WO2023276336A1

WO2023276336A1 - Pitch changer

Info

Publication number: WO2023276336A1
Application number: PCT/JP2022/013696
Authority: WO
Inventors: 拓明下吉; 大介高嶋
Original assignee: 日本トムソン株式会社
Priority date: 2021-06-28
Filing date: 2022-03-23
Publication date: 2023-01-05
Also published as: CN117355688A; JP2023004534A; KR20240004932A; TW202300422A

Abstract

This pitch changer comprises a base member, a support member disposed above the base member, an expansion/contraction member that is fixed to the base member by the support member and is capable of expanding/contracting along a first axis, and a drive unit that causes the expansion/contraction member to expand/contract along the first axis. The drive unit comprises a screw shaft that extends along the first axis and has an axis of rotation, a power unit that causes the screw shaft to rotate around the axis of rotation, and a movement unit that is provided on the screw shaft, is made to move along the first axis by the rotation of the screw shaft around the axis of rotation, and is fixed in relation to a part of the expansion/contraction member.

Description

pitch changer

The present disclosure relates to pitch changers. This application claims priority based on Japanese Patent Application No. 2021-106280 filed on June 28, 2021, and incorporates all the descriptions described in the Japanese Patent Application.

Conventionally, a pitch changer that can change the interval between holding parts has been used in a robot arm that holds a work (for example, see Patent Document 1).

Patent Literature 1 describes that the intervals between a plurality of holding portions provided on a robot arm are changed by a pantograph type expansion and contraction device. This expansion and contraction device expands and contracts by being driven by a cylinder.

JP 2015-86073 A

In the drive method using a cylinder in Patent Document 1, the pantograph is expanded and contracted by linearly moving the rod by the pressure of fluid such as air. In this case, it is difficult to stop the pitch changer at an arbitrary position because the stopping position is determined by the physical contact between the members. Therefore, the conventional pitch changer has a problem that it is difficult to stop at an arbitrary pitch with high positional accuracy.

The present disclosure is to provide a pitch changer capable of stopping at any pitch with high positional accuracy.

A pitch changer according to the present disclosure includes a base member, a support member disposed on the base member, a telescoping member fixed relative to the base member by the support member and telescoping along a first axis; a drive unit for expanding and contracting the along the first axis. The elastic member extends in a second direction that intersects the first axis, and includes a plurality of first points that are arranged at even intervals on the first axis and arranged side by side at equal intervals so as to intersect the first axis. one link member, and a plurality of first axis extending in a third direction intersecting with the second direction, and arranged side by side at regular intervals so as to intersect the first axis at the plurality of first points; 2 link members. Each of the plurality of first link members includes a first portion, a second portion located apart from the first portion in the second direction, and equidistant from the first portion on the opposite side of the second portion in the second direction. and a third portion spaced apart. Each of the plurality of second link members includes a fourth portion, a fifth portion located away from the fourth portion in the third direction, and equidistant from the fourth portion on the opposite side of the fifth portion in the third direction. and a sixth portion spaced apart. The first link member is pivotally connected to each other at the fourth portion and the first portion of the second link member that intersect the first axis at the same first point. The first link member is pivotally connected to one another at fifth and third portions of the second link member which intersect the first axis at a first point adjacent to one side. The first link member is pivotally connected to each other at a sixth portion and a second portion of the second link member which intersect the first axis at a first point adjacent to each other on the other side opposite to the one side. be done. The drive unit includes a screw shaft extending along a first axis and having a rotation axis, a power unit for rotating the screw shaft around the rotation axis, and a drive unit installed on the screw shaft to rotate the screw shaft around the rotation axis to rotate the screw shaft around the rotation axis. a moving portion that moves along the axis and is fixed to a portion of the telescopic member.

According to the present disclosure, it is possible to provide a pitch changer capable of stopping at any pitch with high positional accuracy.

FIG. 1 is a perspective view showing a pitch changer according to Embodiment 1. FIG. FIG. 2 is a cross-sectional view along line II-II in FIG. FIG. 3 is a cross-sectional view along line III-III in FIG. FIG. 4 is a plan view showing the expandable section. FIG. 5 is a plan view showing a support member. FIG. 6 is a perspective view showing a pitch changer according to Embodiment 2. FIG. FIG. 7 is a cross-sectional view along line VII-VII in FIG.

[Overview of embodiment]
A pitch changer according to the present disclosure includes a base member, a support member disposed on the base member, a telescoping member fixed relative to the base member by the support member and telescoping along a first axis; a drive unit for expanding and contracting the along the first axis. The elastic member extends in a second direction that intersects the first axis, and includes a plurality of first points that are arranged at even intervals on the first axis and arranged side by side at equal intervals so as to intersect the first axis. one link member, and a plurality of first axis extending in a third direction intersecting with the second direction, and arranged side by side at regular intervals so as to intersect the first axis at the plurality of first points; 2 link members. Each of the plurality of first link members includes a first portion, a second portion located apart from the first portion in the second direction, and equidistant from the first portion on the opposite side of the second portion in the second direction. and a third portion spaced apart. Each of the plurality of second link members includes a fourth portion, a fifth portion located away from the fourth portion in the third direction, and equidistant from the fourth portion on the opposite side of the fifth portion in the third direction. and a sixth portion spaced apart. The first link member is pivotally connected to each other at the fourth portion and the first portion of the second link member that intersect the first axis at the same first point. The first link member is pivotally connected to one another at fifth and third portions of the second link member which intersect the first axis at a first point adjacent to one side. The first link member is pivotally connected to each other at a sixth portion and a second portion of the second link member which intersect the first axis at a first point adjacent to each other on the other side opposite to the one side. be done. The drive unit includes a screw shaft extending along a first axis and having a rotation axis, a power unit for rotating the screw shaft around the rotation axis, and a drive unit installed on the screw shaft to rotate the screw shaft around the rotation axis to rotate the screw shaft around the rotation axis. a moving portion that moves along the axis and is fixed to a portion of the telescopic member.

According to the pitch changer, the screw shaft is rotated around the rotation axis by the power section, and the moving section is moved along the first axis, whereby the first link member and the second link member rotate relative to each other at the connection section. movement and the telescopic member telescopes along the first axis. According to this configuration, since the amount of movement of the moving portion is precisely controlled by the amount of rotation of the screw shaft, the amount of expansion and contraction of the expandable member can be precisely controlled. Therefore, while it is difficult to stop the pitch changer at an arbitrary position in the conventional pitch changer that employs a drive system using a cylinder, the pitch changer can be positioned at an arbitrary position with high accuracy. , can be stopped at any pitch with high position accuracy.

In the above pitch changer, the support member may include a rail arranged on the base member and perpendicular to the first axis, and a slider movable along the rail. At least one of the connecting portion between the second portion of the first link member and the sixth portion of the second link member and the connecting portion between the third portion of the first link member and the fifth portion of the second link member is a slider. may be fixed to According to this configuration, it is possible to suppress the movement of the connecting portion of the expandable member that moves in the direction perpendicular to the first axis from moving along the first axis.

In the above pitch changer, the support member may support the central portion of the expandable member in the direction in which the first axis extends with respect to the base member. The moving part may be fixed to an end of the elastic member in the direction in which the first axis extends. According to this configuration, the expandable member can be expanded and contracted along the first axis, centering on the central portion in the direction in which the first axis extends. In this case, compared to the case where the end of the expandable member in the direction in which the first axis extends is supported by the base member, the moving distance of the moving part is shorter, so the moving time of the moving part when changing the pitch is can be shortened.

In the pitch changer described above, the telescopic member may include a plurality of tables arranged side by side along the first axis on the first link member and the second link member. According to this configuration, the pitch between the adjacent tables can be precisely controlled by rotating the first link member and the second link member by rotating the screw shaft.

In the pitch changer described above, the plurality of tables may be formed with through holes penetrating through the tables in the direction in which the first axis extends. The pitch changer may further include a table guide shaft extending in the direction in which the first shaft extends and inserted into the through hole. According to this configuration, the position of the table can be stabilized compared to the case where the table guide shaft is not provided.

[Specific example of embodiment]
Next, embodiments of the pitch changer of the present disclosure will be described with reference to the drawings. In the drawings below, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated.

(Embodiment 1)
First, the configuration of the pitch changer 1 according to Embodiment 1 will be described with reference to FIGS. 1 to 5. FIG. FIG. 1 is a perspective view showing the overall configuration of the pitch changer 1. FIG. FIG. 2 is a cross-sectional view of pitch changer 1 along line II-II in FIG. FIG. 3 is a cross-sectional view of pitch changer 1 along line III--III in FIG. FIG. 4 is a plan view showing the telescopic portion 31, which is a component of the pitch changer 1. As shown in FIG. FIG. 5 is a plan view showing the support member 20, which is a component of the pitch changer 1. FIG. As shown in FIG. 1, the pitch changer 1 mainly includes a base member 10, a support member 20, an expandable member 30, and a drive section 40. As shown in FIG. Each of these components will be described in detail below. It should be noted that the following description is based on each direction of XYZ shown in FIGS. 1 to 5. FIG.

The base member 10 is a rectangular plate member elongated in the X direction in plan view in the Z direction. The base member 10 includes a rectangular base surface 10A facing the Z direction (parallel to the XY plane). As shown in FIG. 1, a first end plate 11 and a second end plate 12 are fixed to both ends of the base member 10 in the X direction. The first end plate 11 and the second end plate 12 have substantially the same width in the Y direction as the base member 10, and are arranged perpendicular to the base member 10 (base surface 10A). The first end plate 11 is fixed to one end of the base member 10 in the X direction with a first fixture 13 and bolts. The second end plate 12 is fixed to the other end of the base member 10 in the X direction with a second fixture 14 and bolts. The first fixture 13 and the second fixture 14 have an L shape when viewed from the front in the Y direction. A plurality (two in the present embodiment) of the first fixture 13 and the second fixture 14 are provided at intervals in the Y direction. In addition, in the pitch changer of the present disclosure, the shape and size of the base member are not particularly limited.

The support member 20 is a member for supporting the expandable member 30 with respect to the base member 10, and is arranged on the base member 10 (on the base surface 10A). The support member 20 in this embodiment is a linear guide unit that slides in the Y direction. The support member 20 includes a rail 21 extending in the Y direction, and a first slider 22 and a second slider 23 movable in the Y direction along the rail 21 (FIG. 5). As shown in FIG. 5, the first slider 22 and the second slider 23 are arranged side by side in the Y direction on the rail 21 . The first slider 22 can move linearly from the central portion of the rail 21 in the Y direction toward the first end (lower end in FIG. 5), and in the opposite direction (first end (from the part toward the central part) can be moved linearly. On the other hand, the second slider 23 can move linearly from the central portion of the rail 21 in the Y direction toward the second end opposite to the first end, and in the opposite direction (second (from the ends toward the center) can be moved linearly.

As shown in FIG. 2 , the rail 21 includes a base portion 24 arranged on the base surface 10A and a rail body portion 25 arranged on the base portion 24 . The base portion 24 has a rectangular parallelepiped shape, and has substantially the same width as the base member 10 in the Y direction (the depth direction of the paper surface of FIG. 2). As shown in FIG. 3, the base portion 24 is fixed to the base member 10 (base surface 10A) by a plurality of bolts B1 arranged at intervals in the Y direction. The rail body portion 25 has substantially the same width as the base portion 24 in both the X direction and the Y direction. As shown in FIG. 2, on both side surfaces of the rail main body 25 in the width direction (X direction), grooves recessed inward in the width direction are formed over the entire length direction (Y direction). . As shown in FIG. 3, the rail body 25 is placed on the upper surface of the base 24 and fixed to the base 24 by a plurality of bolts B2 spaced apart in the Y direction.

As shown in FIG. 2, the first slider 22 includes a first slider main body portion 26 that sandwiches the rail main body portion 25 from both sides in the width direction, and a first shaft support portion 27 that is arranged on the first slider main body portion 26 . including. The first slider body portion 26 includes a body portion extending in the X direction and a pair of sleeve portions extending from both ends of the body portion toward the base surface 10A. A groove recessed outward in the width direction (X direction) is formed over the entire length direction (Y direction) on the inner surface of the sleeve facing the rail main body 25 side. A plurality of balls (rolling elements) are arranged between the widthwise side surface of the rail body portion 25 and the inner surface of the sleeve portion. As a result, the first slider main body portion 26 can move relative to the rail main body portion 25 in the Y direction. The first shaft support portion 27 is fixed on the first slider body portion 26 with bolts. A central portion of the first shaft support portion 27 in the X direction protrudes toward the elastic member 30, and the protruding portion is formed with a first shaft hole 22A (FIG. 5).

The second slider 23 has a configuration similar to that of the first slider 22 . That is, the second slider 23 (FIG. 3) includes a second slider main body portion 28 sandwiching the rail main body portion 25 from both sides in the width direction, and a second shaft support portion 29 arranged on the second slider main body portion 28. include. As shown in FIG. 5, a second shaft hole 23A is formed in the center portion (protruding portion) of the second shaft support portion 29 in the X direction.

With reference to FIG. 1, the expandable member 30 is fixed to the base member 10 by the support member 20 and is expandable along the first axis extending in the X direction. The elastic member 30 in the present embodiment includes a pantograph type elastic part 31 . FIG. 4 is a plan view showing the configuration of the expandable section 31. As shown in FIG. The stretchable portion 31 extends in the direction in which the first axis C1 extends, and includes multiple first link members 61 and multiple second link members 62 . As shown in FIG. 4, a plurality of first points 100 are arranged at equal intervals on the first axis C1.

The first link members 61 extend in a second direction D2 that intersects the first axis C1, and are arranged at regular intervals so as to intersect the first axis C1 at a plurality of first points 100. Each of the plurality of first link members 61 includes a first portion P1, a second portion P2 located apart from the first portion P1 in the second direction D2, and a side opposite to the second portion P2 in the second direction D2. includes a first portion P1 and a third portion P3 equidistantly spaced apart. As shown in FIG. 4, in this embodiment, the first portion P1 corresponds to the central portion of the first link member 61 in the longitudinal direction, and the second portion P2 and the third portion P3 each correspond to the first link member. 61 in the longitudinal direction. The first link member 61 is arranged such that the first portion P<b>1 coincides with the first point 100 .

The second link member 62 extends in a third direction D3 that intersects the direction in which the first axis C1 extends and the second direction D2. are arranged side by side. Each of the plurality of second link members 62 includes a fourth portion P4, a fifth portion P5 located apart from the fourth portion P4 in the third direction D3, and a side opposite to the fifth portion P5 in the third direction D3. includes a fourth portion P4 and a sixth portion P6 equidistantly located. As shown in FIG. 4, in this embodiment, the fourth portion P4 corresponds to the central portion of the second link member 62 in the longitudinal direction, and the fifth portion P5 and the sixth portion P6 each correspond to the second link member. 62 corresponds to the end in the length direction. The second link member 62 is arranged such that the fourth portion P4 coincides with the first point 100. As shown in FIG.

The first link member 61 is rotatably connected to each other at the fourth portion P4 and the first portion P1 of the second link member 62 that intersect the first axis C1 at the same first point 100. Specifically, through holes are formed in the first portion P1 and the fourth portion P4 to pass through the first link member 61 and the second link member 62 in the plate thickness direction. A shaft 71 (first connecting pin) is inserted. A bearing (not shown) such as a sliding bearing or a ball bearing is arranged between the inner peripheral surface of the through hole and the outer peripheral surface of the first connecting shaft 71 . Thereby, the first link member 61 and the second link member 62 are rotatable relative to each other around the first connecting shaft 71 . A plurality of washers are arranged between the first portion P1 of the first link member 61 and the fourth portion P4 of the second link member 62, and the first connecting shaft 71 is inserted into the central hole of the washer. is inserted. The number of washers is not particularly limited, and may be one.

The first link member 61 is rotatable relative to each other at a fifth portion P5 and a third portion P3 of the second link member 62 which intersect the first axis C1 at a first point 100 adjacent to one side in the X direction. Concatenated. Specifically, the third portion P3 and the fifth portion P5 are formed with through-holes that penetrate the first link member 61 and the second link member 62 in the plate thickness direction, and the through-holes are used for the second connection. A shaft 72 (second connecting pin) is inserted. A bearing (not shown) such as a sliding bearing or a ball bearing is arranged between the inner peripheral surface of the through hole and the outer peripheral surface of the second connecting shaft 72 . Thereby, the first link member 61 and the second link member 62 are rotatable relative to each other around the second connecting shaft 72 . A plurality of washers are arranged between the third portion P3 of the first link member 61 and the fifth portion P5 of the second link member 62, and the second connecting shaft 72 is inserted into the central hole of the washer. is inserted. The number of washers is not particularly limited, and may be one.

The first link member 61 includes a sixth portion P6 of the second link member 62 intersecting the first axis C1 at a first point 100 adjacent to the other side opposite to the one side in the X direction, and a sixth portion P6 of the second link member 62 intersecting the first axis C1. The two parts P2 are rotatably connected to each other. Specifically, the second portion P2 and the sixth portion P6 are formed with through holes penetrating through the first link member 61 and the second link member 62 in the plate thickness direction, and the through holes are provided with the third connecting member. A shaft 73 (third connecting pin) is inserted. A bearing (not shown) such as a sliding bearing or a ball bearing is arranged between the inner peripheral surface of the through hole and the outer peripheral surface of the third connecting shaft 73 . Thereby, the first link member 61 and the second link member 62 are rotatable relative to each other around the third connecting shaft 73 . A plurality of washers are arranged between the second portion P2 of the first link member 61 and the sixth portion P6 of the second link member 62, and the third connecting shaft 73 is inserted into the central hole of the washer. is inserted.

In the present embodiment, the connecting portion (third connecting shaft 73) between the second portion P2 of the first link member 61 and the sixth portion P6 of the second link member 62 and the third portion P3 of the first link member 61 are connected. A connecting portion (second connecting shaft 72) of the second link member 62 with the fifth portion P5 is fixed on the slider. Specifically, the lower end of the second connecting shaft 72 is inserted into the first shaft hole 22A (Fig. 5), and the lower end of the third connecting shaft 73 is inserted into the second shaft hole 23A (Fig. 5). ing. As shown in FIG. 3, between the lower surface of the first link member 61 (the surface facing the first slider 22 side) and the upper surface of the first shaft support portion 27 (the surface facing the first link member 61 side), A washer is placed. A second connecting shaft 72 is inserted into the central hole of the washer. Similarly, a washer is arranged between the lower surface of the first link member 61 (the surface facing the second slider 23 side) and the upper surface of the second shaft support portion 29 (the surface facing the first link member 61 side). ing. A third connecting shaft 73 is inserted into the central hole of the washer. In addition, it is not limited to the case where both the connecting portions are fixed on the slider, and only one of the connecting portions may be fixed on the slider. In this case, one of the first slider 22 and the second slider 23 can be omitted.

In the present embodiment, the support member 20 supports the central portion of the elastic member 30 in the direction in which the first axis C1 extends (the X direction) with respect to the base member 10 . That is, the lower ends of the second connecting shaft 72 and the third connecting shaft 73 inside the square indicated by the dashed line A in FIG. 4 are inserted into the first shaft hole 22A and the second shaft hole 23A of the slider, respectively. there is

As described above, by connecting the first link member 61 and the second link member 62, a plurality of rhombuses arranged in the X direction are formed (Fig. 4). As shown in FIG. 4, the first portion P1 and the fourth portion P4 correspond to vertices of the rhombus in the X direction. On the other hand, the second portion P2, the third portion P3, the fifth portion P5, and the sixth portion P6 correspond to the vertices of the rhombus in the Y direction.

As shown in FIG. 1, a plurality (eight in the present embodiment) of the elastic members 30 are arranged side by side along the first axis on the elastic portion 31 (the first link member 61 and the second link member 62). contains a table 32 of The tables 32 extend in the Y direction and are arranged at regular intervals in the X direction. The table 32 is fixed to the expansion/contraction portion 31 at the connecting portion ( FIG. 4 ) between the first portion P1 of the first link member 61 and the fourth portion P4 of the second link member 62 . Specifically, as shown in FIG. 2, a bottomed table shaft hole 32B opening toward the elastic portion 31 is formed in the lower surface of the table 32 facing the elastic portion 31 side. The upper end of the first connecting shaft 71 is inserted into the table shaft hole 32B. A washer is arranged between the lower surface of the table 32 (the surface facing the expandable portion 31 side) and the upper surface of the second link member 62 (the surface facing the table 32 side). A first connecting shaft 71 is inserted into the central hole of the washer. For example, a dispenser and a workpiece holder (not shown) are attached to the table 32 .

As shown in FIG. 1, the plurality of tables 32 are formed with through-holes 32A penetrating through the tables 32 in the direction in which the first axis extends (X direction) at both ends in the Y direction. The pitch changer 1 includes a plurality of columnar table guide shafts extending in the X direction (first table guide shaft 51 and second table guide shaft 52). As shown in FIG. 1, the first table guide shaft 51 is inserted into one through hole 32A formed in the table 32 (the through hole 32A positioned on the front side in FIG. 1). On the other hand, the second table guide shaft 52 is inserted into the other through hole 32A formed in the table 32 (through hole 32A on the far side in FIG. 1). The first table guide shaft 51 and the second table guide shaft 52 have one end fixed to the first end plate 11 and the other end fixed to the second end plate 12 . An annular sliding member (not shown) having a small coefficient of friction is arranged between the outer peripheral surface of these table guide shafts and the inner peripheral surface of the through hole 32A.

The drive unit 40 expands and contracts the elastic member 30 along the first axis C1. As shown in FIG. 1 , the drive section 40 includes a power section 41 , a bracket 42 , a screw shaft 43 and a moving section 44 .

The power unit 41 is for rotating the screw shaft 43 around the rotation axis, and is, for example, a motor. As shown in FIG. 1 , the power section 41 is connected to the outer surface of the first end plate 11 via a bracket 42 . As shown in FIG. 2 , the power section 41 has an output shaft 41A extending into the bracket 42 .

The screw shaft 43 extends along the first axis C1 and has a rotation axis. As shown in FIG. 2, the screw shaft 43 has a first end 43A and a second end 43B opposite to the first end 43A. is inserted in the The first end 43A is positioned near the rail 21 . On the other hand, the second end 43B is located inside the bracket 42 and connected to the output shaft 41A by a coupling 80. As shown in FIG. Thereby, the rotation of the output shaft 41A is transmitted to the screw shaft 43 via the coupling 80. As shown in FIG.

The moving part 44 is installed on the screw shaft 43 . The moving part 44 moves along the first axis C<b>1 by rotating the screw shaft 43 about the rotation axis, and is fixed to a part of the extensible member 30 . As shown in FIG. 2, the moving portion 44 includes a nut 45 and a table fixing portion 46. As shown in FIG.

The nut 45 constitutes a ball screw together with the screw shaft 43. That is, as shown in FIG. 2, a screw shaft 43 is inserted into a through hole 45A formed in a nut 45, and a plurality of balls ( not) are placed. A through hole 46</b>A into which the nut 45 is inserted is formed in the table fixing portion 46 . The table fixing portion 46 is fixed to the side surface of one table 32 closest to the first end plate 11 among the plurality of tables 32 . That is, the table fixing portion 46 is fixed to the end portion of the elastic member 30 in the direction (X direction) in which the first axis C1 extends.

Next, the operation of the pitch changer 1 will be described. First, when the power section 41 is driven, the output shaft 41A rotates, and the screw shaft 43 rotates in the first direction around the rotation axis. As a result, the nut 45 and the table fixing portion 46 linearly move toward the support member 20 in the X direction. As a result, the table 32 closest to the first end plate 11 among the plurality of tables 32 is pushed in the X direction toward the support member 20 side.

As a result, the expandable portion 31 (pantograph) fixed to the table 32 contracts in the X direction. Specifically, the first link member 61 and the second link member 62 rotate relative to each other at each connecting portion, and extend and contract around the portion supported by the support member 20 (the portion indicated by the dashed-dotted line A in FIG. 4). 31 shrinks in the X direction, and each rhombus of the expansion/contraction part 31 deforms so as to extend in the Y direction. As a result, the interval (pitch) between the tables 32 adjacent in the X direction is narrowed.

On the other hand, when the output shaft 41A of the power section 41 is rotated in the opposite direction, the screw shaft 43 rotates in the second direction (opposite to the first direction) around the rotation axis. As a result, the nut 45 and the table fixing portion 46 linearly move away from the support member 20 in the X direction. As a result, the stretchable portion 31 extends in the X direction, and each rhombus of the stretchable portion 31 deforms so as to extend in the X direction. Thereby, the pitch between the tables 32 adjacent to each other in the X direction is widened. In this way, by rotating the screw shaft 43 to move the nut 45 and the table fixing portion 46 back and forth in the X direction, the pitch between the adjacent tables 32 is changed.

As described above, according to the pitch changer 1 according to the present embodiment, the screw shaft 43 is rotated around the rotation axis by the power section 41, and the moving section 44 (the nut 45 and the table fixing section 46) is moved to the first axis C1. By moving along the first axis C1, the first link member 61 and the second link member 62 rotate relative to each other at the connecting portion, and the expandable member 30 expands and contracts along the first axis C1. According to this configuration, the amount of movement of the moving portion 44 in the X direction is precisely controlled by the amount of rotation of the screw shaft 43, so the amount of expansion and contraction of the expandable member 30 is precisely controlled. Therefore, while it is difficult to change the pitch accurately to an arbitrary position with the conventional pitch changer that employs a drive system using a cylinder, the pitch changer 1 can position the pitch at an arbitrary position with high accuracy. It is possible and can be changed to any pitch with high precision.

(Embodiment 2)
Next, the configuration of the pitch changer 2 according to Embodiment 2 will be described with reference to FIGS. 6 and 7. FIG. The pitch changer 2 according to Embodiment 2 basically has the same configuration and effects as the pitch changer 1 according to Embodiment 1, but differs in the configuration of the supporting member. Only the points different from the pitch changer 1 according to the first embodiment will be described below.

FIG. 6 is a perspective view showing the overall configuration of the pitch changer 2 according to Embodiment 2. FIG. As shown in FIG. 6, the pitch changer 2 includes an odd number of tables 32 (nine in this embodiment). The support member 20</b>A in the present embodiment is not connected to the expansion/contraction section 31 and fixes one table 32 positioned at the center in the X direction among the plurality of tables 32 to the base member 10 .

Specifically, the support member 20A includes a rectangular parallelepiped first support portion 20A1 and a rectangular parallelepiped second support portion 20A2 spaced apart from the first support portion 20A1 in the X direction. Both the first support portion 20A1 and the second support portion 20A2 are arranged on the base surface 10A and have substantially the same width as the base member 10 in the Y direction.

FIG. 7 is a cross-sectional view along line segment VII-VII in FIG. As shown in FIG. 7, of the plurality of tables 32, the table 32 positioned at the center in the X direction has both ends in the Y direction extending toward the base surface 10A (extending portions 32C). The extending portion 32C is sandwiched between the first support portion 20A1 and the second support portion 20A2 (FIG. 6) in the X direction, whereby the expandable member 30 is fixed to the base member 10 by the support member 20A.

According to the pitch changer 2 according to this embodiment, unlike the first embodiment, it is not necessary to provide the support member 20, which is a linear motion guide unit. Therefore, compared with the first embodiment, the configuration of the pitch changer can be simplified.

(Other embodiments)
Other embodiments will now be described. In Embodiment 1 above, the case where a ball screw is employed in the drive unit has been described as an example, but the present invention is not limited to this. For example, a slide screw may be employed instead of the ball screw.

In Embodiment 1, the case where both the first link member 61 and the second link member 62 are plate members has been described as an example, but the present invention is not limited to this. For example, the first link member and the second link member may be rectangular frame-shaped members having height in the Z direction. Further, the second portion P2 and the third portion P3 are not limited to the end portions of the first link member 61, and may be portions located between the central portion and the end portions in the length direction. Similarly, the fifth portion P5 and the sixth portion P6 are not limited to the ends of the second link member 62, and may be portions located between the central portion and the ends in the length direction. .

In the first embodiment, the case where the support member 20 supports the center portion of the elastic member 30 in the X direction with respect to the base member 10 has been described as an example, but the present invention is not limited to this. That is, the support member may support any portion of the elastic member 30 in the X direction with respect to the base member 10 .

The first table guide shaft 51 and the second table guide shaft 52 are not essential components in the pitch changer of the present disclosure and may be omitted. In this case, the through hole 32A in the table 32 can also be omitted.

It should be understood that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of claims rather than the above description, and is intended to include all modifications within the meaning and scope of equivalence to the scope of claims.

Reference Signs List 1, 2 pitch changer, 10 base member, 10A base surface, 11 first end plate, 11A through hole, 12 second end plate, 13 first fixture, 14 second fixture, 20, 20A support member, 20A1 second 1 support portion 20A2 second support portion 21 rail 22 first slider 22A first shaft hole 23 second slider 23A second shaft hole 24 base portion 25 rail body portion 26 first slider body portion , 27 first shaft support portion, 28 second slider body portion, 29 second shaft support portion, 30 expansion member, 31 expansion and contraction portion, 32 table, 32A through hole, 32B table shaft hole, 32C extension portion, 40 drive portion , 41 power part, 41A output shaft, 42 bracket, 43 screw shaft, 43A first end, 43B second end, 44 moving part, 45 nut, 45A through hole, 46 table fixing part, 46A through hole, 51 second 1 table guide shaft 52 second table guide shaft 61 first link member 62 second link member 71 first connecting shaft 72 second connecting shaft 73 third connecting shaft 80 coupling 100 first point, B1, B2 bolt, C1 first axis, D2 second direction, D3 third direction, P1 first part, P2 second part, P3 third part, P4 fourth part, P5 fifth part, P6 sixth part

Claims

a base member;
a support member disposed on the base member;
a telescopic member secured to the base member by the support member and telescopic along a first axis;
a driving unit that expands and contracts the expandable member along the first axis,
The elastic member is
A plurality of first points extending in a second direction intersecting the first axis and arranged at equal intervals so as to intersect the first axis at a plurality of first points arranged at equal intervals on the first axis. a link member;
A plurality of second links extending in a third direction intersecting the extending direction of the first axis and the second direction, and arranged side by side at equal intervals so as to intersect the first axis at the plurality of first points. including a member and
Each of the plurality of first link members,
a first part;
a second portion located apart from the first portion in the second direction;
a third portion positioned equidistant from the first portion on the opposite side of the second portion in the second direction;
Each of the plurality of second link members,
a fourth part;
a fifth portion positioned apart from the fourth portion in the third direction;
a sixth portion positioned equidistant from the fourth portion on the opposite side of the fifth portion in the third direction;
The first link member is
rotatably connected to each other at the fourth portion and the first portion of the second link member that intersect the first axis at the same first point;
rotatably connected to each other at the fifth portion and the third portion of the second link member that intersect the first axis at the first point adjacent to one side;
The sixth portion and the second portion of the second link member intersecting the first axis at the first point adjacent to the other side opposite to the one side are rotatably connected to each other. is,
The drive unit
a screw shaft extending along the first axis and having an axis of rotation;
a power section that rotates the screw shaft around the rotation axis;
a moving part that is installed on the screw shaft, moves along the first axis by rotation of the screw shaft about the rotation axis, and is fixed to a part of the telescopic member. .
The support member is
a rail disposed on the base member and orthogonal to the first axis;
a slider movable along the rail;
a connection portion between the second portion of the first link member and the sixth portion of the second link member and a connection between the third portion of the first link member and the fifth portion of the second link member; 2. The pitch changer of Claim 1, wherein at least one of the sections is fixed to the slider.
The support member supports a central portion of the expandable member in the direction in which the first axis extends with respect to the base member,
3. The pitch changer according to claim 1, wherein said moving part is fixed to an end of said elastic member in the direction in which said first axis extends.
The pitch changer according to claim 1, wherein the telescopic member includes a plurality of tables arranged side by side along the first axis on the first link member and the second link member.
Through holes are formed in the plurality of tables so as to pass through the tables in a direction in which the first axis extends,
5. The pitch changer according to claim 4, further comprising a table guide shaft extending in the direction in which said first shaft extends and inserted into said through hole.