JP7646207B2 - Rocking device - Google Patents

Description

The present invention relates to a rocking device.

A swaying device having a linear member with one end attached to a swaying body, the one end swaying in response to the swaying of the swaying body, and the other end fixed is already well known (for example, Patent Document 1).

Japanese Patent Application Publication No. 5-69381

In the conventional oscillating device, when the oscillating body oscillates significantly, a large twist occurs in the linear member, and there is a risk that the linear member may be damaged.

The present invention was developed in consideration of the above-mentioned problems, and its main purpose is to provide adequate protection for linear members.

The present invention relates to a linear member having one end provided on a rocking body, the one end rocking in response to the rocking of the rocking body, and the other end fixed;
a linear member protection portion that protects the linear member,
The linear member protection portion includes:
a planetary gear mechanism including a sun gear that oscillates through a first predetermined angle in accordance with the oscillation of the oscillating body through the first predetermined angle, an immovable internal gear, and a planetary gear that is provided between the sun gear and the internal gear and oscillates through a second predetermined angle smaller than the first predetermined angle when the sun gear oscillates through the first predetermined angle;
a linear member holding portion that oscillates through the second predetermined angle in accordance with the oscillation of the planetary gear through the second predetermined angle and holds an intermediate portion between both ends of the linear member;
having
The planetary gear mechanism includes:
a carrier that rotatably supports the planetary gear and swings in accordance with the swing of the planetary gear,
The linear member holding portion is attached to the carrier,
A vibration generating unit is provided for vibrating the vibration body,
The oscillation generating unit has a rotation shaft that rotates integrally with the oscillation body and a housing,
the sun gear is provided on the rotating shaft, and the internal gear is provided on the housing,
the sun gear is provided at one end of the rotation shaft that is opposite to the one end that is closer to the oscillator,
The rotating shaft has a hollow hole along an axial direction of the rotating shaft,
The oscillating device is characterized in that a portion of the linear member from the one end to the middle portion passes through the hollow hole .

Other features of the present invention will become apparent from the description of this specification and the accompanying drawings.

The present invention makes it possible to adequately protect linear members.

FIG. 1 is a schematic side view of a positioner 1 according to an embodiment of the present invention. FIG. 2 is a schematic rear view of the positioner 1 according to the present embodiment. 1 with the linear member 30, the linear member holding portion 60, and the rotary support 70 removed, and is an explanatory diagram for explaining the planetary gear mechanism 42. FIG. 2 with the linear member 30, the linear member holding portion 60, and the rotary support 70 removed, and is an explanatory diagram for explaining the planetary gear mechanism 42. FIG. This is a cross-sectional view taken along the line FF in FIG. 4. 2 is a schematic perspective view of a linear member holding portion 60. FIG. 13 is a diagram showing the state of the linear member 30, the planetary gear mechanism 42, and the linear member holding portion 60 when the oscillator is oscillated by +100 degrees. FIG. 13 is a diagram showing the state of the linear member 30, the planetary gear mechanism 42, and the linear member holding portion 60 when the oscillator is oscillated by −100 degrees. FIG. 11 is a schematic side view of the inclining and rotating table device 100 according to the second embodiment. 4 is an explanatory diagram for explaining a guide member 110. FIG.

The present specification and accompanying drawings make clear at least the following:

a linear member having one end provided on a rocking body, the one end rocking in response to the rocking of the rocking body, and the other end fixed;
a linear member protection portion that protects the linear member,
The linear member protection portion is
a planetary gear mechanism including a sun gear that oscillates through a first predetermined angle in accordance with the oscillation of the oscillating body through the first predetermined angle, an immovable internal gear, and a planetary gear that is provided between the sun gear and the internal gear and oscillates through a second predetermined angle smaller than the first predetermined angle when the sun gear oscillates through the first predetermined angle;
a linear member holding portion that oscillates through the second predetermined angle in accordance with the oscillation of the planetary gear through the second predetermined angle and holds an intermediate portion between both ends of the linear member;
A rocking device comprising:

Such an oscillating device can reduce stress on the linear member, making it possible to appropriately prevent damage to the linear member (making it possible to appropriately protect the linear member).

Such a rocking device comprises:
The planetary gear mechanism includes:
a carrier that rotatably supports the planetary gear and swings in accordance with the swing of the planetary gear,
It is preferable that the linear member holding portion is attached to the carrier.

With this type of oscillating device, the use of a carrier makes it possible to easily transmit the oscillation of the planetary gear to the linear member holding portion.

Such a rocking device comprises:
A vibration generating unit is provided for vibrating the vibration body,
The oscillation generating unit has a rotation shaft that rotates integrally with the oscillation body and a housing,
It is preferable that the sun gear is provided on the rotating shaft, and the internal gear is provided on the housing.

This type of oscillation device makes it possible to efficiently and easily create the movement of the planetary gear mechanism by making good use of the moving (oscillating) and non-moving (fixed) parts of the oscillation generating unit.

Such a rocking device comprises:
It is preferable that the sun gear be provided at one of both axial ends of the rotation shaft, the other end opposite the one end closer to the oscillator.

This type of rocking device makes it possible to prevent the length of the linear member from one end to the middle part from being too short.

Such a rocking device comprises:
The rotating shaft has a hollow hole along an axial direction of the rotating shaft,
It is desirable that a portion of the linear member from the one end portion to the intermediate portion passes through the hollow hole.

With this type of oscillating device, a hollow hole is provided in the rotating shaft, and by utilizing this hollow hole, wiring from one end of the linear member to the middle part can be done efficiently and with a good appearance.

Such a rocking device comprises:
The hollow hole has:
A rod body along the axial direction;
It is desirable to provide a rotary support member rotatably attached to the rod body and supporting the linear member.

Such a rocking device makes it possible to prevent twisting from concentrating (localizing) on a single part of the linear member.

Such a rocking device comprises:
The rod body is preferably a pivot axis of the linear member holding portion.

With this type of oscillating device, the oscillating axis of the linear member holding part is used as a mounting member for attaching the rotating support, eliminating the need to prepare a separate mounting member, which makes it possible to reduce the number of parts.

Regarding the Positioner 1 According to the Present Embodiment
Here, a positioner 1 is taken as an example of an oscillating device, and the positioner 1 will be described with reference to FIGS. 1 to 8. FIG. 1 is a schematic side view of the positioner 1 according to the present embodiment, showing a state when an oscillating body attached to the positioner 1 is not oscillating. FIG. 2 is a schematic rear view of the positioner 1 as viewed from the direction of the white arrow in FIG. 1. FIG. 3 (FIG. 4) is a diagram in which the linear member 30, the linear member holding portion 60, and the rotary support 70 are removed from FIG. 1 (FIG. 2) in order to make the drawings (particularly the planetary gear mechanism 42) easier to understand, and is an explanatory diagram for explaining the planetary gear mechanism 42. FIG. 5 is a cross-sectional view taken along the line F-F in FIG. 4. FIG. 6 is a schematic perspective view of the linear member holding portion 60. Note that in FIG. 6, the description of the oscillating shaft 68 of the linear member holding portion 60 is omitted. Fig. 7 is a diagram corresponding to Fig. 2, and shows the state of the linear member 30, the planetary gear mechanism 42, and the linear member holding part 60 when the oscillator is oscillated by +100 degrees. Fig. 8 is a diagram corresponding to Fig. 2, and shows the state of the linear member 30, the planetary gear mechanism 42, and the linear member holding part 60 when the oscillator is oscillated by -100 degrees.

The positioner 1 according to this embodiment has an X direction, a Y direction, and a Z direction, with the X direction and the Y direction intersecting each other, and the Z direction intersecting both the X direction and the Y direction. The horizontal direction of the paper in FIG. 1 is the X direction, and the left side (right side) of the paper is called the left (right), the horizontal direction of the paper in FIG. 2 is the Y direction, and the left side (right side) of the paper is called the front (rear), and the vertical direction of the paper in FIGS. 1 and 2 is the Z direction (vertical direction), and the upper (lower) side of the paper is called the top (lower).

The positioner 1 has an oscillation generating unit 10, a linear member 30, and a linear member protection unit 40.

The oscillation generating unit 10 rotates to cause an oscillating body (not shown). The owner (purchaser) of the positioner 1 can attach various objects to be positioned to the positioner 1. For example, motors, image sensors, hydraulic equipment, pneumatic equipment, and robot-related objects can be attached. The object oscillates as the oscillation generating unit 10 rotates. In other words, such an attached object (hereinafter also referred to as the attached object) is oscillated by the oscillation generating unit 10 and becomes an oscillating body.

The oscillation generating unit 10 has a drive unit, a rotating shaft 16, a rotating table 18, and a housing 20.

The drive unit includes a drive source, a cam mechanism, and a drive unit main body 12 (the motor and cam are not shown). The drive unit main body 12 is rotatably supported relative to the housing 20 by a bearing 14. The drive unit main body 12 is provided with a cam follower 12a, and a cam (e.g., a barrel cam) engages with the cam follower 12a to form a cam mechanism. A drive source is connected to the cam, and when the drive source operates the cam, the operation is transmitted to the drive unit main body 12, causing the drive unit main body 12 to rotate.

A hole is provided in the center of the drive unit body 12, and a rotating shaft 16 is provided to pass through the hole. The axial direction of the rotating shaft is along the X direction (left-right direction). The rotating shaft 16 is fixed to the drive unit body 12 with a first bolt 22, and therefore the rotating shaft 16 rotates integrally with the drive unit body 12. In other words, the rotating shaft 16 rotates in conjunction with the rotation of the drive unit body 12.

The rotating shaft 16 also has a hollow hole 17 that runs along the axial direction of the rotating shaft 16. The cross section of this hollow hole 17 is circular. A linear member 30 and the like are provided within the hollow hole 17 (details of which will be described later).

The rotating table 18 is a member that plays the role of a mounting base for mounting the aforementioned oscillating body (attached article). This rotating table 18 is located on the left side of the drive unit main body 12 in the X direction (adjacent to the drive unit main body 12). And, like the drive unit main body 12, a hole is provided in the center, and the rotating shaft 16 is inserted into the hole. Also, the rotating table 18 is provided with a bolt hole 18a, and by inserting a bolt into the bolt hole 18a, the oscillating body (attached article) can be bolted to the rotating table 18 (the bolt fastening also fixes the rotating table 18 to the drive unit main body 12). Therefore, the rotating table 18 rotates integrally with the drive unit main body 12. In other words, the rotating table 18 rotates in conjunction with the rotation of the drive unit main body 12.

As described above, the rotating shaft 16 rotates integrally with the drive unit body 12, so the rotating table 18, the rotating shaft 16, and the drive unit body 12 rotate integrally.

The oscillating body (attached article) is fixed to the rotating table 18 with bolts. Therefore, the oscillating body (attached article) rotates (swings) integrally with the three members (rotating table 18, rotating shaft 16, and drive unit main body 12) (conversely, the three members swing integrally with the oscillating body (attached article)). In other words, the oscillating body (attached article) swings as the three members rotate (swing).

The housing 20 is a member for housing the drive unit and the rotating shaft 16, and also has the function of rotatably supporting the drive unit body 12 of the drive unit via the bearing 14.

The positioner 1 is also provided with a linear member 30. Here, the linear member 30 is, for example, a cable used for electrical conduction or a hose (pipe) used for hydraulic or pneumatic pressure. Note that these cables and hoses may or may not be provided with a cable protection member such as a spiral tube or a so-called Cablebear (registered trademark), but in either case, they are included in the linear member 30. For example, an object in which a spiral tube is wrapped around a cable (hose) and integrated with it, or an object in which a cable (hose) is housed and integrated within a Cablebear (registered trademark) are both linear members 30.

The linear member 30 is provided in the positioner 1 in order to apply electricity or hydraulic (pneumatic) pressure to the oscillating body (attached article). Therefore, one end of the linear member 30 is provided on the oscillating body (attached article), and the one end oscillates in response to the oscillation of the oscillating body (attached article). On the other hand, the other end is provided, for example, on an electricity generating unit for electricity or a pressure generating unit for hydraulic (pneumatic) pressure (the electricity generating unit or pressure generating unit is the fixed part of the other end of the linear member 30), and does not oscillate (is fixed) like the one end. In other words, the linear member 30 according to this embodiment is a member in which one end is provided on the oscillating body (attached article), the one end oscillates in response to the oscillation of the oscillating body (attached article), and the other end is fixed.

In this way, when the oscillating body oscillates, one end of the linear member 30 oscillates while the other end is fixed, which can cause twisting of the linear member 30. The larger the oscillation angle of the oscillating body, the greater the twisting that occurs in the linear member 30. When such a large twisting occurs, stress is applied to the linear member 30, and there is a risk that the linear member 30 will be damaged. In particular, when a large twisting occurs (not overall) and is concentrated (localized) in a portion of the linear member 30, the possibility of damage to the linear member 30 increases even more.

Therefore, the positioner 1 according to this embodiment is provided with a linear member protection section 40, which, when the oscillating body (one end of the linear member 30) oscillates at a predetermined first angle (predetermined maximum angle) (in conjunction with the oscillation), oscillates the middle section 30a (which does not have to be exactly in the middle between the one end and the other end) of both ends of the linear member 30 at a predetermined second angle which is smaller than the predetermined first angle.

To explain more specifically, the aforementioned predetermined first angle (predetermined maximum angle) of the oscillating body (one end of the linear member 30) in the positioner 1 according to this embodiment is 100 degrees (however, this is not limited to this angle). That is, the oscillation generating unit 10 oscillates the oscillating body in the range of -100 degrees to +100 degrees, and as a result, the oscillating body (one end of the linear member 30) oscillates in the range of -100 degrees to +100 degrees. Then, when the oscillating body (one end of the linear member 30) oscillates 100 degrees (-100 degrees), the linear member protecting unit 40 oscillates the middle portion 30a of the linear member 30 by 40.9 degrees (-40.9 degrees), which is an angle smaller than 100 degrees. Therefore, between the intermediate portion 30a of the linear member 30 (more specifically, the intermediate portion 30a held by the second member holding portion 66b described later) and the other end (fixed end) (hereinafter also referred to as the rear stage), a twist of only 40.9 degrees (equivalent to 40.9 degrees) occurs, and between one end and the intermediate portion 30a (more specifically, the intermediate portion 30a held by the first member holding portion 66a described later) (hereinafter also referred to as the front stage), a twist of only 59.1 degrees (equivalent to 59.1 degrees) occurs. If the linear member protection portion 40 were not present, a twist of 100 degrees (equivalent to 100 degrees) would occur in the linear member 30, and if this twist of 100 degrees were concentrated in a portion of the linear member 30, the possibility of the linear member 30 being damaged would be even higher. In contrast, in this embodiment, even if twisting occurs in a concentrated area of the linear member 30, the maximum twisting amount is only 59.1 degrees, so the stress on the linear member 30 can be reduced and damage to the linear member 30 can be appropriately suppressed (the linear member 30 can be appropriately protected).

The above functions of the linear member protection unit 40 are realized by the planetary gear mechanism 42. The linear member protection unit 40 will be described below.

The linear member protection section 40 is for protecting the linear member 30 and includes a planetary gear mechanism 42, a linear member holding section 60, and a rotating support 70.

The planetary gear mechanism 42 is located at one end 16a of the rotating shaft 16 in the axial direction (X direction) that is closer to the oscillator than the other end 16b, and includes a sun gear 44, an internal gear 46, a planetary gear 48, and a carrier 50 (hatched in Figures 1, 3, and 5 to distinguish it from the gear).

The sun gear 44 is provided at the other end 16b of the pivot shaft 16 so that the center position of the sun gear 44 coincides with the axial center of the pivot shaft 16, and rotates integrally with the pivot shaft 16. As described above, the oscillating body oscillates (turns) integrally with the pivot shaft 16, so the sun gear 44 oscillates in conjunction with the oscillation of the oscillating body. In other words, the sun gear 44 oscillates a predetermined first angle (100 degrees) in conjunction with the oscillation of the oscillating body (i.e., the angle of the sun gear 44 always coincides with the angle of the oscillating body).

The sun gear 44 is fixed to the rotating shaft 16 by the second bolt 23. As shown in FIG. 4, the sun gear 44 in this embodiment does not have a full circumference, but has a circumferential end 44a, which is the end in the circumferential direction.

The internal gear 46 is provided in the housing 20 so that the center position of the internal gear 46 coincides with the center position of the sun gear 44, and is located radially outward of the sun gear 44. The internal gear 46 is fixed to the housing 20 by the third bolt 24 and is therefore immovable. As shown in FIG. 4, the internal gear 46 does not have a full revolution, and the internal gear 46 also has a circumferential end 46a.

The planetary gear 48 is provided between the sun gear 44 and the internal gear 46, and meshes with both gears. Therefore, when the sun gear 44 oscillates, the planetary gear 48 rotates (revolves) in the same direction as the oscillating direction of the sun gear 44 (in the positive direction when the sun gear 44 oscillates in the positive direction). Here, in the planetary gear mechanism 42, when the number of teeth per revolution of the sun gear 44 is Za and the number of teeth per revolution of the internal gear is Zb, it is known that the planetary gear 48 rotates at a reduction ratio α = 1 / (Zb / Za + 1) compared to the sun gear 44. In this embodiment, Zb = 78, Za = 54 are set, so the reduction ratio α = 0.409. In other words, the oscillation speed of the planetary gear 48 is slower than the oscillation speed of the sun gear 44, and when the sun gear 44 moves through the predetermined first angle (100 degrees), the planetary gear 48 oscillates through a predetermined second angle (100 x 0.409 = 40.9 degrees) that is smaller than the predetermined first angle (100 degrees).

The carrier 50 is located to the left of the planetary gear 48 in the X direction and supports the planetary gear 48 so that it can rotate. When the planetary gear 48 rotates and oscillates (revolves), the carrier 50 oscillates with the oscillation (revolution). That is, the carrier 50 oscillates (moves) integrally with the planetary gear 48 while allowing the planetary gear 48 to rotate. In addition, the carrier 50 is provided with a fixed base portion 50b protruding from the carrier body 50a to the right in the X direction in order to fix the linear member holding portion 60 (the fixed portion 64 of the linear member holding portion 60) (see FIG. 5). The fixed base portion 50b is provided on the front side and the back side of the planetary gear 48 in the Y direction (see FIG. 4). The fixed base portion 50b is provided with a bolt hole 50c, and the linear member holding portion 60 is attached to the carrier 50 using the bolt hole 50c. As shown in FIG. 4, the carrier 50 does not have a full circumference, and the carrier 50 also has a circumferential end 50d.

The linear member holding part 60 is a member for holding the intermediate part 30a of the linear member 30, and has a holding part main body 62, a fixed part 64, a member holding part 66, and a swing shaft 68.

The holding unit body 62 is located on the side of the other end 16b opposite the end 16a, which is closer to the rocking body, of both ends in the axial direction (X direction) of the rotating shaft 16. In other words, the holding unit body 62 is provided to the right of the rotating shaft 16 in the X direction.

The fixed portion 64 is a portion for fixing the linear member holding portion 60 to the carrier 50, and is provided on the left side of the holding portion main body 62 in the X direction and slightly below the center in the Z direction (see FIG. 1). A bolt hole 60a is provided so as to pass through the holding portion main body 62 and the fixed portion 64, and the fourth bolt 25 is inserted into the bolt hole 60a and the bolt hole 50c of the carrier 50, thereby bolting the linear member holding portion 60 to the carrier 50.

The member holding portion 66 is a portion for holding the intermediate portion 30a of the linear member 30. In this embodiment, the intermediate portions 30a of the linear member 30 are held at two locations, and therefore two member holding portions 66 (referred to as the first member holding portion 66a and the second member holding portion 66b) are provided. The first member holding portion 66a is provided at approximately the center of the holding portion main body 62 in the X direction, the Y direction, and the Z direction, and the second member holding portion 66b is provided at approximately the center of the holding portion main body 62 in the X direction and the Y direction and at the lower portion in the Z direction (see FIG. 6). The member holding portion 66 is provided with a hole portion 67 for passing the linear member 30, and the intermediate portion 30a of the linear member 30 passing through the hole portion 67 is held by the hole portion 67. Furthermore, in this embodiment, the intermediate portion 30a held by the second member holding portion 66b is located farther from one end of the linear member 30 (closer from the other end) than the intermediate portion 30a held by the first member holding portion 66a.

In this embodiment, the linear member holding portion 60 (member holding portion 66) holds the linear members 30 at two locations, but this is not limited to this and may be one location or three or more locations. Also, in this embodiment, as shown in FIG. 6, two holes 67 are provided per member holding portion 66, but the number of holes 67 is not limited to this and is determined based on the number of linear members 30.

In addition, instead of passing only one linear member 30 through one hole 67, multiple linear members 30 may be passed through it. Also, a linear member 30 in a form in which multiple cables are bundled together and protected by a cable protection member may pass through the hole 67. Note that in FIG. 6, the hole 67 is circular and does not have a shape that is suitable for multiple linear members 30 or the form of the linear member 30, but the shape can be changed as appropriate, such as to an elliptical shape, depending on the number of linear members 30 and the form of the linear members 30.

The oscillating shaft 68 is a rod that runs along the axial direction and is provided in the hollow hole 17 of the rotating shaft 16 so that the axial center of the oscillating shaft 68 coincides with the axial center of the rotating shaft 16. The oscillating shaft 68 is provided so as to pass through the hollow hole 17 and is supported within the hollow hole 17 so that it can oscillate.

The holding body 62 is fixed to one end of the oscillating shaft 68 in the axial direction. More specifically, a fixing hole 62a for fixing the oscillating shaft 68 is provided in the approximate center of the holding body 62 in the X and Y directions and at the top in the Z direction, and the oscillating shaft 68 is fitted into the fixing hole 62a to connect the oscillating shaft 68 and the holding body 62.

As described above, the carrier 50 swings integrally with the planetary gear 48, and the linear member holding portion 60 is bolted to the carrier 50. Therefore, the linear member holding portion 60 swings integrally with the planetary gear 48. That is, the linear member holding portion 60 swings the predetermined second angle (40.9 degrees) around the swing axis 68 in conjunction with the swing of the planetary gear 48 at the predetermined second angle (40.9 degrees). And, since the linear member holding portion 60 holds the middle portion 30a of the linear member 30, the middle portion 30a of the linear member 30 also swings the predetermined second angle (40.9 degrees).

The rotating support 70 is rotatably attached to the rod (i.e., the swing shaft 68) and serves to support the linear member 30. As shown in FIG. 1, the portion of the linear member 30 from one end to the intermediate portion 30a (the front portion) passes through the hollow hole 17, and the rotating support 70 supports this portion. The rotating support 70 is provided at each end of the hollow hole 17 in the axial direction of the rotating shaft 16. When the front portion of the linear member 30 moves due to the swing of the one end or intermediate portion 30a of the linear member 30, each rotating support 70 rotates in response to this movement, helping the linear member 30 to move smoothly. This makes it possible to prevent twisting from concentrating (locally) on a portion of the linear member 30.

The rotating support 70 can move axially between the two stoppers 71. This allows the linear member 30 to move more effectively and smoothly. The rotating support 70 is biased toward one of the stoppers 71 by a spring member 72.

Next, the operation of the positioner 1 will be described with reference to Figures 2, 7, and 8. When the oscillation generating unit 10 oscillates the oscillating body by a predetermined first angle (+100 degrees) with the oscillating body at an angle of 0 degrees (see Figure 2), the rotation shaft 16 and the sun gear 44 also oscillate integrally with the oscillating body by the predetermined first angle (+100 degrees) (see Figure 7). Then, the planetary gear 48 oscillates by a predetermined second angle (+40.9 degrees) smaller than the predetermined first angle (+100 degrees) due to the function of the planetary gear mechanism 42. When the planetary gear 48 oscillates by the predetermined second angle (+40.9 degrees), the carrier 50, the linear member holding unit 60, and the intermediate portion 30a of the linear member 30 also oscillate integrally with the planetary gear 48 by the predetermined second angle (+40.9 degrees) (see Figure 7).

Next, when the angle of the oscillator is +100 degrees (see FIG. 7), and the oscillation generator 10 returns the oscillator to 0 degrees, the rotation axis 16 and the sun gear 44 also return to 0 degrees (see FIG. 2). Then, the planetary gear 48 also returns to 0 degrees due to the function of the planetary gear mechanism 42, and similarly, the carrier 50, the linear member holding portion 60, and the middle portion 30a of the linear member 30 also return to 0 degrees (see FIG. 2).

Next, when the oscillation generating unit 10 oscillates the oscillating body in the opposite direction by a predetermined first angle (-100 degrees) with the oscillating body at an angle of 0 degrees (see FIG. 2), the rotation shaft 16 and the sun gear 44 also oscillate integrally with the oscillating body by the predetermined first angle (-100 degrees) (see FIG. 8). Then, the planetary gear 48 oscillates by a predetermined second angle (-40.9 degrees) that is smaller than the predetermined first angle (-100 degrees) due to the function of the planetary gear mechanism 42. When the planetary gear 48 oscillates by the predetermined second angle (-40.9 degrees), the carrier 50, the linear member holding unit 60, and the intermediate portion 30a of the linear member 30 also oscillate integrally with the planetary gear 48 by the predetermined second angle (-40.9 degrees) (see FIG. 8).

Next, when the oscillation generating unit 10 returns the oscillator to 0 degrees with the angle of the oscillator at -100 degrees (see FIG. 8), the rotation axis 16 and the sun gear 44 also return to 0 degrees (see FIG. 2). Then, the planetary gear 48 also returns to 0 degrees due to the function of the planetary gear mechanism 42, and similarly, the carrier 50, the linear member holding unit 60, and the middle portion 30a of the linear member 30 also return to 0 degrees (see FIG. 2).

In this way, in the positioner 1 according to the present embodiment, when the oscillating body (one end of the linear member 30) oscillates from 0 degrees to +100 degrees to 0 degrees to -100 degrees to 0 degrees, the middle part 30a of the linear member 30 oscillates from 0 degrees to +40.9 degrees to 0 degrees to -40.9 degrees to 0 degrees. Therefore, in the rear part of the linear member 30, only a twist of 40.9 degrees (equivalent to 40.9 degrees) occurs, and in the front part, only a twist of 59.1 degrees (equivalent to 59.1 degrees) occurs. Therefore, as described above, even if twisting occurs in a concentrated manner in a part of the linear member 30, only a maximum twist of 59.1 degrees (not 100 degrees) occurs, so that the stress on the linear member 30 can be reduced and damage to the linear member 30 can be appropriately suppressed (the linear member 30 can be appropriately protected).

Effectiveness of the Oscillating Device (Positioner 1) According to the Present Embodiment
As described above, the positioner 1 according to this embodiment includes a linear member 30 having one end provided on an oscillating body, the one end swinging in response to the oscillation of the oscillating body, and the other end fixed, and a linear member protection part 40 that protects the linear member 30. The linear member protection part 40 includes a planetary gear mechanism 42 having a sun gear 44 that swings a predetermined first angle in response to the oscillation of the oscillating body through the predetermined first angle, an immovable internal gear 46, and a planetary gear 48 that is provided between the sun gear 44 and the internal gear 46 and swings a predetermined second angle smaller than the predetermined first angle when the sun gear 44 swings through the predetermined first angle, and a linear member holding part 60 that swings the predetermined second angle in response to the oscillation of the planetary gear 48 through the predetermined second angle and holds an intermediate part 30a between both ends of the linear member 30.

Therefore, as described above, it is possible to reduce stress on the linear member 30 and appropriately prevent damage to the linear member 30 (it is possible to appropriately protect the linear member 30).

In addition, in this embodiment, the planetary gear mechanism 42 includes a carrier 50 that rotatably supports the planetary gear 48 and oscillates in conjunction with the oscillation of the planetary gear 48, and a linear member holding portion 60 is attached to the carrier 50.

Therefore, by using the carrier 50, it is possible to easily transmit the oscillation of the planetary gear 48 to the linear member holding portion 60.

In addition, in this embodiment, a vibration generating unit 10 is provided for vibrating the oscillating body, and the vibration generating unit 10 has a rotation shaft 16 that rotates integrally with the oscillating body, and a housing 20, with the sun gear 44 provided on the rotation shaft 16 and the internal gear 46 provided on the housing 20.

As a result, it is possible to efficiently and easily create the movement of the planetary gear mechanism 42 by effectively utilizing the moving (oscillating) parts and non-moving (fixed) parts of the oscillation generating unit 10.

In addition, in this embodiment, a sun gear 44 is provided at one end 16b of the axial ends of the rotating shaft 16, opposite the end 16a that is closer to the oscillator.

If the sun gear 44 were provided at the one end 16a, the linear member holding portion 60 would also be located at the one end 16a side. In that case, there is a risk that the length from one end of the linear member 30 located inside the oscillator to the intermediate portion 30a would be too short. In this embodiment, the sun gear 44 is provided at the other end 16b, making it possible to prevent the length from one end of the linear member 30 to the intermediate portion 30a from being too short.

In addition, in this embodiment, the rotating shaft 16 has a hollow hole 17 along the axial direction of the rotating shaft 16, and the portion of the linear member 30 from one end to the middle portion 30a passes through the hollow hole 17.

Therefore, by providing a hollow hole 17 in the rotating shaft 16 and utilizing this hollow hole 17, wiring from one end of the linear member 30 to the middle portion 30a can be done efficiently and with a good appearance.

In addition, in this embodiment, the hollow hole 17 is provided with a rod body along the axial direction and a rotating support 70 that is rotatably attached to the rod body and supports the linear member 30.

As a result, as mentioned above, it is possible to prevent twisting from concentrating (localizing) in one part of the linear member 30.

In addition, in this embodiment, the rod body is the pivot axis 68 of the linear member holding portion 60.

As a result, the oscillating shaft 68 of the linear member holding portion 60 is used as an attachment member for attaching the rotating support 70, eliminating the need to prepare a separate attachment member, thereby reducing the number of parts.

===Other embodiments===
The above-mentioned embodiment is for the purpose of facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention may be modified or improved without departing from the spirit of the present invention, and it goes without saying that the present invention includes equivalents. In particular, the following embodiment is also included in the present invention.

The oscillating device (positioner 1) according to the above embodiment (also referred to as the first embodiment) did not include (or incorporate) a rocking body. In other words, the rocking body is an attachment that can be freely attached by the owner (purchaser) of the positioner 1. However, this is not limited to this, and the rocking device may include (or incorporate) a rocking body, as shown in the example of FIG. 9 (second embodiment).

The oscillating device according to the second embodiment is a tilting rotating table device 100, generally called a tilt table, and FIG. 9 is a schematic side view (corresponding to FIG. 1) of the tilting rotating table device 100 according to the second embodiment. The oscillating body in the tilting rotating table device 100 is a rotating table device 102, which, like the first embodiment, is oscillated by the oscillation generating unit 10 and rotates by itself. In other words, the tilting rotating table device 100 is a device that indexes a workpiece or the like and performs the specified processing by tilting the table surface of the rotating table device 102 by the oscillation and rotating the table 102a.

The main difference between the first and second embodiments is the connection between the oscillation generating unit 10 and the oscillating body. That is, in the second embodiment, the member equivalent to the rotating table 18 in the first embodiment is the rotation output unit 104, which is integrated with the oscillating body (rotating table device 102) (whereas in the first embodiment, the oscillating body was detachable from the rotating table 18). This is because in the second embodiment, the oscillating body (rotating table device 102) is built into the oscillating device (tilting rotating table device 100), and so there is no need for it to be detachable.

The following are examples of the linear members 30 that may be introduced into such an inclined rotary table device 100. That is, the cables may include power wires and control wires for the servo motor, and signal wires for the rotary encoder. The hoses (pipes) may include an oil flow path hose for clamping and unclamping the workpiece, an oil or air flow path hose for clamping the table, an air flow path hose for cooling the servo motor, and an air purge (air flow path) hose for cleaning the rotary encoder. In total, ten or more linear members 30 may be introduced, but in FIG. 9, only four linear members 30 are shown for convenience in order to avoid complicating the drawing. In the first embodiment (FIGS. 1, 2, 7, and 8), the number of linear members 30 shown is only two, but this is also for convenience and is not limited to this number.

In addition, the number of linear members 30, which was four in the oscillating body (rotary table device 102) in FIG. 9, is reduced to two in the hollow hole 17 of the rotating shaft 16. This is because the linear members 30, which were separated into individual pieces, are bundled together in the middle (between the rotary table device 102 and the hollow hole 17) and protected by a cable protection member (note that the cable protection member is omitted to avoid complicating the drawing. This is also true in the first embodiment). In addition, in the linear member holding portion 60, the linear member 30 of this shape passes through the hole portion 67 (as mentioned above, in FIG. 6, the hole portion 67 is circular and does not have a shape that is suitable for the linear member 30 of this shape, but the shape can be changed appropriately, such as to an elliptical shape, depending on the shape of the linear member 30).

Also, as shown in FIG. 10, a guide member 110 (hatched in the figure to distinguish it from the linear member 30) that guides the rear part of the linear member 30 may be provided in the swinging device. FIG. 10 is an explanatory diagram for explaining the guide member 110. In FIG. 10, two guide members 110 (a movable guide member 110a and a fixed guide member 110b) are provided, and both guide members 110 have curved surfaces along the circumferential direction. In addition, the movable guide member 110a swings in conjunction with the swinging of the linear member holding portion 60. This movable guide member 110a guides the linear member 30 on the outer side of the movable guide member 110a in the radial direction. On the other hand, the fixed guide member 110b is fixed, and guides the linear member 30 on the inner side of the fixed guide member 110b in the radial direction.

By providing such a guide member 110 to the oscillating device, it becomes possible to maintain the rear part of the linear member 30 in a desired shape to some extent even if the oscillating body (one end of the linear member 30) oscillates.

1 Positioner 10 Oscillation generating unit 12 Drive unit body 12a Cam follower 14 Bearing 16 Rotation shaft 16a One end 16b Other end 17 Hollow hole 18 Rotation table 18a Bolt hole 20 Housing 22 First bolt 23 Second bolt 24 Third bolt 25 Fourth bolt 30 Linear member 30a Intermediate portion 40 Linear member protection portion 42 Planetary gear mechanism 44 Sun gear 44a Circumferential end 46 Internal gear 46a Circumferential end 48 Planetary gear 50 Carrier 50a Carrier body 50b Fixing base portion 50c Bolt hole 50d Circumferential end 60 Linear member holding portion 60a Bolt hole 62 Holding unit body 62a Fixing hole 64 Fixed portion 66 Member holding portion 66a First member holding portion 66b Second member holding portion 67 Hole portion 68 Oscillation shaft 70 Rotation support 71 Stopper 72 Spring member 100 Tilting rotation table device 102 Rotation table device 102a Table 104 Rotation output portion 110 Guide member 110a Movable guide member 110b Fixed guide member

Claims (3)

a linear member having one end provided on a rocking body, the one end rocking in response to the rocking of the rocking body, and the other end fixed;
a linear member protection portion that protects the linear member,
The linear member protection portion is
a planetary gear mechanism including a sun gear that oscillates through a first predetermined angle in accordance with the oscillation of the oscillating body through the first predetermined angle, an immovable internal gear, and a planetary gear that is provided between the sun gear and the internal gear and oscillates through a second predetermined angle smaller than the first predetermined angle when the sun gear oscillates through the first predetermined angle;
a linear member holding portion that oscillates through the second predetermined angle in accordance with the oscillation of the planetary gear through the second predetermined angle and holds an intermediate portion between both ends of the linear member;
having
The planetary gear mechanism includes:
a carrier that rotatably supports the planetary gear and swings in accordance with the swing of the planetary gear,
The linear member holding portion is attached to the carrier,
A vibration generating unit is provided for vibrating the vibration body,
The oscillation generating unit has a rotation shaft that rotates integrally with the oscillation body and a housing,
the sun gear is provided on the rotating shaft, and the internal gear is provided on the housing,
the sun gear is provided at one end of the rotation shaft that is opposite to the one end that is closer to the oscillator,
The rotating shaft has a hollow hole along an axial direction of the rotating shaft,
A rocking device, characterized in that a portion of the linear member from the one end to the intermediate portion passes through the hollow hole . 2. The rocking device according to claim 1 ,
The hollow hole has:
A rod body along the axial direction;
a rotary support member rotatably attached to the rod body and supporting the linear member, 3. The rocking device according to claim 2 ,
The said rod body is a pivot axis of the said linear member holding part, The said swinging device characterized by the above-mentioned.

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