the Related Art Conventionally, an automatic two-axis moving device (XY coordinate robot) is incorporated in a vending machine for cup beverages, which is accommodated in a cup in the process of horizontally moving its traveling base along an L-shaped path. We made a drink and provided it to the customer side at the final stage. Of course, there is a method of moving the traveling platform along a straight path instead of moving horizontally along the L path, but in general, the L path method is more suitable than the straight path method for cups, raw materials, Hot water, carbonated water,
It is advantageous in the arrangement of ice and is often used in practice. This orthogonal two-axis moving device will be described with reference to FIG. 6, which is a perspective view thereof. In FIG. 6, the traveling platform 51 on which the gripping unit 16 for the cup is mounted is guided so as to be movable in the axial direction (X direction) of the square rod-shaped X moving unit 52.
The X moving unit 52 is a linear mechanism in which a belt is mechanically wound around a pulley and the traveling platform 51 is fixed to the belt.
It is driven by a motor 53 attached to the other end in the figure. On the other hand, the two Y-moving parts 54 and 55 in the shape of a square bar are
Base frame 58 with each axis parallel (Y direction)
Installed on top. The Y moving portions 54 and 55 are linearly moving mechanisms in which belts are mechanically wound around pulleys and the ends on both sides of the X moving portion 52 are fixed to the belt, similarly to the X moving portion 52. One Y moving unit 54 is driven by a motor 56 attached to the right end portion on the other side in the drawing, and the other Y moving unit 54 is synchronized with this by a transmission shaft 57.
55 is driven.

More specifically, the X moving portion 52 is initially positioned at the position shown on the Y moving portions 54, 55, and the traveling platform 51 moves in the axial direction (X direction) of the X moving portion 52. First, a cup (not shown) is dropped and gripped by the gripping unit 16 at the first position, and the beverage raw material (beverage powder or concentrated syrup) is charged into the cup at the second position. Platform 51
After the X moving portion 52 reaches the end on the other side of the X moving portion 52, the X moving portion 52 moves along the Y moving portions 54, 55 in the axial direction (Y direction), so that the shape along the Y moving portion 54 is formed. To move.
In this process, warm water, carbonated water and ice are added to complete
The final position corresponding to the left end of the Y moving unit 54 is the place where the cup beverage is provided to the customer.

[0004]

The conventional example has the following problems. One is to use two motors (motors 53 and 56 in FIG. 6) in order to use a normal orthogonal biaxial moving device.
) Becomes necessary and becomes a factor of cost increase. Secondly, even if a normal orthogonal two-axis moving device is used, it is necessary to incorporate it in a vending machine. Therefore, in order to reduce the weight and the cost, the X moving part 52, the Y moving parts 54, 55 and the base frame 58 are used. Since the sheet metal structure is adopted, the linearity and parallelism are reduced. As a result, the X moving unit 52 moves in parallel on the Y moving units 54, 55 in the axial direction (Y direction) due to a decrease in the linearity and parallelism of the Y moving units 54, 55. Occasionally, an abnormal load is applied, which hinders the smooth movement of the traveling platform 51. Further, in order to absorb and compensate for the decrease in the linearity and parallelism so that the smooth movement of the traveling platform 51 is not hindered, the X moving unit 52
It is necessary to interpose a mechanism having elasticity and play at each orthogonal position between the Y moving parts 54 and 55.

The problem to be solved by the present invention is to solve the above problems of the prior art and reduce the number of motors normally required to be two to one, or to use a sheet metal structure for the guide mechanism and the base. It is an object of the present invention to provide an orthogonal two-axis moving device capable of smoothing the movement of the traveling platform with a simple mechanism.

[0006]

According to the present invention, as shown in FIG. 1, a traveling platform 1 is moved to a predetermined position in the X direction, then moved in the Y direction perpendicular to the X direction, and returned in a reverse route. An X guide unit 2 for guiding the movement of the traveling platform 1 in the X direction; the X guide unit 2 and one end of the X guide unit 2 are orthogonal to each other, and are parallel to the Y direction from the initial position of the X guide unit 2. A Y guide portion 3 for guiding the movement; and a fixed engagement tool 4 provided on the left side surface of the traveling platform 1 as shown in the perspective view of the main part of FIG.
A process in which the traveling base 1 is provided so as to be displaceable in the X direction near one end of the X guide portion 2 and is urged in a direction away from the Y guide portion 3 and the traveling platform 1 moves from near a predetermined position to a predetermined position Movable engaging member 5 pushed by fixed engaging member 4 by
And a stopper 6 that blocks movement of the movable engaging member 5 in the initial position in the Y direction via contact with the movable engaging member 5 in the initial position; and moves in the X direction while the fixed engaging member 4 and the movable engaging member 5 are in contact with each other. Then, a guide rail 7 for guiding the movement in the Y direction in the abutting state after reaching the predetermined position and coming off the stopper 6, and the pulleys 11, 12 respectively arranged at both ends of the Y guide portion 3. , A pair of pulleys 13 and 15 arranged in parallel in the Y direction at intersections of the X guide portion 2 and the Y guide portion 3, a pulley 14 disposed at the free end portion of the X guide portion 2, and each of these. A winding transmission mechanism 9 including a belt 10 wound around a pulley in a T-shaped loop.
And; a motor 8 for driving either one of the pulleys 11 and 12 arranged in the Y guide portion 3;

Further, the present invention is an apparatus for moving the traveling base 31 in the X direction and the Y direction perpendicular thereto, as shown in FIG. 4, which is an X moving section 32 for moving the traveling base 31 in the X direction.
And a Y moving portion 33 that is orthogonal to the X moving portion 32 and moves the X moving portion 32 in parallel in the Y direction; and one end of the X moving portion 32 is rotatably supported in the Y direction, and the Y moving portion 33 is provided. A base that supports each end on both sides so that it can swing around its axis
34 and; are provided.

Here, the present invention is preferably incorporated in an automatic vending machine for cup beverages, and the traveling platform 1 or 31 preferably holds the cup and moves horizontally. Therefore,
In the present invention, in the first step, the traveling platform 1 is moved in the X direction by the forward rotation of the motor 8 via the winding transmission mechanism 9 and the X guiding unit 2 in a state where the X guiding unit 2 is positioned at the initial position. Moving. This is because the movable engaging member 5 in the initial position contacts the stopper 9 to prevent the X guide portion 2 from moving in the Y direction. As the second stage, in the process of moving the traveling platform 1 from near the predetermined position to the predetermined position, the fixed engaging member 4 pushes the movable engaging member 5 against the bias, and the fixed engaging member 4 and the movable engaging member 4 move. The fitting 5 moves in the X direction in the abutting state, reaches a predetermined position, and comes off the stopper 6. Then, in the third step, the fixed engagement tool 4 and the movable engagement tool 5 are guided so as to be movable along the guide rails 7 in the contact state, so that the traveling platform 1 together with the X guide portion 2 and the motor 8 are moved. By the normal rotation of the above, it moves in the Y direction via the winding transmission mechanism 9. Further, the traveling platform 1 can be returned by the reverse path of the motor 8 in the route opposite to the above.

Further, in the present invention, the traveling table 31 can be moved in the axial direction, that is, the X direction by the X moving section 32, and can be translated in the Y direction by the Y moving section 33. Moreover, when the X moving unit 32 moves in parallel in the Y direction, even if there is a position change in the direction perpendicular to the XY plane at each rolling position and each orthogonal position with the Y moving unit 33, the X change causes X. It is possible to avoid applying a moment around the axis of the Y moving unit 33 to the moving unit 32. The reason is that one end of the X moving portion 32 is supported so as to be rollable in the Y direction, and both ends of the Y moving portion 33 are fixed to the base 34 via bearings that can swing around the axis. This is because that.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As embodiments of the present invention, first and second embodiments will be described below with reference to the drawings. FIG. 1 is a perspective view of the first embodiment, and FIG. 2 is a perspective view of a main part of the first embodiment. In FIG. 1, a traveling base 1 equipped with a gripping unit for gripping a cup (not shown here, see reference numeral 16 in FIG. 6 showing a conventional example) moves horizontally via an X guide section 2. Will be guided. The X guide unit 2 is a rectangular bar-shaped guide mechanism unit whose axis is in the X direction and guides the movement of the traveling platform 1 in the X direction. Y guide 3
A rectangular rod-shaped guide mechanism unit having an axis in the horizontal Y direction, which is orthogonal to the X guide portion 2 at one end (left side) thereof, and moves in parallel in the Y direction from the illustrated initial position of the X guide portion 2. To guide you. Further, the movable engaging member 5 formed in the L shape is provided near the one end portion (the orthogonal portion) of the X guide portion 2 by the guide elongated hole 17 shown in the perspective view of the main part of FIG. It is provided so that it can be displaced in any direction, and the compression spring 18 allows
That is, it is biased in a direction away from the Y guide portion 3 and positioned at the right end of the slot 17. The movable engaging member 5 is L at the initial position.
The vertical portion of the character comes into contact with the rectangular flat plate-shaped stopper 6 to prevent movement in the Y direction. On the other hand, an L-shaped fixed engagement tool 4 is provided on the left side surface of the traveling platform 1, and the L-shaped vertical portion is positioned so as to be able to contact the vertical portion of the movable engagement tool 5.
The fixed engagement tool 4 comes into contact with the movable engagement tool 5 as the traveling platform 1 moves in the X direction, moves in the X direction together with the movable engagement tool 5, and then comes off the stopper 6 (see the broken line display). As it is, it engages with the inner side surface of the U-shaped gutter-shaped guide rail 7 provided along the front side surface of the Y guide portion 3 and is guided so as to be movable in the Y direction.

Returning to FIG. 1, the pulleys 11 and 12 are provided at both ends of the upper surface of the Y guide portion 3, and a pair of pulleys 13 and 15 arranged in parallel in the Y direction are provided on the upper surface of the X guide portion 2. At the intersection with the Y guide portion 3, a pulley 14 is disposed at the upper free end portion of the X guide portion 2, and a belt 10 is wound around each of the pulleys 11 to 15 in the order of their reference numbers to form a T-shaped loop. Be hung. Each of these pulleys 11 to 15 and the belt 10 constitutes a winding transmission mechanism 9. A motor 8 is arranged at the left end of the lower surface of the Y guide portion 3 and is directly connected to the pulley 11 to drive it. The motor 8 may be directly connected to the pulley 12 to drive it.

The operation of the first embodiment will be described with reference to FIG. FIG. 3 relates to each stage showing the operation,
(a) is a perspective view of the first stage, (b) is a perspective view of the second stage,
(c) is a perspective view of a third stage. (a) In the first stage, the X guide portion 2 is positioned near the right end of the Y guide portion 3 as an initial position. In this state,
As shown in FIG. 2, the movable engaging member abutting and positioned on the inner surface of the X guide portion 2 corresponding to the right end of the elongated hole 17 abuts on the stopper 6 while being biased by the compression spring 18. , The X guide portion 2 is prevented from moving in the Y direction. Therefore, the traveling platform 1 approaches the Y guide portion 3 along the axial direction (X direction) of the X guide portion 2 via the winding transmission mechanism 9 by the clockwise rotation when viewed from above the motor 8. Move in the direction of the arrow. (b) In the second stage, when the traveling platform 1 moves in the X direction and becomes close to the orthogonal position between the X guide portion 2 and the Y guide portion 3, the fixed engagement tool 4 (provided on the left side surface of the traveling platform 1 ( 2) is abutted against the movable engaging member 5 and continues to move in the X direction while pressing the movable engaging member 5 against the bias of the compression spring 18. Finally, the fixed engagement tool 4 and the movable engagement tool 5 are disengaged from the stopper 6 in an abutting state, and reach a position that can engage with the groove of the guide rail 7 and that is opposite to the end thereof. (c) In the third stage, since the traveling platform 1 is guided so as to be movable in the Y direction along the guide rail 7 while the fixed engaging member 4 and the movable engaging member 5 are in contact with each other, the traveling base 1 is continuously rotated clockwise. Through the rotating motor 8 and the winding transmission mechanism 9, it moves together with the X guide portion 2 in the Y direction from the far side to the near side in the Y direction to the final position.

Through the above first, second, and third stages (a), (b), and (c) in order, the traveling platform 1 can move along a generally horizontal L-shaped path. Further, the traveling platform 1 can be returned from the final position to the initial position in the reverse path by rotating counterclockwise when viewed from above the motor 8. In addition,
At the end of the movement in the -Y direction corresponding to the third stage of this reverse path, the X guide portion 2 is blocked by the stopper (not shown) in the initial position. That is, the X guide unit 2 is configured to be capable of only parallel movement in the Y direction from the initial position. By the way, in a gripping unit (not shown) to be mounted on the traveling platform 1, a cup (not shown) drops and grips at a first position in the first stage of the movement of the traveling platform 1 in the X direction. Then, the powder raw material of the beverage is charged into the cup at the second location, or the concentrated stock solution is charged into the cup at the third location. In addition, the running platform 1
In the process of moving in the Y direction in the third step, hot water or carbonated water and ice are selectively added at predetermined positions according to the type of drink to be sold, and then at the final position on the left front side as a cup drink Provided to.

FIG. 4 is a perspective view of the second embodiment. In FIG. 4, the traveling table 31 on which the gripping unit 16 for gripping the cup is mounted moves in the X direction via the X moving unit 32. The X moving unit 32 is a rectangular rod-shaped moving mechanism unit having the X direction as an axis, and includes a guide mechanism for guiding the movement of the traveling platform 31 in the X direction and a drive motor 42. The Y moving unit 33 is a rectangular rod-shaped moving mechanism unit having an axis in the Y direction, and is orthogonal to the X moving unit 32 at an intermediate portion thereof, and is driven by a guide mechanism that guides the X moving unit 32 in parallel translation in the Y direction. The motor 43 is provided. The Y moving unit is provided at a position orthogonal to the X moving unit 32 and the Y moving unit 33.
A table 35, which is guided in the axial direction of 33, is interposed, and the X moving unit 32 is fixed to this. A pair of rollers 36 are arranged in parallel in the Y direction at the left end of the X moving unit 32. A rectangular frame-shaped base 34 is installed horizontally, and a guide rail 37 extending in the Y direction is attached to the upper surface of the left front side part thereof. The roller 36 is rollably engaged with the guide rail 37. Further, the Y moving portion 33 is supported by the base 34 via both ends thereof so as to be swingable around an axis line, as will be described later with reference to FIG.

FIG. 5 is an exploded perspective view of the essential parts of the second embodiment. In FIG. 5, support shafts 38 project from both ends of the Y moving part 33 (the figure shows the right front end part), and upper and lower split bearings 39 that rotatably support the support shafts 38 are formed on the base 34.
It is fixed to the right front side and the left side of the right side at predetermined positions.
Therefore, returning to FIG. 4, the traveling platform 31 can be moved in the axial direction, that is, the X direction by the X moving unit 32 (including the motor 42), and together with the X moving unit 32, the Y moving unit.
It is possible to translate in the Y direction by 33 (including the motor 43). Moreover, the X moving portion 32 is provided with bearings around the axis of the Y moving portion 33 on the side of each of the support shafts 38 at both ends thereof and the base 34.
Since it can be swung via 39 and can be rolled along the guide rail 37 of the base 34 via the roller 36 at the same time, Y
Even if the moving unit 33 and the base 34 have a sheet metal structure for the purpose of weight reduction and cost reduction, and the linearity and parallelism are reduced due to this, when the X moving unit 32 moves in parallel in the Y direction. In addition, since there is a degree of freedom for the Y moving portion 33 to swing around the axis and escape, the smooth movement is guaranteed without applying an unreasonable moment A around the axis of the Y moving portion 33. Therefore, the travel base 31 is similarly guaranteed to move smoothly.

In other words, while the sheet metal structure is adopted, even if the linearity and the parallelism of the Y moving portion 33 and the base 34 are lowered due to this, the movement of the traveling platform 31 can still be made smooth. Further, unlike the conventional example, in order to absorb and compensate for the decrease in the linearity and parallelism so that the smooth movement of the traveling platform 31 is not impeded, the X moving part 32 and the Y moving part 33 are provided at the orthogonal position. Since there is no need to interpose a mechanism having elasticity or play, the structure is simplified and cost reduction is supported. It should be noted that the table 35 in the second embodiment is not the mechanism having elasticity and play described above, but the X moving unit 32 and the Y moving unit 33.
Is a mere joining member for orthogonally connecting

By the way, when the second embodiment is incorporated into a vending machine, the cup is dropped and gripped in the process of movement of the traveling platform 31 in the X direction, and the powder raw material of the beverage or the concentrated undiluted solution is cupped at each subsequent position. In the next process of moving in the Y direction, hot water, carbonated water, and ice are selectively added, and then served as a cup beverage at the final position on the right front side to the customer side.

[0018]

According to the present invention, the following excellent effects can be expected. (1) Move the platform 1 in the X direction to the specified position, then
In the device that moves in the Y direction, which is perpendicular to the direction, and returns in the reverse path, only one motor for movement is required by using the winding transmission mechanism 9, which reduces the cost of the motor and its control circuit. Leads to. On the other hand, a normal type orthogonal two-axis moving device requires two motors. (2) In the device that moves the traveling platform 31 in the X direction and the Y direction orthogonal thereto, in order to reduce the weight and reduce the cost, the guide mechanism and the base have a sheet metal structure, that is, each movement caused by the sheet metal structure. Even if the linearity or parallelism of the parts is reduced, the movement of the traveling platform can be made smooth for the following reasons. The reason is that one end of the X moving part 32 is supported so as to be rollable in the Y direction, and the Y moving part 33 is supported by the base 34 at each end on both sides thereof so as to be swingable around the axis. , When the X moving unit 32 moves in parallel in the Y direction, even if there is a position change in the direction perpendicular to the XY plane at each rolling position and each position orthogonal to the Y moving unit 33, the X movement is caused by that. It is based on the fact that the moment A about the axis of the Y moving portion 33 is prevented from being applied to the portion 32. In addition, in order to absorb and compensate for the decrease in linearity and parallelism so that the smooth movement of the traveling platform 31 is not impeded, a mechanism having elasticity or play is provided at a position orthogonal to the X moving unit 32 and the Y moving unit 33. Since there is no need to intervene, the structure is simplified and the cost is reduced.

[Brief description of drawings]

FIG. 1 is a perspective view of a first embodiment according to the present invention.

FIG. 2 is a perspective view of a main part of the first embodiment.

3A to 3C are perspective views of a first stage, FIG. 3B is a perspective view of a second stage, and FIG. 3C is a perspective view of a third stage.

FIG. 4 is a perspective view of a second embodiment according to the present invention.

FIG. 5 is an exploded perspective view of a main part of the second embodiment.

FIG. 6 is a perspective view of a conventional example.

[Explanation of symbols]

 1 Traveling Table 2 X Guide Part 3 Y Guide Part 4 Fixed Engagement Tool 5 Movable Engagement Tool 6 Stopper 7 Guide Rail 8 Motor 9 Winding Transmission Mechanism 10 Belt 11-15 Pulley 16 Gripping Unit 17 Elongated Hole 18 Compression Spring 31 Traveling Platform 32 X moving part 33 Y moving part 34 Base 35 Table 36 Roller 37 Guide rail 38 Spindle 39 Bearing 42, 43 Motor

Claims (3)

[Claims] 1. A device for moving a traveling platform (1) to a predetermined position in the X direction, then moving it in a Y direction perpendicular to the X direction and returning it in a reverse path, wherein the traveling platform (1) is in the X direction. X guide part (2) for guiding the movement; Y which is orthogonal to the X guide part (2) at one end thereof and which guides the parallel movement in the Y direction from the initial position of the X guide part (2). With a guide (3);
A fixed engagement tool (4) provided on the carriage (1); and an X guide
(2) It is provided so as to be displaceable in the X direction near one end of
A movable engagement tool (5) that is urged in a direction away from the Y guide portion (3) and is pushed by a fixed engagement tool (4) while the traveling platform (1) moves from near a predetermined position to a predetermined position. When;
A stopper (6) for preventing the movement in the Y direction through contact with the movable engaging member (5) having an initial position; and a fixed engaging member (4)
A guide rail (7) for guiding the movable engaging member (5) and the movable engaging member (5) to move in the X direction in the abutting state, reach a predetermined position, and come off the stopper (6) and then move in the Y direction in the abutting state. ) And; pulleys (11), (1 provided at both ends of the Y guide (3), respectively.
2), a pair of pulleys (13), (15) arranged in parallel in the Y direction at the intersection of the X guide (2) and the Y guide (3), and the X guide (2)
(14) disposed at the free ends of the belt and belts (1) wound around these pulleys in a T-shaped loop.
A winding transmission mechanism (9) consisting of (0); and a motor (8) for driving one of the pulleys (11), (12) arranged in the Y guide portion (3); An orthogonal two-axis moving device characterized by: 2. The traveling platform (31) is arranged in the X direction and at a right angle to it.
A device for moving in the X direction, an X moving unit (32) for moving the traveling platform (31) in the X direction; and a Y moving for orthogonally moving the X moving unit (32) and translating it in the Y direction. Division (3
3) and; One end of the X moving portion (32) is supported so as to be rollable in the Y direction, and the Y moving portion (33) is supported so as to be swingable around its axis at both ends thereof. An orthogonal biaxial movement device comprising a base (34); 3. The moving device according to claim 1 or 2, wherein the traveling table (1) is incorporated in a vending machine for cup beverages.
Alternatively, the orthogonal biaxial movement device is characterized in that (31) is configured to horizontally move while holding the cup.