US20080064543A1 - Three axis drive apparatus - Google Patents
Three axis drive apparatus Download PDFInfo
- Publication number
- US20080064543A1 US20080064543A1 US11/642,848 US64284806A US2008064543A1 US 20080064543 A1 US20080064543 A1 US 20080064543A1 US 64284806 A US64284806 A US 64284806A US 2008064543 A1 US2008064543 A1 US 2008064543A1
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- Prior art keywords
- slider
- driven member
- pulleys
- axis
- guide
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
- B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
- B23Q1/626—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair followed perpendicularly by a single sliding pair
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Automatic Analysis And Handling Materials Therefor (AREA)
- Transmission Devices (AREA)
Abstract
A pulley drive mechanism 26 for driving a second pulley 23 includes: a spline shaft 27 rotated integrally with the second pulley 23, for supporting the second pulley so that the second pulley can be moved in the direction of Y-axis in the drawing; a third pulley 28 arranged at one end portion of the spline shaft 27; and a third belt drive mechanism 29 for driving the spline shaft 27 through the third pulley 28.
Description
- 1. Field of the Invention
- The present invention relates to a three axis drive apparatus used for an automatic analyzer, an electronic parts mounting device, various processing machines and a conveying device.
- 2. Description of Related Art
- As an example, in an automatic analyzer for analyzing a specimen of blood or urine which has been collected into a reaction container such as a well plate, it is necessary to conduct positioning by moving a distribution nozzle, which distributes liquid such as chemical into a reaction container, in three directions of X-axis, Y-axis and Z-axis.
- Conventionally a positioning device which determines position of the distribution nozzle in the three directions of X-axis, Y-axis and Z-axis has an X-direction positioning mechanism for positioning in X-axis direction, a Y-direction positioning mechanism for positioning in Y-axis direction and a Z-direction positioning mechanism for positioning in Z-axis direction. The distribution nozzle is positioned at a predetermined position by operating these positioning mechanisms.
- However, in the conventional device, a positioning mechanism for moving the distribution nozzle in the three axial directions is formed out of a combination of a linear guide with a ball screw. Therefore, at least two drive motors in the three drive motors for driving the ball screws are moved integrally with the distribution nozzle. Therefore, when the distribution nozzle is moved in the three axial directions, a Cable Bear (registered trademark in Japan) for protecting an electric power cable connected to the drive motor is dragged. Therefore, noise and dust are generated. Since at least two drive motors in the three drive motors are mounted on a movable portion of the mechanism portion, a weight of the movable portion is increased and it is difficult to move a member to be driven such as a distribution nozzle in the three axial directions at high speed.
- The present invention has been accomplished to solve the above problems. An object of the present invention is to provide a three axis drive apparatus capable of suppressing a generation of noise and dust from the Cable Bear.
- In order to accomplish the above object, according to a first aspect of the invention, there is provided a three axis drive apparatus (1) for driving a driven member in first (X-direction), second (Y-direction) and third (Z-direction) directions perpendicular to each other, comprising:
- a base (2, 101) comprising a first support portion (50, 60, 105) fixed thereon;
- a first guide mechanism comprising:
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- a first guide member (4, 36, 121 a) supported by the first support portion; and
- a first slider (5, 121 b, 121 c) guided by the first guide member in the first direction;
- a second guide mechanism comprising:
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- a second guide member (3 a, 131 a) extending in the second direction from the first slider; and
- a second slider (3 b, 131 b) guided by the second guide member in the second direction;
- a third guide mechanism that is provided on the second slider and guides the driven member to the third direction;
- a first belt drive mechanism comprising:
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- a first slider drive transmission belt (8, 107) that slides the first slider; and
- a first motor (11, 113) that drives the first slider drive transmission belt through a plurality of first pulleys (9, 10, 108 a, 108 b);
- a second belt drive mechanism comprising:
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- a second slider drive transmission belt (14, 109) that slides the second slider; and
- a second motor (20, 114) that drives the second slider drive transmission belt through a plurality of second pulleys (15, 16, 17, 18, 19, 110 a, 110 b, 110 c, 110 d, 110 e); and
- a driven member drive mechanism comprising:
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- at least one of driven member drive transmission belt (25, 30, 111) that slides the driven member; and
- a third motor (35, 115) that drives the driven member in the third direction through a plurality of driven member pulleys (22, 23, 28, 31, 32, 33, 34, 112 a, 112 b, 112 c, 112
d
- wherein the first pulleys, at least one of the second pulleys, at least one of the driven member pulleys, the first motor, the second motor and the third motor are fixed on the first support portion.
- According to a second aspect of the invention, as set forth in the first aspect of the invention, it is preferable that the second belt drive mechanism further comprises three second pulleys that are supported on the first slider and draws a part of the second belt along with second direction.
- According to a third aspect of the invention, as set forth in the first aspect of the invention, it is preferable that the third drive mechanism further comprises:
- a spline shaft that is supported on the first slider so as to extend in the second direction and is rotated by at least one of the third transmission belt;
- a pair of third pulleys that is rotatably driven by the spline shaft and provided so as to be movable in an axial direction of the spline shaft;
- a secondary driven member drive transmission belt that moves the driven member in the third direction by the pair of the third pulleys.
- According to a fourth aspect of the invention, as set forth in the first aspect of the invention, it is preferable that the driven member drive mechanism comprises:
- a feed screw shaft supported on the second slider so as to extend in the third direction and rotatably driven by the driven member drive transmission belt;
- a nut that is connected to the driven member, is screwed to the feed screw shaft and is moved in the third direction by rotation of the feed screw shaft.
- According to a fifth aspect of the invention, as set forth in the fourth aspect of the invention, it is preferable that the driven member drive mechanism comprises:
- a second direction drawing pulley that is supported on the first slider and draws a part of the second slider drive transmission belt in the second direction;
- three first direction drawing pulleys that are supported on the second slider and draw a part of the second slider drive transmission belt in the second direction which is drawn in the second direction by the second direction drawing pulley,
- wherein one of the first direction drawing pulley, which is engaged with an end part of the second slider drive transmission belt drawn in the first direction, is fixed on the feed screw shaft.
- According to a sixth aspect of the invention, as set forth in the fourth aspect of the invention, it is preferable that the driven member drive mechanism comprises:
- a third slider comprising a nut portion screwed on the feed screw shaft,
- a slider support member that supports the third slider so as to be movable in an axial direction of the feed screw shaft.
- According to a seventh aspect of the invention, as set forth in the first aspect of the invention, it is preferable that the third guide mechanism comprising:
- a screw shaft (143) rotated by the driven member drive transmission belt;
- a movable body (146) engaged with the screw shaft directly or indirectly;
- a guide rail (147) that is provided so as to be parallel to the screw shaft and guides the movable body in a longitudinal direction of the guide rail;
- wherein the movable body is driven by the screw shaft and guided by the guide rail.
- According to the invention, since the first pulleys, at least one of the second pulleys, at least one of the driven member pulleys, the first motor, the second motor and the third motor are fixed on the first support portion, when moving the driven member in one of the three directions, there are not any fears that Cable Bear is dragged. Accordingly, there are no fears that the noise or the dust is generated.
- Furthermore, the first motor, second motor and third motor are mounted on the first support portion, the second guide mechanism or the driven member drive mechanism can be lightweight, thus, the driven member can be moved quickly.
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FIG. 1 is a perspective view showing an outline of the structure of the three axis drive apparatus of the first embodiment of the present invention; -
FIG. 2 is a sectional view showing a portion of the three axis drive apparatus shown inFIG. 1 ; -
FIG. 3 is a perspective view showing an outline of the structure of the three axis drive apparatus of the second embodiment of the present invention; -
FIG. 4 is a perspective view showing an outline of the structure of the three axis drive unit of the third embodiment of the present invention; -
FIG. 5 is a plan view showing the three axis drive unit of the third embodiment of the present invention; -
FIG. 6 is a front view showing the three axis drive unit of the third embodiment of the present invention; -
FIG. 7 is a rear view showing the three axis drive unit of the third embodiment of the present invention; -
FIG. 8 is a sectional view taken on line VIII-VIII inFIG. 5 ; -
FIG. 9 is a sectional view taken on line IX-IX inFIG. 5 ; and -
FIG. 10 is a perspective view showing an outline of the structure of the three axis drive unit of the fourth embodiment of the present invention. - Referring to the drawings, an embodiment of the present invention will be explained below.
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FIG. 1 is a view showing an overall arrangement of the three axis drive apparatus of the first embodiment of the present invention. - As shown in the drawing, the three
axis drive apparatus 1 of the first embodiment of the present invention is provided with a plate-shapedbase 2. On thebase 2, anX-direction support portion 50 is provided. TheX-direction support portion 50 is provided with twocolumns beams 50c 50 d, of which ends are fixed to thecolumns beams guide rods 4. Above this plate-shapedbase 2, alinear guide 3 is provided as a second guide mechanism. Thislinear guide 3 is used for moving a drivenmember 24 in the second axial direction (the direction of Y-axis) perpendicular to the first axial direction (the direction of X-axis). Thisguide rail 3 a of thelinear guide 3 is fixed to theguide rail support 5 so that an extending direction of theguide rail 3 a can be laid along the direction of Y-axis (the second axial direction) in the drawing. - The X-axis slider (first slider) 5 includes: a pair of
blocks 5 a respectively internally engaged with a substantially cylindrical bearing (not shown) guided by two guide rods (first guide member) 4 arranged above thebase 2; aplate 5 b provided between the pair ofblocks 5 a; and arail support member 5 c fixed to theplate 5 b. Theguide rail 3 a is fixed to therail support member 5 c. - The first guide mechanism includes: a pair of
guide rods 4; and at least one bearing (not shown). Due to the above structure, the guide rail support 5 (Y-direction support portion) is supported so as to be moved in the direction of X-axis (the first axial direction). Theguide rail support 5 and others compose the first movable portion. - The
guide rail 3 a of the linear guide (second guide member) 3 is driven in the direction of X-axis in the drawing by the firstbelt drive mechanism 6 through theguide rail support 5. - This first
belt drive mechanism 6 includes: abelt attaching member 7 attached to theguide rail support 5, composing the first movable portion; a timing belt 8 (a first slider drive transmission belt) for driving theguide rail support 5 through thebelt attaching member 7 in the direction of X-axis in the drawing; and a motor 11 (first motor) for driving thistiming belt 8 through thepulleys - On the other hand, a slider (second slider) 3 b of the
linear guide 3 is driven in the direction of Y-axis in the drawing by the secondbelt drive mechanism 12. - This second
belt drive mechanism 12 includes: abelt attaching member 13 attached to theslider 3 b of thelinear guide 3; atiming belt 14, which is a transmission belt, for driving theslider 3 b through the attachingmember 13 in the direction of Y-axis in the drawing; and a motor 20 (second motor) for driving thistiming belt 14 throughpulleys - The three
axis drive apparatus 1 of the first embodiment includes: afirst pulley 22 pivotally supported by theslider 3 b of thelinear guide 3 through thebracket 21 composing the second movable portion together with thebelt attaching member 13; asecond pulley 23 arranged in parallel with thefirst pulley 22; atiming belt 25 which is a transmission belt for driving a drivenmember 24 in the third axial direction (the direction of Z-axis) perpendicular to the first and the second axial direction in cooperation with thesepulleys FIG. 1 ) for driving thesecond pulley 23. - In this case, the
pulley drive mechanism 26 includes: aspline shaft 27 rotated together with thesecond pulley 23, for supporting thesecond pulley 23 so that thesecond pulley 23 can be moved in the direction of Y-axis in the drawing; athird pulley 28 arranged at one end portion of thisspline shaft 27; and a thirdbelt drive mechanism 29 for driving thespline shaft 27 through thethird pulley 28. The thirdbelt drive mechanism 29 includes: atiming belt 30 which is a transmission belt for driving thethird pulley 28; and amotor 35 for driving thistiming belt 30 through thepulleys - In this structure, when the
motor 35 of the thirdbelt drive mechanism 29 is driven, thesecond pulley 23 is rotated integrally with thespline shaft 27. When themotor 20 of the secondbelt drive mechanism 12 is driven, thesecond pulley 23 is moved in the axial direction of thespline shaft 27 integrally with theslider 3 b. - Accordingly, in the first embodiment described above, the
pulley drive mechanism 26 for driving thesecond pulley 23 includes: aspline shaft 27 rotated integrally with thesecond pulley 23, for supporting thesecond pulley 23 so that thesecond pulley 23 can be moved in the direction of Y-axis (the second axial direction); athird pulley 28 arranged at one end portion of thespline shaft 27; and a thirdbelt drive mechanism 29 for driving thespline shaft 27 through thethird pulley 28. - Due to the above structure, the
second pulley 23 can be rotated under the condition that the thirdbelt drive mechanism 29 is fixed at a predetermined position. Accordingly, it is unnecessary to mount thepulley drive mechanism 26, which drives thesecond pulley 23, on theslider 3 b of thelinear guide 3. Further, a weight of the device can be reduced. - In this connection, it should be noted that the present invention is not limited to the above specific embodiment. For example, in the first embodiment described above, the first guide mechanism for supporting the guide rail support (the first movable portion) 5 for supporting the
guide rail 3 a of the linear guide is supported by the twoguide rods 4 and the cylindrical bearing. - However, as shown in a second embodiment illustrated in
FIG. 3 , it is possible that theguide rail support 5 also uses a linear guide and is supported by theguide rail 36 different from theguide rail 3 a of thelinear guide 3. AnX-direction support portion 60 is provided on thebase 2. The X-direction support portion is provided withcolumns beam 60 c supported by thecolumns guide rail 36 is provided on thebeam 60 c. Further, it is possible that the bearing to support the driven member is replaced with a substantially cylindrical bearing. - In the same manner, the second guide mechanism is not limited to the above guide mechanism, instead of the
linear guide 3, for example, it is possible to employ a combination of the guide rod with the substantially cylindrical bearing. In any case, the guide mechanism is not limited to a rolling bearing but it is possible to use a sliding bearing. Alternatively, it is possible to use a non-contact type guide such as a static pressure guide. - Referring to
FIGS. 4 to 10 , a third embodiment of the present invention will be explained below. -
FIG. 4 is a perspective view showing an outline of the structure of the three axis drive unit of the third embodiment of the present invention,FIG. 5 is a plan view showing the three axis drive unit of the third embodiment,FIG. 6 is a front view showing the three axis drive unit of the third embodiment,FIG. 7 is a rear view showing the three axis drive unit of the third embodiment,FIG. 8 is a sectional view taken on line VIII-VIII inFIG. 5 , andFIG. 9 is a sectional view taken on line IX-IX inFIG. 5 . The three axis drive unit of the third embodiment includes: a base 101, afirst guide mechanism 102, asecond guide mechanism 103 and a Z-direction positioning mechanism 104. - The first guide mechanism, which will be referred to as “an X-direction linear guide” hereinafter, includes: a
guide rail 121 a which is an X-direction guide member horizontally supported bysupport columns base 101, and also supported by abeam member 105 c, both end portions of which are fixed to upper end portions of both supportcolumns FIG. 6 ) guided by theguide rail 121 a in the direction of X-axis. Thesupport columns beam member 105 c compose an X-direction support portion 105 (shown inFIG. 6 ). To upper face portions of theX-axis sliders base end portion 122 a of theX-axis plate 122 described later is fixed. To abase end portion 122 a of theX-axis plate 122, an X-axis belt attaching portion 123 (shown inFIGS. 5 and 9 ) is fixed. To an X-axisbelt attaching member 123, atiming belt 107, which is a first slider drive transmission belt, is fixed. Due to the above structure, theX-axis sliders timing belt 107. - The
timing belt 107 has an inner circumferential face on which teeth are formed being meshed with teeth provided on outer circumferential faces ofpulleys FIG. 7 ) described later. - The
X-axis plate 122 includes an extendingportion 122 b (shown inFIGS. 4 and 5 ) which extends from thebase end portion 122 a in the Y-direction. On a side of this extendingportion 122 b laid along the direction of Y-axis, a plate-shaped Y-axis rail support member 124 (shown inFIGS. 5 and 8 ) is fixed. TheX-axis plate 122 and the Y-axisrail support member 124 compose a Y-axis support portion 125 (shown inFIG. 8 ). - The
second guide mechanism 103, which will be referred to as “a Y-direction linear guide” hereinafter, includes: aguide rail 131 a which is a Y-direction guide member fixed onto a side of the Y-axisrail support member 124; and a Y-axis slider 131 b guided by the guide rail 131 in the direction of Y-axis. A Y-axis plate 132 described later is fixed to the Y-axis slider 131 b. Further, a Y-axisbelt attaching member 133 is fixed onto the Y-axis plate 132. Atiming belt 109, which is a second slider drive transmission belt, is fixed to the Y-axisbelt attaching member 133. Due to the above structure, the Y-axis slider 131 b is driven and slid by thetiming belt 109. - The
timing belt 109 has an inner circumferential face on which teeth are formed being meshed with teeth provided on outer circumferential faces ofpulleys FIG. 5 ) described later. - The Z-
axis positioning mechanism 104 includes: feed screwshaft support members 141, 142 (shown inFIG. 6 ) fixed to the Y-axis plate 132; and afeed screw shaft 143 perpendicularly, pivotally supported by the feed screwshaft support members feed screw shaft 143 is driven and rotated by the timing belt 111 (the feed screw shaft drive transmission belt) throughpulleys FIG. 5 , thepulley 112 e is shown inFIG. 6 ) described later. On an inner circumferential face of thetiming belt 111, teeth are provided which are meshed with the teeth provided on outer circumferential faces of thepulleys direction positioning mechanism 104 includes: anut 144 screwed to thefeed screw shaft 143; and a nutsupport mechanism portion 145 for supporting thenut 144 so that thenut 144 can be moved in the axial direction of thefeed screw shaft 143. - Further, the nut
support mechanism portion 145 of the Z-direction positioning mechanism 104 includes: a guide rod support plate 451 (shown inFIG. 6 ) fixed to thenut 144; aguide rod 452 perpendicularly supported by the guiderod support plate 451; and guidesleeves guide rod 452 in the direction of Z-axis. These guidesleeves shaft support members guide rod 452 itself, or an object fixed to a portion of theguide rod 452 such as a foreword end of the guide rod moved together with the guide rod, corresponds to a member to be driven. - The slider
drive timing belt 107 is driven by thedrive motor 113 through thepulleys drive timing belt 109 is driven by thedrive motor 114 through thepulleys drive timing belt 111 is driven by thedrive motor 115 through thepulleys drive motor 113, which is one of thesedrive motors support column 105 a so that a rotary shaft of thedrive motor 113 can be horizontally supported. Thedrive motors support column 105 b so that rotary shafts of thedrive motors - The
pulleys pulley 108 a functioning as a drive pulley is fixed to the rotary shaft of thedrive motor 113. Thepulley 108 b functioning as an idle pulley is attached to thesupport column 105 b so that a pulley shaft of thepulley 108 b can be set horizontally with respect to thebase 101. - The
pulleys pulley 110 a, which is one of thesepulleys drive motor 114 and functions as a drive pulley. Thepulley 110 c is arranged at a foreword end portion of the extendingportion 122 b of theX-axis plate 122 so that a pulley shaft of thepulley 110 c can be perpendicular to thebase 101. Thepulley 110 e is attached to thesupport column 105 a so that a pulley shaft of thepulley 110 e can be perpendicular to thebase 101. - The
pulleys pulleys base end portion 122 a of theX-axis plate 122 so that pulley shafts of thepulleys base 101. - The
pulleys pulley 112 a, which is one of thesepulleys drive motor 115 and functions as a drive pulley. Thepulley 112 b is attached to thesupport column 105 a so that a pulley shaft of thepulley 112 b can be perpendicular to thebase 101. Thepulley 112 e is arranged on thefeed screw shaft 143. Thepulley 112 g is attached to apulley support member 122 c, which is arranged in an upper face foreword end portion of the extendingportion 122 b of theX-axis plate 122, so that a pulley shaft of thepulley 112 g can be perpendicular to thebase 101. - The
pulleys pulleys pulleys axis plate 132 so that pulley shafts of thepulleys base 101. - A lower end portion of the pulley support member 126 (shown in
FIG. 9 ) is fixed onto an upper face portion of thebase end portion 122 a of theX-axis plate 122. Thepulley support member 126 has ahorizontal plate portion 126 a (shown inFIGS. 4 and 9 ) which is located above the X-axisbelt attaching member 123. In an upper face portion of thishorizontal plate portion 126 a, pulley shafts of thepulleys - In the above structure, for example, when the
drive motors respective timing belts drive motors respective timing belts drive motor 115 is driven so as to make thetiming belt 111 run, the member to be driven is moved in the direction of Z-axis in the drawing. - Accordingly, since the
drive motors support columns - It is unnecessary to mount a drive motor on the
slider 131 b of the Y-directionlinear guide 103 or the Z-direction positioning mechanism 104. Therefore, a weight of the Y-directionlinear guide 103 or the Z-direction positioning mechanism 104 can be reduced. Due to the reduction of the weight, the member be driven can be moved in the three axial directions at high speed. Accordingly, it is possible to reduce the time necessary for positioning. - Further, since the Z-
direction positioning mechanism 104 having thefeed screw 143 is used for positioning the member to be positioned in the Z-direction, no pulley is rotated by an inertial force when thedrive motor 114 is stopped, which is unlike the structure in which the Z-direction positioning mechanism 104 is provided with a pulley and a timing belt. Accordingly, it is unnecessary to separately provide a brake mechanism. - In the third embodiment described above, the X-direction guide member of the X-direction
linear guide 102 and the Y-direction guide member of the Y-directionlinear guide 103 are respectively formed out of a guide rail. However, instead of the guide rail, it is possible to use a guide rod. - In the third embodiment, the
drive motor 113 for driving the sliderdrive timing belt 107 is fixed to thesupport column 105 a. However, thedrive motor 113 may be fixed to thesupport column 105 b. Further, thedrive motor 114 for driving the sliderdrive timing belt 109 is fixed to thesupport column 105 b. However, thedrive motor 114 may be fixed to thesupport column 105 a. Furthermore, thedrive motor 115 for driving the feed screw shaftdrive timing belt 111 is fixed to thesupport column 105 b. However, thedrive motor 115 may be fixed to thesupport column 105 a. - In the third embodiment described above, the Z-direction positioning mechanism includes: a
feed screw shaft 143 perpendicularly supported by the Y-axis plate 132; anut 144 screwed to thefeed screw shaft 143; and a nutsupport mechanism portion 145 for supporting thenut 144 so that thenut 144 can be moved in the axial direction of thescrew shaft 143. - However, as shown in a fourth embodiment shown in
FIG. 10 , the Z-direction positioning mechanism 104 may includes: afeed screw shaft 143 perpendicularly supported by the Y-axis plate 132; a Z-direction slider (movable body) 146 having a nut portion (not shown) screwed to thisfeed screw shaft 143; and a slider support body (guide rail) 147 for supporting the Z-direction slider 146 so that the Z-direction slider 146 can be moved in the Z-axis direction. In this case, the Z-direction slider 146 or the object to be positioned, which is fixed to the Z-direction slider 146, is a member to be driven. - In this embodiment, rolling elements, such as balls or rollers (not shown) are disposed between the
feed screw shaft 143 and the nut portion of theslider 146, and also between theslider 146 and theslider support body 147 so as to allow relative movement each other. - The
feed screw shaft 143 is rotated by thetransmission belt 111 through thepulley 112 e arranged on the end portion of thescrew shaft 143. - The
slider support body 147 guides the Z-direction slider 146 or the object to be positioned in the Z-direction. In this embodiment, theslider support body 147 is provided so as to be parallel to thefeed screw shaft 143; - The Z-
direction slider 146 moves along with theslider support body 147. - For an example, instead of direct engagement between the
feed screw shaft 143 and Z-direction slider 146, when balls may be disposed between thefeed screw shaft 143 and the Z-direction slider 146 and between theslider support body 147 and the Z-direction slider 146. According to this structure, relative movement among thefeed screw shaft 143 and the Z-direction slider 146 is allowed. - According to the above structure, the Z-
direction slider 146 is driven by rotation of thefeed screw shaft 143, and guided by theslider support body 147. Thus, the Z-direction slider 146 moves in the Z-direction. - In each embodiment described above, the Z-axis direction is set to be in the perpendicular direction. The X-axis direction and the Y-axis direction, which are perpendicular to the Z-axis direction, are set in the horizontal direction. However, it should be noted that the present invention is not limited to the above specific embodiment. The present invention can be applied even to a case in which the three axial directions are determined in a different manner from that of the case described above.
- The structure of the
X-direction support portion direction support portion X-direction support portion 105 is composed as follows, any structure may be employed. TheX-direction support portion 105 is composed so that it can not be relative moved with respect to thebase 101. TheX-direction support portion 105 supports theguide rail 121 a, which is an X-direction guide member, and thedrive motors 113 to 115. As long as the Y-direction support portion 125 is composed as follows, any structure may be employed. The Y-direction support portion 125 is provided so that the Y-direction support portion 125 can not be relatively moved with respect to theX-axis sliders direction support portion 125 supports theguide rail 131 a which is a Y-direction guide member. - Further, in each embodiment described above, the slider drive transmission belt is formed out of a timing belt, on the inner circumferential face of which teeth are provided. The pulley engaged with the inner circumferential face of the timing belt is formed out of a timing pulley. However, it should be noted that the present invention is not limited to the above specific structure. For example, in the case where there is no possibility of the occurrence of slippage, it is possible to use a combination of a transmission belt having no teeth with a pulley having no teeth. Alternatively, in addition to the inner circumferential face on which teeth are provided, a timing belt, on the outer circumferential face of which teeth are provided, may be used, that is, all the pulleys may be timing pulleys.
- Concerning the guide mechanisms, it is possible to use appropriate bearings such as various rolling guide bearings, sliding guide bearings and statistic pressure guide bearings. In the same manner, concerning the feed screw mechanisms, it is possible to use appropriate screw mechanisms such as ball screws, roller screws and slide screws.
- While the invention has been described in connection with the exemplary embodiments, it will be obvious to those skilled in the art that various changes and modification may be made therein without departing from the present invention, and it is aimed, therefore, to cover in the appended claim all such changes and modifications as fall within the true spirit and scope of the present invention.
Claims (7)
1. A three axis drive apparatus for driving a driven member in first, second and third directions perpendicular to each other, comprising:
a base comprising a first support portion fixed thereon;
a first guide mechanism comprising:
a first guide member supported by the first support portion; and
a first slider guided by the first guide member in the first direction;
a second guide mechanism comprising:
a second guide member extending in the second direction from the first slider; and
a second slider guided by the second guide member in the second direction;
a third guide mechanism that is provided on the second slider and guides the driven member to the third direction;
a first belt drive mechanism comprising:
a first slider drive transmission belt that slides the first slider; and
a first motor that drives the first slider drive transmission belt through a plurality of first pulleys;
a second belt drive mechanism comprising:
a second slider drive transmission belt that slides the second slider; and
a second motor that drives the second slider drive transmission belt through a plurality of second pulleys; and
a driven member drive mechanism comprising:
at least one of driven member drive transmission belt that slides the driven member; and
a third motor that drives the driven member in the third direction through a plurality of driven member pulleys,
wherein the first pulleys, at least one of the second pulleys, at least one of the driven member pulleys, the first motor, the second motor and the third motor are fixed on the first support portion.
2. The three axis drive apparatus, according to claim 1 , wherein in the second belt drive mechanism, three pulleys of the second pulleys are supported on the first slider and draw a part of the second belt along with second direction.
3. The three axis drive apparatus, according to claim 1 , wherein the driven member drive mechanism further comprises:
a spline shaft that is supported on the first slider so as to extend in the second direction and is rotated by at least one of the driven member drive transmission belt;
a pair of third pulleys that is rotatably driven by the spline shaft and provided so as to be movable in an axial direction of the spline shaft;
a secondary driven member drive transmission belt that moves the driven member in the third direction by the pair of the third pulleys.
4. The three axis drive apparatus, according to claim 1 , wherein the driven member drive mechanism comprises:
a feed screw shaft supported on the second slider so as to extend in the third direction and rotatably driven by the driven member drive transmission belt;
a nut that is connected to the driven member, is screwed to the feed screw shaft and is moved in the third direction by rotation of the feed screw shaft.
5. The three axis drive apparatus, according to claim 4 , wherein the driven member drive mechanism comprises:
a second direction drawing pulley that is supported on the first slider and draws a part of the driven member drive transmission belt in the second direction;
three first direction drawing pulleys that are supported on the second slider and draw a part of the driven member slider drive transmission belt in the second direction which is drawn in the first direction by the second direction drawing pulley,
wherein one of the first direction drawing pulley, which is engaged with an end part of the driven member drive transmission belt drawn in the first direction, is fixed on the feed screw shaft.
6. The three axis drive apparatus, according to claim 4 , wherein the driven member drive mechanism comprises:
a third slider comprising a nut portion screwed on the feed screw shaft,
a slider support member that supports the third slider so as to be movable in an axial direction of the feed screw shaft.
7. The three axis drive apparatus, according to claim 1 , wherein the third guide mechanism comprising:
a screw shaft rotated by the driven member drive transmission belt;
a movable body engaged with the screw shaft directly or indirectly;
a guide rail that is provided so as to be parallel to the screw shaft and guides the movable body in a longitudinal direction of the guide rail;
wherein the movable body is driven by the screw shaft and guided by the guide rail.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2006242536A JP4793186B2 (en) | 2006-09-07 | 2006-09-07 | 3-axis drive |
JPP.2006-242536 | 2006-09-07 |
Publications (2)
Publication Number | Publication Date |
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US20080064543A1 true US20080064543A1 (en) | 2008-03-13 |
US7344017B1 US7344017B1 (en) | 2008-03-18 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US11/642,848 Active US7344017B1 (en) | 2006-09-07 | 2006-12-21 | Three axis drive apparatus |
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US (1) | US7344017B1 (en) |
JP (1) | JP4793186B2 (en) |
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Also Published As
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JP2008062334A (en) | 2008-03-21 |
JP4793186B2 (en) | 2011-10-12 |
US7344017B1 (en) | 2008-03-18 |
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