WO2013137139A1 - 送り装置の送り誤差修正方法及び装置 - Google Patents
送り装置の送り誤差修正方法及び装置 Download PDFInfo
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- WO2013137139A1 WO2013137139A1 PCT/JP2013/056450 JP2013056450W WO2013137139A1 WO 2013137139 A1 WO2013137139 A1 WO 2013137139A1 JP 2013056450 W JP2013056450 W JP 2013056450W WO 2013137139 A1 WO2013137139 A1 WO 2013137139A1
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- Prior art keywords
- linear body
- linear
- power transmission
- feed
- pulling
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
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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
- B25J9/10—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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
- F16H19/0672—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member characterised by means for tensioning the flexible member
Definitions
- the present invention relates to a feed error correction method and a feed error correction device in a machine device (hereinafter referred to as a feed device) for conveying or moving a person and / or an object.
- a feed device a machine device for conveying or moving a person and / or an object.
- a number of feeding devices such as belt conveyor feeding devices, screw type feeding devices, cylinder type feeding devices, timing belt type feeding devices, lift type feeding devices, industrial robots, etc. are used to transport or move people and / or objects. ing. Patent Documents 1 to 5 disclose other types of feeding devices instead of these feeding devices.
- Patent Documents 1 to 5 are configured to reciprocate the moving body by winding or unwinding the linear body connected to the moving body with a winder.
- Patent Documents 1 and 2 include positioning accuracy, long-distance conveyance, remote conveyance, controllability, high-precision feeding, high-speed feeding, low price, simple configuration, space saving, weight reduction, and dust generation countermeasures. It is stated that safety measures against accidents are satisfied.
- the feeders in these documents are also highly accurate and durable based on stable and stable operation, and compact in structure, and highly accurate and durable based on proper winding and unwinding of linear objects. It has desirable results for improvement.
- the technologies disclosed in these documents are expected to increase the contribution in industrial robots and other technical fields.
- the elongation of the linear body includes known “initial elongation” and “elastic elongation”. Less than. After touching this type of elongation in linear bodies, the issues associated with it will be discussed.
- the initial elongation usually occurs at the initial stage when using a linear body (eg, a new wire rope).
- a linear body eg, a new wire rope
- the cause is said to be that the spiral strands and strands in the new linear body are not in a sufficiently close contact state.
- initial elongation corresponding to the tightening occurs.
- This initial elongation is also referred to as “permanent elongation” because it does not return to the original state even when the load is removed. Since the initial elongation has such properties, the initial elongation tends to increase as the wire rope having a larger number of strands or the wire rope having a fiber core.
- the initial elongation of the linear body also varies depending on the structure of the linear body. Accordingly, the initial elongation of the linear body is also referred to as “structural elongation”.
- the initial elongation generally occurs in a low load region of about 10-15% of the linear body breaking load. However, this elongation can be reduced by several tens of percent by applying a tensile treatment to the linear body in the final step of the twisting operation. However, it is difficult to remove 100% of the initial elongation of a new linear body before practical use in terms of processing technology, processing period, processing cost, and the like.
- the initial elongation (permanent elongation) and elastic elongation of the linear body may be ignored depending on the purpose of use of the feeder.
- the allowable range of the initial elongation may be relaxed depending on the use conditions of the feeder.
- the linear body is cut off. However, this is not practically preferable because a large number of steps such as measurement, disconnection, and reconnection must be applied to the linear body incorporated in the apparatus.
- Patent Document 6 discloses a means capable of correcting a feeding error caused by “elongation of a linear body” of a linear body type feeding device.
- the technology described in this document is controllability for error correction, stability of error correction state, reliability of error correction state, system safety, ease of operation, response processing at any time, space saving, simple configuration. Performance, simplicity of maintenance, low price, low operating cost, establishment of automation, and ensuring high feed accuracy for the feed means are desirable.
- Patent Document 6 discloses that the prime mover of the feeder is also used as a drive source for error correction means. This is configured so that a guide member (pulley) around which an intermediate portion of the linear body is hung is pulled by a prime mover of a feeder. As a result, the linear body to be tightened is in a tension state with no slack, and no feed error occurs in the moving body. Therefore, the vocabulary correction means shared by the prime mover disclosed in Patent Document 6 can solve the problems (1) to (5).
- the present invention solves such problems, and in a feeding device of a system in which a moving body is driven by a linear body, controllability for correcting a feed error, stability of an error correction state, reliability of an error correction state , System safety, response processability, space saving, simplicity of configuration, simplicity of maintenance, low cost, low operating cost, automation, high feeding accuracy for feeding means, use under reduced pressure, failure and life It is an object of the present invention to provide a feed error correcting device that can reduce the influence caused by the above.
- the first problem solving means of the present invention is: A linear body for forward power transmission and a linear body for reverse power transmission are connected to a movable body that can reciprocate along the traveling path, and these linear bodies are each wound around a linear body operating device and rewound. It consists of a driven rotating wheel that is freely held and is used to hang either one of the linear body for transmitting the forward power and the linear body for transmitting the return power, or an intermediate portion of both linear bodies.
- a guide unit for a linear body is movably provided, and the mobile body is moved along the travel path by operating the linear body operating machine to wind or unwind both the linear bodies.
- a feed error correction method for correcting a feed error of a moving body caused by the extension of the linear body when the moving body of the feeding device that reciprocates is reciprocating along the travel path Receiving power from the power drive rod rotation system, the driven rotating wheel of the guide unit is pulled in the tension direction of the linear body to give a tension state to the linear body, and the linear body has a predetermined value or more.
- the power from the rotary system to the driven rotary rod is cut off, and the power transmission system from the rotary system to the driven rotary rod transmits power only in the pulling direction of the linear body,
- the power transmission system from the rotary system to the driven rotary rod transmits power only in the pulling direction of the linear body,
- the linear body is elongated by a predetermined value or more.
- the linear body In the operating state of the feeder, the linear body is not stretched, the stretch is within an allowable range, or the linear body is strained and the linear body is slackened due to the stretch.
- a feed error correction method in a feed device characterized in that the power for pulling the linear body is cut off from the driven rotating wheel via the power transmission system when the problem is solved.
- the linear body for forward power transmission and the linear body for reverse power transmission are either a single common linear body operating machine or two independent linear body operating machines. It may be wound up or rewound by means of one or more, and there is only one guide unit for the linear body, and there is a linear body for forward power transmission and a linear body for power transmission. An intermediate portion of any one of the linear bodies may be hung on a driven rotating wheel of the guide unit.
- the second problem solving means of the present invention is: A linear body for forward power transmission and a linear body for reverse power transmission are connected to the movable body on a movable body that can reciprocate along the traveling path, and each linear body is connected to the linear body operating machine. It is held so that it can be wound and unwound freely, and either one of the linear bodies for forward power transmission and the linear body for power transmission transmission or an intermediate portion of the linear bodies of both linear bodies is hung.
- a guide unit for a linear body including a driven rotating wheel is movably disposed, and the two linear bodies are wound up and rewound by operating the linear body operating machine, thereby moving the mobile body.
- a feed error correction device for correcting the feed error of The guide unit includes unit pulling means for pulling the driven rotating wheel in a tension direction of the linear body, Power transmission means is provided between the rotation system of the driven rotating wheel and the unit pulling means, The power transmission means includes a unidirectional transmission portion for transmitting power only in the linear body pulling direction to the unit pulling means, The unit pulling means includes a power transmission interrupting unit for interrupting the power transmission for pulling the linear body when a load of a predetermined value or more is applied; It is an object of the present invention to provide a feed error correction device in a feed device characterized by the above.
- the linear body for forward power transmission and the linear body for reverse power transmission are wound and unwound by either one of the single linear body operating machine or two independent linear body operating machines. It may be held freely.
- the unit pulling device that transmits the unidirectional power for pulling the linear body from the rotation system of the driven rotating wheel to the unit pulling unit via the power transmission unit and receives the one-way power transmission.
- the linear body By pulling the linear body by means, the elongation of the linear body can be removed.
- the linear body is not stretched in the operating state of the feeding device, the stretch is within an allowable range, or the linear body is tensioned by the unit pulling means and the linear body is caused by the stretch.
- the power for pulling the linear body transmitted from the driven rotating wheel to the unit pulling means via the power transmission means is blocked by the power transmission blocking portion of the unit pulling means.
- the feed error correcting means itself does not require a drive source. This is because the drive source of the feeder is also used as the drive source of the feed error correction means.
- the feed error correcting means only needs to slightly move the linear body guide unit including the driven rotating wheel in the linear body tension direction, and does not require a large operation area.
- the main component is a simple and compact structure that only pulls the guide unit. Therefore, the miniaturization of equipment and space saving are satisfied.
- E Also, by omitting the drive source for the post-feed difference correction means, the equipment cost can be reduced and the initial cost can be reduced, and the energy required for operation can be reduced and the running cost can be reduced. can do.
- the relationship between the feeding device and the feeding error correcting device is that the feeding means is “main” and the feeding error correcting means is “subordinate”. Since the tension is properly maintained, high feeding accuracy is guaranteed for the feeding device. Further, when the operation state of the feeding device (on state) is reached, the feed error correction device is also in the operation state (on state), and when the feeding device is in the suspension state (off state), the feed error correction device is also in the suspension state (off state). Therefore, the feed error correction device can be controlled on-off by turning the feed device on-off. This eliminates the need for special means for automation and can automatically turn on and off the operation of the feed error correction device, thus reducing costs and increasing convenience.
- FIG. 1 is a schematic plan view of a first embodiment of a feed error correcting device according to the present invention. It is a front view of the apparatus of FIG. It is a principal part expanded sectional view of the linear body operating device of the apparatus of FIG. It is the top view shown in the partially notched state of the apparatus of FIG. It is a schematic principal part top view of 2nd embodiment of the feed error correction apparatus which concerns on this invention. It is a schematic principal part top view of 3rd embodiment of the feed error correction apparatus which concerns on this invention.
- FIG. 4 is a plan view, a front view, and left and right side views of the second and third embodiments of the present invention in a partially cutaway state, but in the third embodiment, the plane and the left side are partially Only shown. It is the top view shown in the partially notched state of 4th embodiment of the error correction apparatus of this invention, the front view, and both the left and right side views.
- FIG. 1 and 2 show an example of a feeding device 111 provided with a feeding error correcting means of the present invention. First, the configuration of the feeding device 111 will be described, and then the configuration of the feeding error correcting means will be described.
- the feeding device 111 illustrated in FIGS. 1 and 2 guides the linear body in a predetermined direction in addition to the traveling path 121, the linear body operating device 131, the moving body 151, the two linear bodies 161A and 161B.
- a guide unit 171 is provided as a main component.
- the feeding device 111 is also provided with a feeding error correcting device including unit pulling means 191 for pulling (or displacing) the guide unit 171 in a predetermined direction.
- the feeding device 111 in FIGS. 1 and 2 includes one of these mechanical units.
- the traveling path 121 of the feeding device 111 is made of a material having excellent mechanical properties such as metal, synthetic resin, or composite material, and may be partially made of rubber. As a typical example, most of the skeleton and the main part of the traveling passage 121 are made of metal. As is clear from FIG. 1 and FIG. 2, the traveling passage 121 that is long in the left-right direction is composed of one or a plurality of rails 122, and is a well-known monorail in the case of a single rail. Becomes a parallel rail.
- the traveling passage 121 is also a support base positioned at the lowest stage of the feeding device. Such a support base type traveling passage 121 is configured by assembling members such as a frame member, a plate member, and a leg member.
- the linear body operating device 131 of the feeding device 111 is equipped at one end of the traveling passage 121 as is apparent from FIGS. Specifically, the linear body operating device 131 is fixed so as to satisfy a predetermined position and a predetermined height via a frame member, a leg member, a suspension member, a base member, and other known installation members (not shown). Are arranged.
- the linear body operating machine 131 is a power linear body winding machine having a winding body (cylindrical shape) that can rotate forward and backward in the circumferential direction and reciprocally move in the axial direction. Can be adopted. As an example, the linear body operating device 131 in FIG.
- the mounting board 132 includes a pair of bearing members 133a and 133b and a mounting member 133c that are attached to the installation member and rise horizontally from the board surface at a predetermined interval.
- the mounting member 133c is a bearing member. The interval is maintained from 133a.
- the winder 134 that can freely rotate in the forward and reverse directions includes five components (a spline shaft 135, a spline tube 136, a tubular or cylindrical male screw shaft 137, a tubular or cylindrical female screw shaft 138, A cylindrical winding drum 139) is provided.
- a spline shaft 135 is provided at the shaft center portion
- a male screw shaft 137 and a female screw shaft 138 are provided at the middle portion
- a winding drum 139 is provided at the outermost peripheral portion.
- Each of these five parts has the following relative arrangement.
- the spline uneven part 135a formed on the outer peripheral surface of the spline shaft 135 along the axial direction and the spline uneven part 136a provided on the inner peripheral surface of the spline cylinder 136 along the axial direction are formed by fitting the both uneven parts. Splined.
- the male screw 137b formed on the outer peripheral surface of the male screw shaft 137 and the female screw 138b formed on the inner peripheral surface of the female screw shaft 138 are screw-fitted by fitting the male screw and the female screw. ing. Further, the winding drum 139 and the female screw shaft 138 are fitted inside and outside without interfering with each other.
- the spline cylinder 136 and the male screw shaft 137 are attached to the winding drum 139 with screws 140 while maintaining the radial position. Accordingly, the three parts of the spline cylinder 136, the male screw shaft 137, and the winding drum 139 move together.
- the spline shaft 135 is rotatably supported at both ends of the spline shaft by a pair of bearing stands (also referred to as bearing brackets) 133a and 133b having well-known bearings.
- the bearing member 133a is penetrated.
- Three parts (a spline cylinder 136, a male screw shaft 137, a winding drum 139, etc.) on the outer periphery of the spline shaft 135 are supported by the spline shaft 135.
- the female screw shaft 138 is fixed to the bearing member 133b so as not to rotate and protrudes toward the winding drum 139.
- a prime mover 141 as a drive source is formed of a known servo motor or pulse motor, and has an output shaft 142 that rotates integrally with the motor rotor.
- the prime mover 141 is attached to the attachment member 133c, and the output shaft 142 extends through the attachment member 133c to the spline shaft 135 side.
- the spline shaft 135 of the winder 134 and the output shaft 142 of the prime mover 141 are opposed to and close to each other on the same axis.
- the coupling 143 connects the spline shaft 135 and the output shaft 142 to each other.
- the bearing members 133a and 133b may be referred to as bearing brackets.
- the linear body operating device 131 is installed at one end portion (the right end portion in FIG. 1) of the traveling passage 121, and the guide unit 171 is disposed at the other end portion (in FIG. Equipped at the left end).
- the guide unit 171 that smoothly guides and runs the linear bodies 161 ⁇ / b> A and 161 ⁇ / b> B in a predetermined direction includes a rotatable driven rotating wheel 172, a shaft 173, and a support member 174.
- the driven rotating wheel 172 is typically the illustrated pulley (see FIG. 4), but may be any of a roller, a sheave, a capstan, or the like.
- the illustrated support member 174 has a shape of a flat box, and is formed by two (a pair of) wall surface portions 174a and 174b and two elongated wall surface portions 174c and 174d perpendicular to them, and the remaining two surfaces are open. Has been. That is, the support member 174 has two of the six surfaces open.
- a part of the pulley-type driven rotating wheel 172 including the through hole (axial hole) of the shaft center part is disposed inside the support member 174 and the remaining part is exposed to the outside of the support member 174.
- the driven rotary wheel 172 is rotatably attached to the wall surface portions 174a and 174b of the support member 174 via a shaft 173 and a bearing.
- the driven rotating wheel 172 and a pair of bearings are attached to the shaft 173, and the outer peripheral portions of both the bearings are fitted and fixed to 174 a and 174 b of the support member 174. Accordingly, the driven rotating wheel 172 rotates around the shaft 173.
- One end portion of the shaft 173 passes through the wall surface portion 174a of the support member 174 and protrudes to the outside.
- the guide unit 171, the power transmission unit 181, and the unit pulling unit 191 are assembled on the base member 201.
- the base member is made of metal
- the base member 201 includes two mounting support portions 202 and 203 having a right angle and a bearing stand that protrudes from the inner surface of one of the mounting support portions 202. 204.
- the power transmission means 181 incorporated in the guide unit 171 has a function of transmitting the rotation of the driven rotating wheel 172 of the guide unit 171 to the unit pulling means 191.
- the main components of the power transmission means 181 are the first transmission shaft 182A and the second transmission shaft 182B, the first to sixth transmission wheels 183a to 183f, the one-way clutch 184, the torque adjuster 194 (both the torque adjustment type rotation transmitter).
- the pair of first transmission wheel 183a and second transmission wheel 183b can be known transmission wheels such as a magnetic transmission roller (magnetic friction transmission roller), a gear, and a friction transmission wheel.
- the first transmission wheel 183a and the second transmission wheel 183b are magnet type transmission rollers.
- both the transmission wheels 183a and 183b which are magnetic transmission rollers, are a combination of a magnet (permanent magnet) and a magnetic material (iron), or both of which are magnetized. Can be. These can be in a non-contact proximity state or a contact state.
- the first transmission wheel 183a is attached to the end of the shaft 173
- the second transmission wheel 183b is the first transmission wheel. It is attached to the shaft 182A.
- the first transmission shaft 182A is arranged on the end portion side of the shaft 173 in a direction orthogonal to the shaft 173, and both ends thereof are connected to both the mounting support portions 203 of the base member 201 and the bearing stand 204 via bearings. It is supported rotatably.
- a one-way clutch 178 is fitted and fixed to the inner peripheral portion of the second transmission wheel 183b, and the one-way clutch 178 is fixed to the first transmission wheel 183b. This corresponds to the transmission shaft 182A.
- the one-way clutch 178 transmits, for example, forward rotation but does not transmit reverse rotation, or transmits reverse rotation but not forward rotation.
- the second transmission wheel 183b incorporating the one-way clutch 178 rotates integrally with the first transmission shaft 182A during forward rotation and idles around the first transmission shaft 182A during reverse rotation, or during reverse rotation. It rotates integrally with the first transmission shaft 182A and idles around the first transmission shaft 182A during forward rotation.
- the one-way clutch 178 can freely move in the length direction of the first transmission shaft 182A.
- the second transmission wheel 183b incorporating the one-way clutch 178 also moves together with the one-way clutch 178.
- a pair of bracket type couplers 185X and 185Y are slidably fitted to the outer peripheral portion of the first transmission shaft 182A so as to sandwich the second transmission wheel 183b incorporating the one-way clutch 178 from both sides thereof, One end of the tool is attached to the support member 174.
- the other end portions of these bracket type couplers 185X and 185Y may or may not be fixed to the one-way clutch 178.
- the second transmission shaft 182B disposed so as to be coaxial with the first transmission shaft 182A passes through the attachment support portion 203 of the base member 201 and is rotatably supported through a bearing.
- a third transmission wheel 183c in the form of a pinion attached to one end of the first transmission shaft 182A and a fourth transmission wheel 183d in the form of a gear attached to the other end of the second transmission shaft 182B mesh with each other. Yes.
- a fifth transmission wheel 183e in the form of a timing belt pulley (small pulley) is attached to the other end of the second transmission shaft 182B.
- the fifth transmission wheel 183e and the timing belt pulley (large pulley) A transmission belt 186 that is a timing belt is wound around the sixth transmission wheel 183f in the form.
- the sixth transmission wheel 183f is provided on the unit pulling means 191 side, which will be described later together with the unit pulling means 191.
- the support member 174 that rotatably holds the driven rotating wheel 172 of the guide unit 171 in FIGS. 4A to 4D reciprocates along the length direction of the first transmission shaft 182A. This is performed by a pair of male and female slide members 205 and 206.
- one slide member 205 is a long linear rail, and the other slide member 206 has a groove into which the slide member 205 is engaged.
- the rail-type slide member 205 is attached to the inner surface of the attachment support portion 202 of the base member 201, and the groove-type slide member 206 is an outer surface of the wall surface portion 174c facing the inner surface of the attachment support portion 202 (a part of the support member 174). Attached to.
- slide members 205 and 206 are engaged with each other so as to be relatively slidable.
- the guide unit 171 including the driven rotating wheel 172 and the support member 174 can reciprocate along the length direction of the slide member 205 by both the slide members 205 and 206.
- the unit pulling means 191 shown in FIGS. 4A to 4D is composed of a rod-shaped metal male screw 192 and a cylindrical metal female screw 193.
- the male screw 192 is attached to the support member 174.
- a protruding joint 175 in the form of a floating joint is provided on the outer surface of the wall surface portion 174d of the support member 174.
- the base end portion of the rod-shaped male screw 192 is attached to a joint portion (floating joint) 175 of the support member 174 so as to absorb a center shift and a processing error.
- a holding member 176 is attached to the support member 174, and the holding member 176 suppresses the rotation of the male screw 192.
- the cylindrical female screw 193 is rotatably supported by a bearing fitted in the attachment support portion 203 of the base member 201, and one end portion thereof protrudes from the outer surface of the attachment support portion 203.
- the male and female screws 192 and 193 have spiral irregularities formed on the inner and outer peripheral surfaces thereof engaged with each other.
- the sixth transmission wheel 183f in the form of the large pulley for the timing belt described above is attached to the outer periphery of one end of the female screw 193.
- a torque adjuster 194 such as a known torque limiter is interposed between the outer peripheral surface of one end of the female screw 193 and the inner peripheral surface of the sixth transmission wheel 183f.
- the torque adjuster 194 which is a torque limiter, slides on each other when a rotational torque greater than a set value is applied to the female screw 193.
- the torque adjustment period 194 blocks the rotation on the second transmission shaft 182 ⁇ / b> B side from being transmitted to the female screw 193 when a rotational torque greater than the set value is generated.
- the torque adjuster 194 preferably has a high cutoff torque accuracy and can be easily adjusted.
- the guide unit 171, the power transmission means 181, and the unit pulling means 191 on the base member 201 described with reference to FIGS. 4A to 4D are provided at one end of the traveling path 121 in FIGS. 1 and 2. It is mounted on the mounting table 123.
- One of the two linear bodies 161A and 161B is hung on the driven rotating wheel 172 of the guide unit 171 in a state where it is mounted on the mounting base 123. In the example of FIGS.
- the linear body 161B is hung on the driven rotating wheel 172.
- a winding machine 134 including a winding drum 139 that can freely rotate forward and backward is rotated forward or backward by the power of the prime mover 141, and the two linear bodies 161A and 161B are rotated forward and backward.
- One of the two is wound around the winding drum 139 and the other is unwound from the winding drum 139, and the movable body 151 is moved by a required distance by synchronous and synchronized winding and unwinding of the two linear members 161A and 161B. .
- the moving body 151 is stopped at a predetermined position by stopping the prime mover 141.
- Such a feeding operation is substantially the same as the contents disclosed in Patent Documents 1 and 2.
- the driven rotating wheel 172 rotates forward.
- the first transmission wheel 183a attached to the shaft 173 rotates in the same direction, so that the second transmission wheel 183b interlocked with the first transmission wheel 183a also rotates.
- An important role here is the one-way clutch 178 built in the second transmission wheel 183b.
- the one-way clutch 178 meshes with the first transmission shaft 182A only when the rotational power is transmitted in the forward direction from the driven rotating wheel 172 that rotates in the forward direction via the shaft 173, the first transmission wheel 183a, and the second transmission wheel 183b.
- the state in which power can be transmitted is established, the rotational power on the driven rotating wheel 172 side is transmitted to the first transmission shaft 182A, and the first transmission shaft 182A rotates.
- the rotation of the first transmission shaft 182A is transmitted to the second transmission shaft 182B because the third transmission wheel 183c on the first transmission shaft 182A and the fourth transmission wheel 183d on the second transmission shaft 182B mesh with each other. Is done.
- the rotation of the second transmission shaft 182B is because the fifth transmission wheel 183e on the second transmission shaft 182B and the sixth transmission wheel 183f on the cylindrical female screw 193 are connected by the transmission belt 186. And transmitted to the cylindrical female screw 193.
- the torque adjuster 194 is interposed between the female screw 193 and the sixth transmission wheel 183f, when the rotation of the second transmission shaft 182B is transmitted to the female screw 193, the torque adjuster 194 also rotates. Contribute to communication. In this way, power is transmitted from the driven rotating wheel 172 to the shaft 173, the first transmission wheel 183a, the second transmission wheel 183b, the one-way clutch 178, the first transmission shaft 182A, the third transmission wheel 183c, and the fourth transmission wheel 183d.
- the second transmission shaft 182B, the fifth transmission wheel 183e, the transmission belt 186, the sixth transmission wheel 183f, and the torque adjuster 194 are transmitted to the female screw 193.
- the unit pulling means (or unit displacing means) 191 is as follows. Operate.
- the tension of the linear bodies 161A and 161B increases as the male screw 192 moves to the left in FIG. 4A.
- the inconvenience that excessive tension is applied to 161A and 161B is automatically avoided.
- the torque adjuster 194 is interposed between the sixth transmission wheel 183f and the female screw 193 so that power transmission is interrupted. That is, when a tension of a predetermined value or more is applied to the linear bodies 161A and 161B in this pulling operation, a large load is applied to the female screw 193, and the torque adjuster 194 is used between the sixth transmission wheel 183f and the female screw 193.
- the moving body 151 reciprocates on the travel path 121 as the linear bodies 161A and 161B move.
- the driven rotating wheel 172 of the guide unit 171 rotates forward or backward. Only when the rotating wheel 172 rotates in the forward direction, the linear bodies 161A and 161B are held in the appropriate tension state. This is automatically performed because the one-way clutch 178 is provided in the second transmission wheel 183b.
- the one-way clutch 178 transmits the forward rotation of the driven rotating wheel 172 to the first transmission shaft 182A, but transmits the reverse rotation without meshing with the first transmission shaft 182A when the driven rotating wheel 172 rotates in the reverse direction. There is no.
- the linear bodies 161 ⁇ / b> A and 161 ⁇ / b> B receive a tensile load by the above-described operation that is automatically performed along with the operation of the feeding device 111.
- initial elongation and elastic elongation occur in the linear bodies 161A and 161B that have received the tensile load.
- the linear bodies 161A and 161B when the feeding operation is performed using the feeding device 111 under such conditions, the linear bodies 161A and 161B (particularly by pulling the moving body 151 even if initial elongation occurs).
- the linear body is not slack and maintains a predetermined tension state.
- the linear bodies 161A and 161B do not suffer from problems such as vertical deflection and lateral deflection of the linear bodies 161A and 161B while the moving body 151 is traveling.
- the mobile body 151 can ensure a high degree of controllability after traveling a predetermined distance, it can be stopped at the target position within the allowable error range.
- FIGS. 1 to 4 the linear bodies 161A and 161B are held in an appropriate tension state by pulling the driven rotating wheel 172 disposed at the end of the feeding device 111, thereby automatically feeding errors.
- FIG. 4 (A) shows the plane of the feed error correcting device
- FIG. 4 (B) shows the front of the feed error correcting means
- FIG. 4 (B) is a plane. It is good also as a form.
- the feed error correction device may be configured as described below. For example, in the feeder 111 of FIG.
- the driven rotating wheel for bringing the linear bodies 161A and 161B into a tension state, the guide unit 171 attached thereto, the power transmission means 181 and the unit pulling means 191 are placed at arbitrary positions. Can be equipped.
- the driven rotating wheel 172 pulled to tension the linear body may be assembled to the base member 201 provided in the long side portion of the traveling passage 121.
- the linear body 161A or 161B is hung on the driven rotating wheel 172 via the auxiliary driven wheel (guide sheave) 172a (see FIG. 6).
- Two or more sets of means for automatically correcting the feeding error by holding the linear bodies 161A and 161B in a tension state may be provided for one feeding device 111.
- the driven rotating wheel 172 is disposed on the other end side of the traveling passage 121, and two linear object controllers 131 adjacent to each other are disposed on one end portion side of the traveling passage 121. ing. Corresponding to the driven rotating wheel 172 on the other end side of the traveling passage 121, the feed error correcting means described above is provided. Also in the embodiment of FIG. 5, the point that the linear bodies 161A and 161B are held in tension and the target feed error correction is performed is substantially the same as in the previous example.
- the feed device 111 in the embodiment of FIG. 6 is a form in which the two linear bodies 161A and 161B are wound up and rewound by the two linear body operating machines 131 arranged on both ends of the traveling passage 121. belongs to.
- the winding and rewinding of the linear bodies 161A and 161B by the linear body operating device 131 are synchronized and synchronized.
- the error correction means described above is provided in a manner similar to that of the embodiment of FIG. 5, and the linear bodies 161A and 161B are appropriately tensioned in substantially the same manner as in the previous embodiment. The state is maintained, thereby automatically correcting the feed error.
- FIGS. 1-10 Another embodiment of a feed error correction device used for the feed device 111 is shown in FIGS.
- a one-way clutch 177 is fitted into the inner peripheral portion of the driven rotating wheel 172 and fixed integrally therewith, and this one-way clutch 177 corresponds to the shaft 173.
- the one-way clutch 177 transmits the rotation to the shaft 173 only when the driven rotating wheel 172 rotates forward, and does not transmit the rotation to the shaft 173 when the driven rotating wheel 172 rotates in the reverse direction.
- the second difference is that the first transmission wheel 183a and the second transmission wheel 183b consist of bevel gears (bevel gears), and a one-way clutch 178 is fitted into the inner peripheral portion of the second transmission wheel 183b and fixed integrally.
- the one-way clutch 178 corresponds to the first transmission shaft 182A.
- the one-way clutch 178 also transmits the rotation to the first transmission shaft 182A only when the second transmission wheel 183b rotates forward, and to the first transmission shaft 182A when the second transmission wheel 183b rotates reversely. The rotation of is not transmitted.
- a contact-type regulating member 179 is further attached to the support member in order to prevent the second transmission wheel 183b from moving in the axial direction.
- the restricting member 179 includes a roller that does not hinder the rotation of the second transmission wheel 183b.
- the roller contacts the second transmission wheel 183b.
- a predetermined regulation is performed.
- the second transmission shaft 182B, the third transmission wheel 183c, and the fourth transmission wheel 183d are omitted.
- the fifth transmission wheel 183e paired with the sixth transmission wheel 183f on the female screw 193 side passes through the mounting support portion 203 of the base member 201 and protrudes outward from the outer periphery of the end of the first transmission shaft 182A. It is attached.
- the transmission belt 186 is wound around both the transmission wheels 183e and 183f.
- a pair of spline grooves (in the axial direction) are formed on the inner peripheral surface of the second transmission wheel 183b and the outer peripheral surface of the first transmission shaft 182A. And the spline grooves mesh with each other.
- the power transmission over the first transmission shaft 182A and the female screw 193 may be changed from the transmission belt system described above to the gear transmission system.
- three gears 187a, 187b, and 187c are interposed between the first transmission shaft 182A and the female screw 193.
- the telescopic arm 211 and the swing arm 231 are combined, and a one-way clutch 217 and an eccentric member 218 are interposed between the first transmission shaft 182A and the telescopic arm 211.
- the telescopic arm 211 shown in FIG. 8 includes a metal cylinder 212, a metal piston rod 213, an anti-compression elastic body 214 such as a spring, a sealing member 215 made of a high friction material such as a bush, and a Y-shaped link.
- the connecting metal fitting 216 is included. Inside the cylinder 212, the anti-compression elastic body 214 and the piston side of the piston rod 213 are housed, and the opening end of the cylinder 212 is mounted so that the sealing member 215 serves as an end plug from the opening end to the inside of the cylinder. Has been.
- a flange is formed at one end portion of the cylindrical portion, and the distal end side of the piston rod 213 passes through the cylindrical portion of the sealing member 215 and projects out of the cylinder 212.
- the anti-compression elastic body 214 in the cylinder 212 applies a force in a direction to push the piston rod 213 out of the cylinder 212.
- a connecting fitting 216 is attached to the tip of the piston rod 213.
- the telescopic arm 211 having such a configuration is attached to the outer periphery of one end of the first transmission shaft 182A in FIG.
- the cylinder 212 is attached to the first transmission shaft 182A by fitting into one end portion of the first transmission shaft 182A through a hole in the cylinder base end.
- a one-way clutch 217 is fitted and fixed in the hole at the cylinder base end.
- a ring-shaped eccentric member 218 is fitted and fixed to the outer periphery of one end of the first transmission shaft 182A. Since the one-way clutch 217 on the base end side of the cylinder 212 is fitted on the eccentric member 218 on the outer periphery of the one end of the first transmission shaft 182A, only the positive rotation of the first transmission shaft 182A is transmitted to the cylinder 212. Due to the rotation transmission on the eccentric member 218, the telescopic arm 211 undergoes a special movement described later.
- the one-way clutch 217 may be a bush, but the one-way clutch 217 is more preferable than the bush in order to suppress useless movement of the cylinder 212.
- the 8 includes a bent metal arm member 232 and a ring-shaped holding member 233 integrally connected to a base end portion of the arm member 232.
- the swing arm 231 shown in FIG. A one-way clutch 234 is fitted and fixed to the inner periphery of the ring-shaped holding member 233.
- the male screw 192 is fitted on the female screw 193 screwed on the outer periphery of one end portion via a holding member 233 having a one-way clutch 234.
- the telescopic arm 211 on the first transmission shaft 182A side and the swing arm 231 on the female screw 193 side are the tip of the telescopic arm 211 (the tip of the piston rod 213) swing arm.
- the distal end portion of 231 (the distal end portion of the arm member 232) is connected to each other by pinning means including a connection fitting 216.
- the power from the driven rotating wheel 172 is driven by the driven rotating wheel 172, the shaft 173, the first transmission wheel 183 a, the one-way clutch 178, the telescopic arm 211, the swing arm 231, and the one-way clutch 234. And then transmitted to the female screw 193.
- power is transmitted between the first transmission wheel 183a and the telescopic arm 211 as follows.
- the cylinder 212 of the telescopic arm 211 performs a stroke motion of [e ⁇ 2] in the length direction by the eccentric member 218 having an eccentric amount e on the outer peripheral portion of the first transmission wheel 183a.
- the entire extendable arm expands and contracts as described above.
- the expansion / contraction of the telescopic arm 211 is transmitted to the swing arm 231 connected to the arm.
- the swing arm 231 rotates counterclockwise
- the telescopic arm 211 contracts
- the swing arm 231 rotates clockwise.
- this rotation is transmitted to the female screw 193 via the one-way clutch 234 in the holding member 233, so that the male screw 192 is rotated by the rotation of the female screw 193.
- the anti-compression elastic body 214 is pushed by the piston rod 213 to be in a compressed state.
- the telescopic arm 211 has an effect equivalent to the torque limit.
- the feed error correction method and apparatus automatically uses the drive source of the feed device of the type that travels the moving body by the movement of the linear body also in the feed error correction device, and automatically causes the linear bodies 161A and 161B to move. Therefore, the usefulness can be further improved at a low cost, and the industrial applicability is high.
Abstract
Description
(1)電動機、油空圧シリンダの駆動源とその関連部品に要する諸費用が装置のコストアップの要因になる。
(2)駆動源の備え付けやこれに付帯する配線、配管によって、装置の組み立て時の手数がかかり、また多大な時間が費やされる。
(3)この機械化用の駆動源の寿命が装置全体に大きな影響を与える。特に、駆動源の適切な管理、保守、交換が要求される。
(4)この機械化用の駆動源が装置のコンパクト化を妨げる。
(5)この機械化用の駆動源が電動機や油空圧シリンダであると、真空の如き減圧条件下で装置を駆動させることが困難である。
走行通路に沿って往復動自在な移動体に往動力伝達用の線状体と復動力伝達用の線状体とが接続され、これらの線状体がそれぞれ線状体操作機に巻き取り巻き戻し自在に保持され、前記往動力伝達用線状体と前記復動力伝達用線状体とのうちいずれか一方の線状体又は両方の線状体の中間部を掛けるための従動回転輪から成る線状体用の案内ユニットが移動自在に設けられ、前記線状体操作機を運転して前記両線状体が巻き取られたり巻き戻されたりすることにより前記移動体が前記走行通路に沿って往復動する送り装置の前記移動体が前記走行通路に沿って往復動しているときに前記線状体の伸びに起因した移動体の送り誤差を修正するための送り誤差修正方法であって、
前記動力駆動綸お回転系統から動力を受けて前記案内ユニットの従動回転輪を前記線状体の緊張方向へ引張って前記線状体に緊張状態を付与し、前記線状体に所定値以上の負荷が掛かると、前記回転系統から前記従動回転綸への動力を遮断し、前記回転系統から前記従動回転綸への動力伝達系統は前記線状体の引張方向へのみ動力を伝達するようにし、
前記送り装置が運転状態にあって前記線状体に所定値以上の伸びが発生しているときには、前記従動回転輪の回転系統から動力伝達系統を経由して前記線状体を牽引するための一方向の動力を伝達し、かつ、その一方向の動力伝達を受けて前記線状体を牽引することにより、前記一定値以上の伸びを解消して移動体の送り誤差が生じないようにし、
前記送り装置の運転状態において前記線状体の伸びが発生していないか、その伸びが許容範囲内であるか、前記線状体が緊張してその伸びに起因した当該線状体の弛みが解消された場合には、前記従動回転輪から前記動力伝達系統を経由して前記線状体牽引用の動力が遮断されるようにしたこと
を特徴とする送り装置における送り誤差修正方法を提供することにある。
走行通路に沿って往復動自在な移動体に往動力伝達用の線状体と復動力伝達用の線状体とが前記移動体に接続され、該各線状体がそれぞれ線状体操作機に巻き取り巻き戻し自在に保持され、前記往動力伝達用線状体と前記復動力伝達用線状体とのうちいずれか一方の線状体又は両方の線状体の線状体の中間部を掛ける従動回転輪を含む線状体用の案内ユニットが移動自在に配置され、前記線状体操作機を運転することによって前記両線状体が巻き取られたり巻き戻されたりすることにより前記移動体が前記走行通路に沿って往動したり復動したりするようにした送り装置の前記移動体が前記走行通路に沿って往復動しているときに前記線状体の伸びに起因した移動体の送り誤差を修正するための送り誤差修正装置であって、
前記案内ユニットは、前記従動回転輪を前記線状体の緊張方向へ引張るためのユニット牽引手段を含み、
前記従動回転輪の回転系統と前記ユニット牽引手段との間に動力伝達手段が設けられ、
前記動力伝達手段は、前記ユニット牽引手段に対して線状体引張方向へのみ動力伝達するための一方向伝達部を含み、
前記ユニット牽引手段は、所定値以上の負荷が掛かったときに前記線状体引張用の動力伝達を遮断するための動力伝達遮断部を含むこと、
を特徴とする送り装置における送り誤差修正装置を提供することにある。
(a)送り装置に用いられる線状体に生じる初期伸びや弾性伸びを取り除いて緊張状態にすることが送り精度を確保する上での不可欠であるが、この伸びは、線状体の中間部が掛けられた案内ユニットをユニット牽引手段で牽引することにより取り除いて線状体が緊張状態になる。送り誤差の原因(線状体の伸び)が排除されて線状体が緊張状態になると、稼働中の送り装置は高い送り精度を維持しながら所定の送りを行うことができる。しかも、この精度維持のための誤差修正は、送り装置が運転状態にあって案内ユニットが作動しているときに定常的に行われるので、送り装置の送り精度が飛躍的に向上する。
(b)また、従動回転輪の回転系統から動力伝達手段を経由してユニット牽引手段に線状体を牽引するための一方向の動力を伝達し、その一方向の動力伝達を受けたユニット牽引手段で線状体を牽引することにより当該線状体の伸びを除去することができる。また、送り装置の運転状態において線状体の伸びが発生していないか、その伸びが許容範囲内であるか、ユニット牽引手段により線状体が緊張してその伸びに起因した当該線状体の弛みが解消されている場合には、従動回転輪から動力伝達手段を経由してユニット牽引手段側に伝わる線状体牽引用の動力が当該ユニット牽引手段の動力伝達遮断部で遮断される。従って、線状体には送り誤差の原因になる弛みが発生しないだけではなく、断線事故の原因になる過剰緊張も発生しない。これは、線状体の張力制御が過不足なく適切に行われるからであり、送り誤差修正の制御性が良好となる。送り装置の運転中には、この制御性のよい送り誤差修正が定常的に行われるので、送り誤差修正状態の安定性や信頼性も確保することができる。更に、断線事故原因の過剰緊張がないので、システムの安全性も確保することができる。
(c)ユニット牽引手段は、従動回転輪側からの動力伝達を受けつつ、線状体に伸びが発生したときには、これを即時除去するので、送り誤差修正についての応答性が向上する。
(d)送り誤差修正手段自体には駆動源が不要である。それは、送り装置の駆動源を送り誤差修正手段の駆動源としても使用するからである。送り誤差修正手段は、従動回転輪を備えた線状体用の案内ユニットを線状体緊張方向へわずかに移動させるだけでよく、大きな作動領域を必要としない。主要なコンポーネントは、案内ユニットを牽引するだけの簡潔でコンパクトな構造である。従って、設備の小型化と省スペースとを満足させる。
(e)また、送り後差修正手段用の駆動源を省略することによって、設備費用を抑制してイニシャルコストを低減することができ、かつ、運転時に必要なエネルギを抑制してランニングコストを低減することができる。
(f)送り装置と送り誤差修正装置との関係は、送り手段が「主」で送り誤差修正手段が「従」であるが、送り誤差修正装置は、送り装置の線状体を定常的かつ適切に緊張保持するので、送り装置に高い送り精度を保証することとなる。また、送り装置の運転状態(on状態)になると、送り誤差修正装置も運転状態(on状態)になり、送り装置の運休状態(off状態)になると、送り誤差修正装置も運休状態(off状態)になるので、送り装置のon-offで送り誤差修正装置をon-off制御するこができる。これは、自動化のための特別の手段を必要とせず、送り誤差修正装置の運転を自動的にon-offすることができるので、コストを低減し、利便性が高くなる。
(g)牽引用の駆動源(原動機)として通常の一般的な電動機や油空圧シリンダが使用される場合、真空のような減圧条件下での装置使用が困難になる。このような駆動源を使用しようとすると、その駆動源は、防壁による密閉タイプの囲いが必要になる。これに対し、本発明のように、駆動源を有しない送り誤差修正装置は、真空のような減圧条件下でも自由に使用することができる。
(h)駆動源を有する装置では、駆動源の保守点検を要するので、装置点検の労力と時間を必要とする上に、駆動源の寿命が装置全体に大きな影響を与えたりする。これに対し、本発明のように、駆動源をもたない送り誤差修正装置は、駆動源の保守点検が不要であり、また、装置が駆動源の故障や寿命に影響されることはないので有利である。
121 走行通路
131 線状体操作機
134 巻取機
141 原動機
151 移動体
161A 線状体
161B 線状体
171 案内ユニット
172 従動回転輪
173 軸
174 支持部材
177 一方向クラッチ
178 一方向クラッチ
181 動力伝達手段
182A 第一伝動軸
182B 第二伝動軸
183a 第一伝動輪
183b 第二伝動輪
183c 第三伝動輪
183d 第四伝動輪
183e 第五伝動輪
183f 第六伝動輪
186 伝動ベルト
191 ユニット牽引手段(又はユニット変位手段)
192 雄ネジ
193 雌ネジ
194 トルク調整機
201 ベース部材
202 取付支持部
203 取付支持部
204 軸受スタンド
Claims (5)
- 走行通路に沿って往復動自在な移動体に往動力伝達用の線状体と復動力伝達用の線状体とが接続され、これらの線状体がそれぞれ線状体操作機に巻き取り巻き戻し自在に保持され、前記往動力伝達用線状体と前記復動力伝達用線状体とのうちいずれか一方の線状体又は両方の線状体の中間部を掛けるための従動回転輪から成る線状体用の案内ユニットが移動自在に配置され、前記線状体操作機を運転して前記両線状体が巻き取られたり巻き戻されたりすることにより前記移動体が前記走行通路に沿って往復動する送り装置の前記移動体が前記走行通路に沿って往復動しているときに前記線状体の伸びに起因した移動体の送り誤差を修正するための送り誤差修正方法であって、
前記動力駆動綸お回転系統から動力を受けて前記案内ユニットの従動回転輪を前記線状体の緊張方向へ引張って前記線状体に緊張状態を付与し、前記線状体に所定値以上の負荷が掛かると、前記回転系統から前記従動回転綸への動力を遮断し、前記回転系統から前記従動回転綸への動力伝達系統は前記線状体の引張方向へのみ動力を伝達するようにし、
前記送り装置が運転状態にあって前記線状体に所定値以上の伸びが発生しているときには、前記従動回転輪の回転系統から動力伝達系統を経由して前記線状体を牽引するための一方向の動力を伝達し、かつ、その一方向の動力伝達を受けて前記線状体を牽引することにより、前記一定値以上の伸びを解消して移動体の送り誤差が生じないようにし、
前記送り装置の運転状態において前記線状体の伸びが発生していないか、その伸びが許容範囲内であるか、前記線状体が緊張してその伸びに起因した当該線状体の弛みが解消された場合には、前記従動回転輪から前記動力伝達系統を経由して前記線状体牽引用の動力が遮断されるようにしたこと
を特徴とする送り装置の送り誤差修正方法。 - 請求項1に記載の送り後差修正方法であって、前記往動力伝達用の線状体と復動力伝達用の線状体とが、単一で共通の線状体操作機と二つの独立した線状体操作機とのうちのいずれかによって巻き取られたり巻き戻されたりする送り装置の送り誤差修正方法。
- 請求項1に記載の送り後差修正方法であって、1つの線状体用の案内ユニットが用いられ、前記往動力伝達用の線状体と復動力伝達用の線状体とのうちのいずれか一方の中間部が前記案内ユニットの従動回転輪に掛けられている送り装置の送り誤差修正方法。
- 走行通路に沿って往復動自在な移動体に往動力伝達用の線状体と復動力伝達用の線状体とが接続され、各線状体がそれぞれ線状体操作機に巻き取り巻き戻し自在に保持され、前記往動力伝達用線状体と前記復動力伝達用線状体とのうちいずれか一方の線状体又は両方の線状体の線状体の中間部を掛ける従動回転輪を含む線状体用の案内ユニットが移動自在に設けられ、前記線状体操作機を運転することによって前記両線状体が巻き取られたり巻き戻されたりすることにより前記移動体が前記走行通路に沿って往動したり復動したりするようにした送り装置の前記移動体が前記走行通路に沿って往復動しているときに前記線状体の伸びに起因した移動体の送り誤差を修正するための送り誤差修正装置であって、
前記案内ユニットは、前記従動回転輪を前記線状体の緊張方向へ引張るためのユニット牽引手段を含み、
前記従動回転輪の回転系統と前記ユニット牽引手段との間に動力伝達手段が設けられ、
前記動力伝達手段は、前記ユニット牽引手段に対して線状体引張方向へのみ動力伝達するための一方向伝達部を含み、
前記ユニット牽引手段は、所定値以上の負荷が掛かったときに前記線状体引張用の動力伝達を遮断するための動力伝達遮断部を含むこと、
を特徴とする送り装置の送り誤差修正装置。 - 請求項4に記載の送り装置の送り誤差修正装置であって、前記往動力伝達用の線状体と復動力伝達用の線状体とが、単一で共通の線状体操作機と二つの独立した線状体操作機とのうちのいずれかによって巻き取り巻き戻し自在に保持されている送り装置の送り誤差修正装置。
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US14/382,260 US9638298B2 (en) | 2012-03-10 | 2013-03-08 | Method and device for correcting feed error of feeder |
CN201380013501.7A CN104254714B (zh) | 2012-03-10 | 2013-03-08 | 进给装置的进给误差修正方法及装置 |
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WO2019167645A1 (ja) * | 2018-02-27 | 2019-09-06 | Skマシナリー株式会社 | 線状体用巻き取り巻き戻し機構 |
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US9482312B2 (en) * | 2013-12-05 | 2016-11-01 | Honeywell International Inc. | Rope drive anchoring assembly |
TWM540215U (zh) * | 2017-01-13 | 2017-04-21 | Timotion Technology Co Ltd | 往復式線性推桿 |
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JPWO2013137139A1 (ja) | 2015-08-03 |
US9638298B2 (en) | 2017-05-02 |
JP6165709B2 (ja) | 2017-07-19 |
US20150300464A1 (en) | 2015-10-22 |
CN104254714B (zh) | 2017-03-01 |
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