JP5877603B2 - 2-axis synchronous rotation drive device - Google Patents

Description

  The present invention relates to a two-axis synchronous rotation driving device that synchronously drives at least two feed screws that move up and down individually moving up and down individually moving to an arbitrary position with respect to a horizontal direction by a single electric motor.

  For example, in the elevating device shown in Patent Document 1, a plurality of screw shafts that are arranged in a vertical direction and are rotatably provided around a shaft line on a fixedly arranged support portion, and screwed to the screw shafts. And a lifting platform that moves up and down when the screw shaft is rotated synchronously, a swivel disposed parallel to the support, and a swivel mounted on the swivel so as to be rotatable about the axis. A crank portion that connects a plurality of rotating shafts, screw shafts corresponding to the respective rotating shafts, and a drive portion that turns the swivel around the screw shaft, and by turning the swivel by the drive portion The screw shaft is synchronously rotated via the swivel board and the crank portion so as to move the elevator up and down.

  In the above-described lifting device, a plurality of screw shafts can be synchronously rotated by a single drive unit, specifically, an electric motor, and each lifting platform meshed with each screw shaft can be moved up and down synchronously. In addition, the number of drive units can be reduced as compared with a case where each screw shaft is rotated synchronously by a drive unit provided individually.

  However, the above-described lifting device is effective in a structure in which each screw shaft cannot move with respect to the swivel, but for example, a processing device that performs necessary drilling processing and deburring processing on a workpiece. When moving at least a pair of left and right workpiece holding members that contact and support the lower surface of the workpiece, such as a workpiece holding device, individually in the horizontal direction according to the size of the workpiece, the screw shafts are rotated synchronously. Thus, the workpiece holding members could not be moved up and down synchronously.

  To raise and lower the elevating platform that moves to an arbitrary position in the horizontal direction, an electric motor is individually connected to each screw shaft, and each electric motor is driven synchronously to control the moving height of each work holding member. Had to be moved up and down synchronously so that they always matched.

For this reason, in order to raise and lower each workpiece holding member in synchronization, it is necessary to connect an electric motor for each screw shaft, which causes a problem that the device itself is increased in weight and size and is also expensive. . In addition, it is necessary to reliably drive these two electric motors in synchronous rotation, and there is a problem that the control device for the electric motor becomes complicated and the synchronous rotation driving device increases in cost.

JP 2004-345835 A

  The problem to be solved is that in order to raise and lower at least two lifting bodies that move to an arbitrary position in the horizontal direction at the same height, an electric motor must be provided for each lifting body, and the device itself However, this increases the size and weight, and increases the cost. In addition, the electric motors of the lifting bodies must be synchronously driven with high accuracy, which complicates the control device and increases the cost of the device itself.

The present invention has a horizontal movable member which is movably respectively supported on at least two horizontal frames arranged in the same straight line in the horizontal direction, with respect to each horizontal frame, to separate the corresponding horizontal movable body horizontal a horizontal driving member to be moved, a feed screw which is respectively rotatably supported by having an axis in the vertical direction in the vertical frame provided in each horizontal movable body is movably supported in the vertical direction in the vertical frame The lifting and lowering body is moved up and down with the rotation of the corresponding feed screw, and is arranged between the feed screws, and the end portions are pivotally supported by the support shaft so as to be swingable. A plurality of link arms that are pivotally supported at the shaft end portions of the feed screws, swing according to the moving position of the horizontal movable body with respect to the horizontal frames, and can be expanded and contracted in the horizontal direction, and the feed screws the shaft end portion and the support shaft of the A rotating body which is respectively fixed to both ends, and the driving force transmitting member which is looped respectively between rotating bodies facing each other, are connected to one or any of the supporting shaft of the feed screw, rotation of the fixed rotary body And an electric motor that synchronously rotates each feed screw by each driving force transmission member that travels in the same direction, and follows the movement of each horizontal movable body to swing each link arm to expand and contract in the horizontal direction. In addition, each elevating body can be moved up and down synchronously by running each driving force transmitting member in the same direction by a rotating body rotated by an electric motor driven in this state and rotating each feed screw synchronously. The most important feature.

  In the present invention, a pair of left and right lifting bodies that move to an arbitrary position in the horizontal direction can be moved up and down at a matching height by a single electric motor, the number of electric motors is reduced, and the apparatus itself is reduced in size and weight. In addition, the cost can be reduced.

It is a whole perspective view which shows the outline of the workpiece | work support apparatus to which a 2 axis | shaft synchronous rotation drive device is applied. It is a front view which shows the state which moved the work holding member to the direction which mutually spaces apart. It is explanatory drawing which shows a 2 axis | shaft synchronous rotation drive device. It is explanatory drawing which shows the state which moved the 1st and 2nd horizontal movable body to arbitrary positions with respect to the 1st and 2nd horizontal frame. It is explanatory drawing which shows the synchronous rotation state of the 1st and 2nd feed screw. FIG. 6 is an explanatory diagram illustrating a driving force transmission unit according to a second embodiment. It is explanatory drawing which shows the driving force transmission means which concerns on Example 3. FIG.

Following the movement of each horizontal movable body, each link arm is rocked to expand and contract in the horizontal direction, and each driving force transmitting member travels in the same direction by a rotating body rotated by an electric motor driven in this state. The best embodiment is that each lifting body can be moved up and down synchronously by rotating each feed screw synchronously.

  Hereinafter, the present invention is provided on the lifting body by synchronously rotating the two feed screws provided with the axis in the vertical direction on the two horizontal movable bodies supported to move individually in the horizontal direction. The present invention will be described with reference to the drawings showing an embodiment implemented in a work holding device that holds the work by raising and lowering the holding members simultaneously.

  As shown in FIGS. 1 to 3, the main body frame 3 of the work holding device 1 to which the present invention is applied has first and second horizontal frames 5, 7 extending in the horizontal direction, which are in the same straight line and have a required height. It is provided in the position. First and second horizontal feed screws 9 and 11 constituting a part of first and second horizontal drive members each having an axis in the horizontal direction are rotatably mounted on the first and second horizontal frames 5 and 7, respectively. First and second electric motors 13 and 15 that are partly supported by the first and second horizontal feed screws 9 and 11 and that can be numerically controlled by a servo motor or the like and constitute part of the first and second horizontal drive members. Are connected.

  First and second horizontal movable bodies 17 and 19 are supported on the first and second horizontal frames 5 and 7 so as to be individually movable in the horizontal direction, and the first and second horizontal movable bodies 17 and 19 are supported. A nut (not shown) provided at 19 is meshed with the corresponding first and second horizontal feed screws 9 and 11. The first and second horizontal movable bodies 17 and 19 are reciprocated in the horizontal direction as the corresponding first and second electric motors 13 and 15 are driven.

  Each of the first and second horizontal movable bodies 17 and 19 is provided with first and second upper and lower frames 21 and 23 extending in the vertical direction, and each of the first and second upper and lower frames 21 and 23 has a vertical direction. The first and second feed screws 25 and 27 each having an axis are rotatably supported. Each of the first and second feed screws 25 and 27 has a shaft lower end provided on the main body frame 3 and is set to have an axial length that extends into the box 31 that houses the biaxial synchronous drive device 29.

  First and second elevating bodies 33 and 35 are supported by the first and second upper and lower frames 21 and 23 so as to be movable in the vertical direction, and nuts provided on the first and second elevating bodies 33 and 35 ( (Not shown) are engaged with corresponding first and second feed screws 25 and 27. Further, the base ends of the first and second mounting arms 37 and 39 are fixed to the first and second lifting bodies, and the work holding member 41 is attached to the distal ends of the first and second mounting arms 37 and 39. -43 are attached respectively.

The work holding members 41 and 43 are connected to a negative pressure generating means (not shown) and are attached to a lower surface of the work (not shown), and a holding member that holds the work by opening and closing the operation claw portion. Any of a holding member that grips a workpiece by moving a pressing plate provided on a rod such as an air cylinder toward a fixed plate may be used. The figure shows a holding member using an air cylinder.

  A numerically controllable electric motor 45 such as a servomotor is provided in the horizontal center of the box 31 in which the two-axis synchronous drive device 29 is accommodated. The output shaft of the electric motor 45 has first and second link arms. One end of each of the first and second link arms 47 and 49 is rotatably supported by one end of each of the first and second link arms 47 and 49. It is pivotally supported by 57. And the other end part of each 3rd and 4th link arms 51 * 53 is pivotally supported by the shaft lower end part of the corresponding 1st and 2nd feed screw 25 * 27 so that rotation is possible.

  First and second rotating bodies 59 and 61 such as a toothed pulley are coaxially fixed to the output shaft of the electric motor 45 positioned above the first link arm 47 and below the second link arm 49. Further, both end portions of the support shaft 55 for supporting the first and third link arms 47 and 51 and both end portions of the support shaft 57 for supporting the second link arm 49 and the fourth link arm 53 are toothed. Third and fourth rotating bodies 63 and 65 such as pulleys and fifth and sixth rotating bodies 67 and 69 are fixed, respectively. Further, seventh and eighth rotating bodies 71 and 73 such as a toothed pulley are fixed to the lower ends of the shafts of the first and second feed screws 25 and 27, respectively.

  The first rotating body 59 and the third rotating body 63, the fourth rotating body 65 and the seventh rotating body 71, the second rotating body 61 and the sixth rotating body, and the fifth rotating body 67 and the eighth rotating body 73 are endless. Driving force transmission members 75, 77, 79, 81 such as a toothed belt are respectively wound around.

  Next, the work holding action by the work holding apparatus 1 configured as described above and the synchronous rotation driving action of the first and second feed screws 25 and 27 by the biaxial synchronous drive apparatus 29 will be described.

  In the work holding device 1, in order to hold the work in a stable state, it is necessary to move the work holding members 41 and 43 to a required position in the horizontal direction according to the size (weight) and the position of the center of gravity. First, in order to move the workpiece holding members 41 and 43 to the required positions with respect to the horizontal direction, the first and second electric motors 13 and 15 are moved to one and the other in the horizontal direction with respect to the center of gravity of the workpiece. The first and second horizontal movable bodies 9 and 11 are individually rotated by driving and controlled by a driving amount corresponding to the distance, and the first and second horizontal movable bodies with respect to the first and second horizontal frames 5 and 7. 17 and 19 are moved to their respective positions. Thereby, each work holding member 41 * 43 is moved to the required position of a horizontal direction with respect to the gravity center position of a work.

  At this time, the first and third link arms 47 and 51 around the support shaft 55 swing at an angle corresponding to the position of the first horizontal movable body 17 in the first horizontal frame 5, and the first horizontal frame 5 The first horizontal movable body 17 can be moved with respect to an arbitrary position. Similarly, the second and fourth link arms 49 and 53 centered on the support shaft 57 swing at an angle corresponding to the position of the second horizontal movable body 19 in the second horizontal frame 7. The second horizontal movable body 19 can be moved with respect to an arbitrary position. (See Figure 4)

  Further, in order to hold the workpiece by the workpiece holding members 41 and 43 moved to the required positions in the horizontal direction, it is necessary to move these workpiece holding members 41 and 43 to a certain height position. In this example, when the electric motor 45 is rotationally driven by a driving amount corresponding to a required height, the rotational driving force of the electric motor 45 is connected by the first rotating body 59, the driving force transmitting member 75, and the support shaft 55. The first feed screw 25 and the second rotating body 61, the driving force transmitting member 79, and the support shaft 57 are connected via the third and fourth rotating bodies 63 and 65, the driving force transmitting member 77 and the seventh rotating body 71. The fifth and sixth rotating bodies 67 and 69, the driving force transmitting member 81, and the eighth rotating body 83 are transmitted to the second feed screw 27 in synchronization. As a result, the first and second feed screws 25 and 27 are synchronously rotated and the first and second elevating bodies 33 and 35 are moved up and down synchronously so that the work holding members 41 and 43 are always at the same height. Move up and down. (See Figure 5)

  In the present embodiment, the first and second feed screws 25 and 27 provided on the first and second upper and lower frames 21 and 23 moved to arbitrary required positions in the horizontal direction are combined with a single electric motor 45. When the workpiece holding members 41 and 43 can be moved up and down with the same amount of movement by synchronously rotating with each other, and the corresponding individual electric motors are synchronously controlled to move up and down with the same amount of movement. In comparison, the electric motor can be reduced to reduce the size and weight of the apparatus itself and reduce the manufacturing cost.

Further, in the present embodiment, the first and second feed screws 25 and 27 can be reliably rotated synchronously so that the workpiece holding members 41 and 43 can be moved up and down with the same movement amount.

  In the first embodiment, two rotating bodies 59 and 61 are attached to the output shaft of the electric motor 45, the driving force transmitting member 75 is installed in the rotating body 59 and the third rotating body 63, and the rotating body 61 and the sixth rotating body 69 are used. In this embodiment, the first and second feed screws 25 and 27 are synchronously rotated with the driving force transmission member 79 being wound around each other. However, in this embodiment, one is provided on the output shaft of the electric motor 45 as shown in FIG. The rotating body 91 is provided, a common driving force transmission member 93 is passed over the third rotating body 63 and the sixth rotating body 69, and the rotating body 91 is pushed and rotated. The body 95 is provided so as to abut, and when the first and second link arms 47 and 49 are rotated with respect to the output shaft, the pressing rotation body 95 restricts the drive force transmission member 93 from being detached from the rotation body 91. It is good also as a structure.

  In FIG. 7, the same members as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the first and second embodiments, the first and second feed screws 25 and 27 are synchronously rotated by the electric motor 45 provided in the intermediate portion between the first and second feed screws 25 and 27, and the first and second lifting and lowering are performed. Although the bodies 33 and 35 are moved up and down with the same stroke, in this embodiment, as shown in FIG. 7, one of the first and second feed screws 25 and 27 (in the example shown, the first feed screw is used). The electric motor 45 is connected to the shaft end portion of the first feed screw 25 and the shaft lower end portion of the first feed screw 25 and the shaft lower end portion of the second feed screw 27 are swung by the support shaft 101. The other end portions of the two link arms 103 and 105 that are pivotally supported are supported so as to rotate.

In addition, rotating bodies 107 and 109, 111 and 113 such as toothed pulleys are provided at the lower end portions of the first and second feed screws 25 and 27 and both end portions of the support shaft 101, respectively. 111, the rotating body 109, and the rotating body 113 are respectively wound with driving force transmission members 115 and 117 such as a toothed belt.

  Then, the driving force transmitting member 115 is rotated by the driving force transmitting member 115 that rotates by rotating the rotating body 107 by the first feed screw 25 that rotates as the electric motor 45 is driven, and the rotating body 109 is driven by the rotating bodies 111 and 113. The second feed screw 27 may be rotated in synchronization with the first feed screw 25 by rotating the.

In the above description, the workpiece support device that holds the lower surface of the workpiece and restricts the positional deviation when performing the required machining on the workpiece has been described as an example. The first and second feed screws for raising and lowering the first and second elevating bodies 33 and 35 provided so as to move to an arbitrary position in the horizontal direction are not limited to the support device, but a single electric motor 45. May be configured to enable the required operation by synchronous rotation.

In the above description, two horizontal frames are arranged in the horizontal direction, and two feed screws are respectively supported by two upper and lower frames supported so as to be movable in the horizontal direction with respect to each horizontal frame. The two lifted bodies engaged with each other are configured so as to raise and lower each lifted body synchronously by synchronously rotating the two feed screws with a single electric motor. In the present invention, Can be implemented as follows.

That is, three or more horizontal frames are arranged in the horizontal direction, and three or more feed screws are respectively supported by three or more upper and lower frames supported so as to be movable in the horizontal direction with respect to each horizontal frame. In contrast, the other end of the link arm that is pivotally supported at one end is pivotally supported and provided at the shaft end of the support shaft that pivotally supports each end of each link arm. A driving force transmitting member is passed over each rotating body, and each feeding screw is rotated synchronously by rotating the rotating body by an electric motor connected to one support shaft to run each driving force transmitting member. It is good also as a structure which raises / lowers each raising / lowering body synchronously.

DESCRIPTION OF SYMBOLS 1 Work holding apparatus 3 Main body frame 5 1st horizontal frame 7 2nd horizontal frame 9 1st horizontal feed screw 11 which comprises a part of 1st horizontal drive member 2nd horizontal feed which comprises a part of 2nd horizontal drive member Screw 13 First electric motor 15 constituting part of the first horizontal driving member Second electric motor 17 constituting part of the second horizontal driving member First horizontal movable body 19 Second horizontal movable body 21 First upper and lower frames 23 second upper and lower frame 25 first feed screw 27 second feed screw 29 biaxial synchronous drive device 31 box 33 first lifting body 35 second lifting body 37 first mounting arm 39 second mounting arm 41 work holding member 43 work holding Member 45 Electric motor 47 First link arm 49 Second link arm 51 Third link arm 53 Fourth link arm 55 Support shaft 57 Support shaft 59 First rotating body 61 First Two-rotor 63 Third-rotor 65 Fourth-rotor 67 Fifth-rotor 69 Sixth-rotor 71 Seventh-rotor 73 Eighth-rotor 75 Driving force transmitting member 77 Driving force transmitting member 79 Driving force transmitting member 81 Driving Force transmitting member 91 Rotating body 93 Driving force transmitting member 95 Pressing rotating body 101 Support shaft 103 Link arm 105 Link arm 107 Rotating body 109 Rotating body 111 Rotating body 113 Rotating body 115 Driving force transmitting member 117 Driving force transmitting member

Claims (7)

Horizontal movable bodies each supported by at least two horizontal frames arranged in a straight line in the horizontal direction so as to be movable;
For each horizontal frame , a horizontal drive member that individually moves the corresponding horizontal movable body in the horizontal direction ,
A feed screw, each rotatably axially supported by having an axis in the vertical direction in the vertical frame provided in each horizontal movable body,
A lifting body supported by each upper and lower frame so as to be movable in the vertical direction, and lifted and lowered as the corresponding feed screw rotates,
It is arranged between the feed screws, the end portions are pivotally supported by the support shaft so as to be swingable, and the unconnected end portion is pivotally supported by the shaft end portion of each of the feed screws. A plurality of link arms that swing according to the moving position of the horizontal movable body with respect to each horizontal frame and can be expanded and contracted in the horizontal direction ;
A rotating body fixed to each end of each lead screw and each end of each support shaft ;
A driving force transmission member that is spanned between the opposing rotating bodies ;
An electric motor connected to one or any of the support shafts of the feed screw and rotating each feed screw synchronously by each driving force transmitting member that travels in the same direction as the fixed rotating body rotates,
With
Following the movement of each horizontal movable body, each link arm is rocked to expand and contract in the horizontal direction, and each driving force transmitting member travels in the same direction by a rotating body rotated by an electric motor driven in this state. A two-axis synchronous rotation drive device that enables each lifting body to be moved up and down synchronously by rotating each feed screw synchronously. 2. The other end of at least two link arms, wherein the electric motor is connected to one of the feed screws and one end of the feed motor is pivotally supported by a support shaft at the shaft end of each feed screw. The shaft is rotatably supported, and a driving force transmission member is passed over the rotating body provided at the shaft end of each feed screw and the rotating body provided at each shaft end of the support shaft to drive the electric motor. A two-axis synchronous rotation drive device that enables rotation of the other feed screw in synchronism with one of the feed screws that rotates with it. The other end of at least two link arms pivotally supported by a support shaft is pivotally supported on the output shaft of the electric motor and the shaft end of each feed screw, respectively. In addition, a driving force transmission member is passed over the rotating body provided on the output shaft, the rotating body provided on each support shaft, and the rotating body provided on the shaft end of each feed screw. A two-axis synchronous rotation drive device in which each drive force transmission member travels with driving and each feed screw can be rotated synchronously. In Claim 3, two rotating bodies are provided concentrically on the output shaft of the electric motor, and each driving force transmitting member can be passed over the rotating body provided at the shaft end of each feed screw. 2-axis synchronous rotation drive device. 4. The feed screw according to claim 3, wherein a single rotating body is provided on the output shaft of the electric motor and a common driving force transmission member is stretched over the rotating body provided on each support shaft on each feed screw side. A two-axis synchronous rotation drive device capable of synchronous rotation. 6. The rotating body of the output shaft on which the driving force transmission member is commonly wound is provided so as to be able to abut the pressing rotating body, and the pressing rotating body can restrict the driving force transmitting member from coming off. 2-axis synchronous rotation drive device. 2. The other end of at least two link arms, wherein the electric motor is connected to one of the feed screws and one end of the feed screw is pivotally supported by a support shaft at the shaft end of each feed screw. Is supported rotatably, and a driving force transmission member is passed over a rotating body provided at the shaft end portion of each of the feed screws and the shaft end portion of the support shaft, and is rotated with the driving of the electric motor. A two-axis synchronous rotation drive device that rotates the other feed screw in synchronization with the feed screw.

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