JPH0146405B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a linear drive device that can obtain long-stroke linear motion by rotating an arm using a simple link mechanism.

Conventionally, hydraulic cylinders or crank mechanisms have generally been used as linear drive devices in shuttle conveyors, autoloaders, etc., but in this case, the longer the stroke, the larger the device becomes. Due to the increased technical problems and significantly higher production costs, linear drive systems with long strokes have ended up using either forward/reverse motors or a chain-based linear drive system using a clutch. However, in this case, not only does the structure and control circuit of the device become complicated, which increases the production cost of the device, but also, in the case of a chain, the linear moving body may not protrude or retreat from the device, making it difficult to interact with other devices. The disadvantage was that it was difficult to combine.

SUMMARY OF THE INVENTION An object of the present invention is to eliminate the above-mentioned drawbacks of the conventional art by providing a linear drive device that is simple in structure, compact, and easily obtains a long stroke.

Next, the configuration of a first embodiment of the present invention will be explained with reference to FIGS. 1 to 9.

Two vertical stands 2 formed on a fixed frame 1
At the same radial position of the swing arms 4 and 5 which are rotatably mounted on the upper part of the swing arms 4 and 5 via the bearing device 3, a first articulated rod 6 having the same length and the same distance between the axes of the bearing device 3 connects the pin 7. On the other hand, one end of an intermediate arm 8 having the same length as this rotation radius is rotatably attached via a pin 9 at a rotation radius position beyond the pin 7 position of the swing arm 4. The other end of 8 is a slide bar 12 that moves parallel to a line connecting the axes of the bearing device 3 via a wheel 11 on a side frame 10 formed on the fixed frame 1.
It is rotatably attached via a pin 13 to.

On the first articulated rod 6 of the link mechanism formed in this way, a motor 14 with a reduction gear is mounted whose rotation center is aligned with a line connecting the axes of the pins 7 at both ends of the first articulated rod 6. A second articulated rod 17 is connected via a pin 16 between a radial position from the pin 9 on the intermediate arm 8 corresponding to the position of the pin 7 of the swing arm 4 and a drive arm 15 fixed to the shaft of the motor 14. It is articulated.

Next, the operation of this embodiment will be explained.

In the linear drive device 18 configured as described above, when the drive arm 15 is at the 0° position shown in FIGS. 1 and 2, the slide bar 12 is at the backward stroke end, and in this state it is driven via the motor When the arm 15 rotates clockwise in the figure, the locus of the pin 13 at the other end of the intermediate arm 8 is restricted to the line connecting the axis of the bearing device 3, so that both swing arms 4,
5 is oscillated at the same angle with respect to the respective rotation centers, that is, the axes of the bearing device 3 and the pin 9, and as a result, as shown in FIGS. 2 to 9, the drive arm 1
5, the slide bar 12 undergoes a large linear displacement, and when the drive arm 15 reaches the 180° position shown in FIG.
5 has returned to the 360° or 0° position shown in FIGS. 1 and 2, the slide bar 12 reciprocates once with a long stroke of about 5 times the rotation radius of the drive arm 15 in the length ratio of the links shown. .

In addition, in the linear reciprocating movement of the slide bar 12 due to the 15 rotations of the drive arm, the slide bar 12 performs an ideal slow-up/slow-down mechanical movement that minimizes the influence of inertia at each stroke end, as in the case of normal crank motion. In addition, a heavy motor 14 with a speed reducer is attached to the first articulated rod 6, and the weight of this motor 14 is used when the slide bar 12 starts moving forward or backward, which requires the most driving torque. The torque of the motor 14 is supplemented during the braking process, and when the slide bar 12 is stopped near the end of forward/backward movement, which requires the most braking torque, it acts as an ideal braking characteristic.

Next, FIG. 10 shows a second embodiment of the present invention. In this case, between the tips of two swing arms 20 and 21 that swing around a bearing device 19 and a slide bar 22, The only difference is that the parallel movable intermediate arms 24 and 25 are articulated via the third articulated rod 23, thereby making it possible to move the slide bar 22 linearly without providing the wheel 11 in the first embodiment. , the structure, operation, and effect are almost the same as those of the first embodiment.

Next, FIG. 11 shows a third embodiment of the present invention, in which a drive arm 28 rotatably attached to the connection point between the other swing arm 26 and the first articulation rod 27 is It is driven via a motor 30 with a reducer mounted on a fixed frame 29, a chain wheel 31, and a chain 32, thereby facilitating wiring of the motor 30, and in particular, the drive arm 28 is connected to the arrow shown in FIG. The structure, operation, and effect of the slide bar 33 are substantially the same as those of the first embodiment, except that the slide bar 33 can be moved slowly forward or returned quickly by rotating the slide bar 33 in the direction shown in FIG.

In each of the embodiments described above, each of the swing arms 4, 5, 20, 21, and 26 was swung downward, but the slide bars 12, 22, 33 can be set arbitrarily, and the mounting position of the drive arm 28 in the third embodiment shown in FIG. In addition, even if the lengths of the two left and right swing arms 4, 5, 26 are different in the first and third embodiments, substantially the same operation and effect can be obtained. Moreover, the direction, length, shape, and number of links in each embodiment can be arbitrarily set as long as the rotational center position of the drive arms 15, 28 is set at the movement displacement position on the link. can.

Next, the effects of the present invention will be explained.

The present invention provides at least one swing arm of two swing arms rotatably mounted via a pin and interlockably mounted via a first articulating rod at arbitrary spaced positions on a fixed frame. One end of an intermediate arm having the same length as the swing arm is rotatably connected via a pin, and the other end of the intermediate arm is moved linearly parallel to a line passing through the rotation centers of both swing arms. The slide bar is rotatably connected to a slide bar via a pin, and the slide bar is connected to the slide bar so as to be linearly reciprocated as the one swing arm swings, and the position is displaced by the swing of the other swing arm. A motor is attached to an arbitrary position on the first articulated rod, and the tip of a drive arm rotatably attached to the shaft of the motor is connected to the intermediate arm so that the second articulated rod can swing. In the linear drive device, the two swing arms are articulated through the drive arm, and swing the two swing arms at the same angle as the middle arm by swinging the middle arm due to the rotation of the drive arm.

As a result, the present invention can perform linear reciprocating motion with a considerably long stroke with extremely little play, using a simple structure consisting only of a link mechanism that rotates around a pin, without using any sliding coupling means between a pin and a long hole. This has the effect of being able to achieve high positioning accuracy.

[Brief explanation of drawings]

Fig. 1 is a perspective view of the first embodiment of the present invention, Figs. 2 to 9 are explanatory diagrams showing its operating state, Fig. 10 is an explanatory diagram of the second embodiment of the invention, and Fig. 11 is an explanatory diagram of the second embodiment of the invention. It is an explanatory view of a third example of the present invention. 1, 29... Fixed frame, 3, 19... Bearing device, 4, 5, 20, 21, 26... Swinging arm, 6, 27... First articulated rod, 8, 24, 2
5... Intermediate arm, 11... Wheel, 12,2
2, 33...Slide bar, 14...Motor with reducer, 15, 28...Drive arm, 17...Second
Articulating rod, 18... Linear drive device, 23... Third articulating rod.

Claims (1)

[Claims] 1 At least one of the two swinging arms is attached to at least one of the two swinging arms rotatably mounted at arbitrary interval positions on the fixed frame via a pin and interlockingly via the first articulating rod. One end of the intermediate arm, which has the same length as , is rotatably connected via a pin, and the other end of the intermediate arm is connected to a slide bar that moves linearly parallel to a line passing through the rotation centers of both the swinging arms. The second slide bar is rotatably connected via a pin so that the slide bar can be reciprocated in a straight line according to the swing of the one swing arm, and is further displaced in position by the swing of the other swing arm. Install the motor at any position on the single-articulated rod,
The tip of a drive arm rotatably attached to the shaft of the motor is connected to the intermediate arm via a second articulating rod so that the intermediate arm can swing, and the rotation of the intermediate arm is caused by the rotation of the drive arm. A linear drive device characterized in that both swing arms are swinged by the same angle as the intermediate arm by swinging.