JP2001179560A - Machine tool - Google Patents
Machine toolInfo
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- JP2001179560A JP2001179560A JP36559399A JP36559399A JP2001179560A JP 2001179560 A JP2001179560 A JP 2001179560A JP 36559399 A JP36559399 A JP 36559399A JP 36559399 A JP36559399 A JP 36559399A JP 2001179560 A JP2001179560 A JP 2001179560A
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- Japan
- Prior art keywords
- axis direction
- machine tool
- moving member
- pivot
- moving
- Prior art date
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、主軸ユニットやテ
ーブル等を支持するのに適したリンク機構を有する工作
機械に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machine tool having a link mechanism suitable for supporting a spindle unit, a table, and the like.
【０００２】[0002]
【従来の技術】これまでの一般的な工作機械の主軸ユニ
ットの支持装置は、コラムやサドル、クイル等の３個の
可動体を備え、それらの可動体を互いに直交する３方向
に個々に移動させることにより、主軸ユニットを目的位
置に動かす基本構造となっている。2. Description of the Related Art Conventionally, a support device for a spindle unit of a general machine tool includes three movable members such as a column, a saddle, and a quill, and these movable members are individually moved in three directions orthogonal to each other. By doing so, the basic structure for moving the spindle unit to the target position is obtained.
【０００３】上記の支持装置の他に、最近、主軸ユニッ
トをＶ状配置の２本のボールねじ軸の交差部に支持し、
２本のボールねじ軸の繰出し量を変えることにより、主
軸ユニットの位置を一平面内で変化させることができる
ようにした支持装置が提案されている（特開平１０−２
６３９６５号公報）。なお、この支持装置では、主軸は
上記平面に直交する方向にクイルの出入りで移動するよ
うになっている。In addition to the above supporting device, recently, the main spindle unit is supported at the intersection of two V-shaped ball screw shafts,
A supporting device has been proposed in which the position of the spindle unit can be changed in one plane by changing the extension amount of two ball screw shafts (Japanese Patent Laid-Open No. 10-2).
63965). In this supporting device, the main shaft moves in and out of the quill in a direction perpendicular to the plane.
【０００４】[0004]
【発明が解決しようとする課題】上記前者の一般的な支
持装置は、特にコラムの質量と体積が大きいので、全体
的に大形になり、また大きな動力が必要で、製造コスト
と運転コストが高くなる他、高速かつ高加減速で主軸ユ
ニットを移動させることが難しいという問題点がある。The above-mentioned general support device, in particular, is large in size as a whole, especially because of the large mass and volume of the column, and requires a large amount of power. In addition to this, there is a problem that it is difficult to move the spindle unit at high speed and at high acceleration / deceleration.
【０００５】後者の新しい支持装置は上記のような問題
点はない。しかし、主軸ユニットを２本のボールねじ軸
のアキシャル剛性によって支持する構造のため、支持剛
性に劣る問題点がある。またクイル方式のため、主軸が
出たときの剛性が不足する。また、真直を保つために２
本のボールネジの繰り出し量を刻々と計算してやる必要
があるので、制御装置の高速処理性能により、精度が決
定されるという問題がある。The latter new support device does not have the above-mentioned problems. However, since the main spindle unit is supported by the axial rigidity of the two ball screw shafts, there is a problem that the supporting rigidity is inferior. In addition, because of the quill system, rigidity when the main shaft is extended is insufficient. Also, to keep it straight,
Since it is necessary to calculate the feeding amount of the ball screw every moment, there is a problem that the accuracy is determined by the high-speed processing performance of the control device.
【０００６】本発明の課題は上記の問題点を解消するこ
とであり、小形、軽量にすることが容易なリンク機構を
有する工作機械を提供することを目的とする。本発明の
他の目的は、主軸ユニットを高速かつ高加減速で円滑に
移動させることができるリンク機構を有する工作機械を
提供することである。本発明の別の目的は、支持剛性の
大きいリンク機構を有する工作機械を提供することであ
る。[0006] An object of the present invention is to solve the above-mentioned problems, and an object of the present invention is to provide a machine tool having a link mechanism that can be reduced in size and weight. Another object of the present invention is to provide a machine tool having a link mechanism that can smoothly move a spindle unit at high speed and high acceleration / deceleration. Another object of the present invention is to provide a machine tool having a link mechanism having high support rigidity.
【０００７】[0007]
【課題を解決するための手段】上記の少なくとも１つの
目的を達成するために、請求項１記載の発明は、固定部
材と、該固定部材に、固定部材の長手方向であるＺ軸方
向に移動自在に取り付けられた第１移動部材と、該第１
移動部材をＺ軸方向に移動させる第１駆動装置と、上記
固定部材及び第１移動部材に対してＺ軸方向に移動自在
に設けられた第２移動部材と、該第２移動部材をＺ軸方
向に移動させる第２駆動装置と、上記第１移動部材に、
互いにＺ軸方向に離間されて根端を根端用枢軸で枢支さ
れ該根端用枢軸を支点にＺ軸方向と該Ｚ軸方向に直交す
るＹ軸方向の（Ｚ−Ｙ）平面内で回動自在とされた互い
に平行な一対の第１平行リンクと、上記第２移動部材
に、互いにＺ軸方向に離間されて基端を基端用枢軸で枢
支され該基端用枢軸を支点に（Ｚ−Ｙ）平面内で回動自
在とされるとともに、ほぼ中間部に上記各第１平行リン
クの各支端を支端用枢軸でそれぞれ枢支して互いに平行
に設けられた一対の第２平行リンクと、該一対の第２平
行リンクの自由端に自由端用枢軸で上記固定部材と平行
に枢支された支持部材とを具備した構成とした。In order to achieve at least one of the above-mentioned objects, according to the present invention, there is provided a fixing member, and the fixing member is moved in a Z-axis direction which is a longitudinal direction of the fixing member. A first moving member freely attached to the first moving member;
A first driving device for moving the moving member in the Z-axis direction, a second moving member provided movably in the Z-axis direction with respect to the fixed member and the first moving member, and a Z-axis moving member. A second driving device for moving in the direction, and the first moving member,
The roots are separated from each other in the Z-axis direction, and the root end is pivotally supported by a root-end pivot. The (Z-Y) plane in the Y-axis direction orthogonal to the Z-axis direction and the Z-axis direction is set about the root-end pivot. A pair of first parallel links that are rotatable and parallel to each other, and the second moving member are separated from each other in the Z-axis direction and pivotally supported at the base end by a base pivot. And a pair of parallel ends provided at substantially middle portions of the first parallel links, each of which is pivotally supported by a supporting end pivot. The pair of second parallel links and a support member pivotally supported in parallel with the fixed member by a free end pivot at a free end of the pair of second parallel links.
【０００８】この手段では、第２移動部材と第１移動部
材とをそれらの駆動装置で固定部材に対して同一Ｚ軸方
向に同一距離移動させると、支持部材は、固定部材に対
して両移動部材と同一方向に同一距離移動する。第１移
動部材を移動させることなく、第２移動部材のみを第２
駆動装置で固定部材に対してＺ軸方向に移動させると、
支持部材は支端用枢軸を支点とする第２平行リンクの回
動と、根端用枢軸を支点とする第１平行リンクの回動と
によって（Ｚ−Ｙ）平面内でＺ軸方向とＹ軸方向の合成
方向に移動する。According to this means, when the second moving member and the first moving member are moved by the same distance in the same Z-axis direction with respect to the fixed member by their driving devices, the support member is moved in both directions with respect to the fixed member. It moves the same distance in the same direction as the member. Without moving the first moving member, only the second moving member is moved to the second
When the driving device moves the fixing member in the Z-axis direction,
The support member pivots the second parallel link about the pivot for the end and the first parallel link about the pivot for the root, and the Z-axis and Y in the (ZY) plane. Move in the axial synthesis direction.
【０００９】上記の構成において、第１平行リンクの支
端を延長させて第１平行リンクを第２平行リンクと同一
長さとし、その支端を支持部材にＺ軸方向に移動自在に
連結することもできる。第２駆動装置を第２移動部材と
固定部材の間に、また第１駆動装置を第１移動部材と固
定部材の間にそれぞれ設けることができる他、両駆動装
置のいずれか一方を両移動部材の間に設けることができ
る。In the above structure, the first parallel link is extended to extend the support end so that the first parallel link has the same length as the second parallel link, and the support end is movably connected to the support member in the Z-axis direction. Can also. The second driving device can be provided between the second moving member and the fixed member, and the first driving device can be provided between the first moving member and the fixed member, respectively. Can be provided between them.
【００１０】請求項１記載の工作機械において、支端用
枢軸を基端用枢軸と自由端用枢軸の１／２の位置に配し
て支端用枢軸と根端用枢軸間の距離を、支端用枢軸と基
端用枢軸間の距離及び支端用枢軸と自由端用枢軸間の距
離と同一とし、また根端用枢軸と基端用枢軸を同一のＹ
軸位置に配設した構成とすることが好ましい（請求項
２）。この構成では、第２移動部材のみのＺ軸方向移動
によって支持部材は正確にＹ軸方向だけに移動する。In the machine tool according to the first aspect of the present invention, the pivot for the supporting end is disposed at a half of the pivot for the base end and the pivot for the free end, and the distance between the pivot for the supporting end and the pivot for the root end is reduced. The distance between the pivot for the supporting end and the proximal end and the distance between the pivot for the supporting end and the free end are the same, and the Y axis for the root end and the proximal end are the same.
It is preferable to adopt a configuration arranged at the axial position (claim 2). In this configuration, the support member moves exactly in the Y-axis direction only by the Z-axis movement of only the second moving member.
【００１１】請求項３記載の発明は、固定部材と、該固
定部材に、固定部材の長手方向であるＺ軸方向に移動自
在に取り付けられた第１移動部材と、該第１移動部材を
Ｚ軸方向に移動させる第１駆動装置と、上記固定部材及
び第１移動部材に対してＺ軸方向に移動自在に設けられ
た第２移動部材と、該第２移動部材をＺ軸方向に移動さ
せる第２駆動装置と、上記第１移動部材に、互いにＺ軸
方向に離間されて根端を根端用枢軸で枢支され該根端用
枢軸を支点にＺ軸方向と該Ｚ軸方向に直交するＹ軸方向
の（Ｚ−Ｙ）平面内で回動自在とされた互いに平行な一
対の第１平行リンクと、上記第２移動部材に、互いにＺ
軸方向に離間されて基端を基端用枢軸で枢支され該基端
用枢軸を支点に（Ｚ−Ｙ）平面内で回動自在とされた互
いに平行な一対の第２平行リンクと、上記各第１平行リ
ンクの支端と各第２平行リンクの自由端とに支端用枢軸
と自由端用枢軸とで枢支された上記固定部材と平行な支
持部材とを具備した構成とした。According to a third aspect of the present invention, there is provided a fixing member, a first moving member movably attached to the fixing member in a Z-axis direction which is a longitudinal direction of the fixing member, and a Z moving member. A first driving device for moving in the axial direction, a second moving member movably provided in the Z-axis direction with respect to the fixed member and the first moving member, and moving the second moving member in the Z-axis direction The second driving device and the first moving member are separated from each other in the Z-axis direction, and are pivotally supported at the root end by a pivot shaft for the root end, and are orthogonal to the Z-axis direction and the Z-axis direction about the pivot shaft for the root end. A pair of parallel first parallel links rotatable in a (ZY) plane in the Y-axis direction and the second moving member,
A pair of second parallel links parallel to each other that are axially separated from each other and are pivotally supported on the base end by a base end pivot and are rotatable about the base end pivot in a (ZY) plane; A configuration is provided in which a support member parallel to the fixing member pivotally supported by a support end pivot and a free end pivot at a support end of each of the first parallel links and a free end of each of the second parallel links. .
【００１２】この手段では、第２移動部材と第１移動部
材とをそれらの駆動装置で固定部材に対して同一Ｚ軸方
向に同一距離移動させると、支持部材は、固定部材に対
して両移動部材と同一方向に同一距離移動する。第１移
動部材と第２移動部材のいずれか一方又は両方を固定部
材に対してＺ軸方向に移動させて両移動部材の離間間隔
を変化させると、支持部材は（Ｚ−Ｙ）平面内でＺ軸方
向とＹ軸方向の合成方向に移動する。請求項４記載の工
作機械は、請求項１ないし３のいずれか１つに記載の工
作機械において、第１移動部材あるいは第２移動部材の
いずれか１方の移動部材が固定部材の長手方向であるＺ
軸に移動自在に取り付けられた構成とした。この構成で
は、いずれか一方の移動部材を移動させることでも他の
移動部材との離間距離を変化させることができ、支持部
材は（Ｚ−Ｙ）平面内で回動する。According to this means, when the second moving member and the first moving member are moved by the same distance in the same Z-axis direction with respect to the fixed member by their driving devices, the supporting member is moved in both directions with respect to the fixed member. It moves the same distance in the same direction as the member. When one or both of the first moving member and the second moving member are moved in the Z-axis direction with respect to the fixed member to change the distance between the two moving members, the support member moves in the (ZY) plane. It moves in the combined direction of the Z-axis direction and the Y-axis direction. A machine tool according to a fourth aspect is the machine tool according to any one of the first to third aspects, wherein any one of the first moving member and the second moving member is in the longitudinal direction of the fixed member. Some Z
It was configured to be movably attached to a shaft. In this configuration, by moving one of the moving members, the separation distance from the other moving member can be changed, and the support member rotates in the (ZY) plane.
【００１３】請求項１ないし３のいずれか１つに記載の
工作機械において、第２移動部材を２つの半体に分割
し、一方の半体に一方の第２平行リンクを、また他方の
半体に他方の第２平行リンクをそれぞれ枢支し、第２駆
動装置を、分割された２つの半体にそれぞれ設け、上記
２つの半体をＺ軸方向に個々及び互いに同期して移動さ
せ得る構成とすることができる（請求項５）。この構成
では、２つの半体の離間距離を変化させると、支持部材
は（Ｚ−Ｙ）平面内で回動する。The machine tool according to any one of claims 1 to 3, wherein the second moving member is divided into two halves, one half having one second parallel link and the other half. A second parallel link may be pivotally supported on the body, and a second drive may be provided for each of the two divided halves, and the two halves may be individually and synchronously moved in the Z-axis direction. It can be configured (claim 5). In this configuration, when the separation distance between the two halves is changed, the support member rotates in the (ZY) plane.
【００１４】請求項１ないし３のいずれか１つに記載の
工作機械において、第１移動部材と第２移動部材をそれ
ぞれ２つの半体に分割し、第１移動部材の一方の半体に
一方の第１平行リンクを、また他方の半体に他方の第１
平行リンクをそれぞれ枢支するとともに、第２移動部材
の一方の半体に一方の第２平行リンクを、また他方の半
体に他方の第２平行リンクをそれぞれ枢支し、第１駆動
装置を、分割された２つの半体にそれぞれ設けられ上記
第１移動部材の２つの半体をＺ軸方向に個々及び互いに
同期して移動させ得る構成とし、第２駆動装置を、分割
された２つの半体にそれぞれ設けられ上記第２移動部材
の２つの半体をＺ軸方向に個々及び互いに同期して移動
させ得る構成とすることができる（請求項６）。この構
成においても、第１移動部材と第２移動部材の少なくと
も一方の半体の離間距離を変化させると、支持部材は
（Ｚ−Ｙ）平面内で回動する。In the machine tool according to any one of claims 1 to 3, each of the first moving member and the second moving member is divided into two halves, and one of the first moving members is divided into two halves. The first parallel link and the other half to the other
Each of the parallel links is pivotally supported, and one second parallel link is pivotally supported on one half of the second moving member, and the other second parallel link is pivotally supported on the other half, respectively. The two halves of the first moving member are respectively provided on the two divided halves, and can be moved individually and in synchronization with each other in the Z-axis direction. It is possible to adopt a configuration in which the two halves of the second moving member provided on the respective halves can be individually and synchronously moved in the Z-axis direction (claim 6). Also in this configuration, when the separation distance of at least one half of the first moving member and the second moving member is changed, the support member rotates in the (ZY) plane.
【００１５】請求項５又は６記載の工作機械の一対の第
１平行リンクの長さと、一対の第２平行リンクの長さの
いずれか一方又は両方を互いに異なる長さとすることが
できる（請求項７）。この構成では、支持部材を（Ｚ−
Ｙ）平面内において望む範囲で回動させることができる
ようになる。One or both of the length of the pair of first parallel links and the length of the pair of second parallel links of the machine tool according to claim 5 or 6 can be different from each other. 7). In this configuration, the supporting member is (Z-
Y) It is possible to rotate within a desired range in a plane.
【００１６】請求項６又は７記載の工作機械から、第１
移動部材の１つの半体と該半体に枢支されたリンク、又
は第１移動部材に枢支された１つのリンクを省くことが
できる（請求項８）。この構成では、請求項６又は７記
載の工作機械よりも簡単な構造で同等の機能が得られ
る。According to a sixth aspect of the present invention, there is provided a machine tool comprising:
One half of the moving member and a link pivotally supported by the half or one link pivotally supported by the first moving member can be omitted (claim 8). With this configuration, an equivalent function can be obtained with a simpler structure than the machine tool described in claim 6 or 7.
【００１７】請求項１ないし８のいずれか１つに記載の
工作機械において、支持部材に、主軸ユニットあるい
は、テーブルとこれらのＺ軸方向とＹ軸方向とに直交し
たＸ軸方向に移動させる主軸ユニット用あるいは、テー
ブル用駆動装置とを備えることができる（請求項９）。
この構成では、主軸ユニットあるいはテーブルを、支持
部材のＺ軸方向とＹ軸方向の移動、及び主軸ユニット用
あるいは、テーブル用駆動装置によるＸ軸方向の移動に
よって、３次元空間の任意の位置に移動させることがで
きる。The machine tool according to any one of claims 1 to 8, wherein the main body is moved to the support member in the X-axis direction orthogonal to the Z-axis direction and the Y-axis direction. A drive unit for a unit or a table can be provided.
In this configuration, the spindle unit or the table is moved to an arbitrary position in the three-dimensional space by the movement of the support member in the Z-axis direction and the Y-axis direction, and the movement of the support unit for the spindle unit or the table in the X-axis direction. Can be done.
【００１８】請求項１ないし９のいずれか１つに記載の
工作機械において、駆動装置の少なくとも１つを、リニ
アモータとしたり（請求項１０）、サーボモータと該サ
ーボモータの回転運動を直線運動に変換するねじ機構と
によって構成することができる（請求項１１）。前者の
場合は構造が単純になるほか、Ｚ軸駆動の２つの駆動装
置をリニアモータとした場合、１個の固定子を両リニア
モータに共用させることができる。後者の構成では、多
量生産されている市販のサーボモータとねじ機構を用い
ることができ、コストの点で有利となる。ねじ機構は、
通常のねじ構造の他にボールねじ構造とすることができ
る。In the machine tool according to any one of the first to ninth aspects, at least one of the driving devices may be a linear motor (claim 10), or the rotary motion of the servomotor and the servomotor may be a linear motion. (Claim 11). In the former case, the structure is simplified, and when two drive units for Z-axis drive are linear motors, one stator can be shared by both linear motors. In the latter configuration, a commercially available servomotor and screw mechanism that are mass-produced can be used, which is advantageous in terms of cost. The screw mechanism is
A ball screw structure may be used in addition to a normal screw structure.
【００１９】上記において、ねじ機構を構成するナット
部材をサーボモータで回転させて、ねじ機構を構成する
ねじ軸を移動部材又は主軸ユニットあるいは、テーブル
と一緒にＺ軸方向又はＸ軸方向に移動させることも、ね
じ軸をサーボモータで回転させてナット部材を移動部材
又は主軸ユニットあるいは、テーブルと一緒に移動させ
ることもできる。サーボモータは固定部材と移動部材又
は主軸ユニットあるいは、テーブルのどちらに設置して
もよい。サーボモータとナット部材をＺ軸方向に移動す
る２つの移動部材に設置し、ねじ軸を固定部材に固定し
た構造では、１本のねじ軸を両移動部材のナット部材に
共用させることができる。In the above, the nut member constituting the screw mechanism is rotated by the servomotor, and the screw shaft constituting the screw mechanism is moved in the Z-axis direction or the X-axis direction together with the moving member, the spindle unit or the table. In addition, the nut member can be moved together with the moving member, the spindle unit, or the table by rotating the screw shaft by the servomotor. The servomotor may be installed on either the fixed member and the moving member, the spindle unit, or the table. In a structure in which the servomotor and the nut member are mounted on two moving members that move in the Z-axis direction and the screw shaft is fixed to the fixed member, one screw shaft can be shared by the nut members of both moving members.
【００２０】請求項１ないし１１のいずれか１つに記載
の工作機械において、支持部材を固定部材の上方にほぼ
水平に配設し、該支持部材に支持部材を上に付勢する付
勢機構を付設することが好ましい（請求項１２）。この
構成では、付勢機構の付勢力によって、支持部材のＹ軸
方向の上昇移動、特に、リンクの傾斜角度が小さくなっ
ている支持部材の最下降位置からの上昇移動が少ない動
力で円滑になる。付勢機構には、コイルばね、油圧シリ
ンダ、エアシリンダ、カウンタウエイト等を用いること
ができる。The machine tool according to any one of claims 1 to 11, wherein the support member is disposed substantially horizontally above the fixed member, and the support member is urged upward by the support member. Is preferably attached (claim 12). With this configuration, the upward movement of the support member in the Y-axis direction, in particular, the upward movement of the support member having the smaller inclination angle of the link from the lowest position, becomes smooth with little power by the urging force of the urging mechanism. . As the urging mechanism, a coil spring, a hydraulic cylinder, an air cylinder, a counterweight, or the like can be used.
【００２１】請求項１２記載の工作機械において、付勢
機構を、コイル径の互いに異なる複数のコイルばねを、
それらの少なくとも一部分をコイル径方向に重ねた状態
で相互間に介在部材を装入してほぼ同心円状に直列に設
けた構成とすることが好ましい（請求項１３）。この構
成では、小設置スペースで付勢ストロークを長くするこ
とができ、付勢機構の付勢特性を、支持部材の昇降距離
（Ｙ軸方向移動距離）と支持部材にかかる荷重とに適合
させることが容易になる。油圧源や空圧源が必要な油圧
シリンダやエアシリンダ、重量が大でガイドが必要なカ
ウンタウエイトを利用した付勢機構に比べて、性能コス
トが良好になる。複数のコイルばねは、通常コイル径の
大きさ順に連結するが、コイル径の順に連結しなくとも
よい。In the machine tool according to the twelfth aspect, the urging mechanism may include a plurality of coil springs having different coil diameters.
It is preferable that an intervening member is inserted between the coils in a state where at least a part thereof is overlapped in the coil radial direction, and is provided in series substantially concentrically (claim 13). In this configuration, the urging stroke can be lengthened in a small installation space, and the urging characteristics of the urging mechanism are adapted to the lifting distance (movement distance in the Y-axis direction) of the support member and the load applied to the support member. Becomes easier. The performance cost is better than that of a hydraulic cylinder or an air cylinder that requires a hydraulic pressure source or a pneumatic pressure source, or a biasing mechanism that uses a counterweight that is heavy and requires a guide. The plurality of coil springs are normally connected in the order of the coil diameter, but need not be connected in the order of the coil diameter.
【００２２】請求項１ないし１３のいずれか１つに記載
の工作機械において、移動部材又は半体の少なくとも１
つに、固定部材に設けられたリニアスケールに対して各
々の位置を検出するセンサ部を設けることができる（請
求項１４）。この構成では、固定部材に対する移動部材
又は半体の移動距離、及び移動部材どうし、移動部材と
半体、半体どうしの相対移動距離を正確に検出すること
ができる。The machine tool according to any one of claims 1 to 13, wherein at least one of the moving member and the half body is provided.
Finally, a sensor unit for detecting each position with respect to the linear scale provided on the fixing member can be provided (claim 14). With this configuration, it is possible to accurately detect the moving distance of the moving member or the half with respect to the fixed member, and the relative moving distance between the moving members, the moving member, the half, and the half.
【００２３】請求項１ないし１４のいずれか１つに記載
の工作機械において、枢軸の少なくとも１つを、予圧を
与えられて剛性を高められたベアリングを介して枢支す
ることができる（請求項１５）。この構成では、リンク
が緩みなく枢支されるので、作動精度が向上する。[0023] In the machine tool according to any one of the first to fourteenth aspects, at least one of the pivots can be pivotally supported via a preloaded pre-stiffened bearing. 15). In this configuration, since the link is pivotally supported without loosening, the operation accuracy is improved.
【００２４】請求項１ないし１４のいずれか１つに記載
の工作機械において、少なくとも１つの枢軸の外周面の
一面を平面として枢支することができる。この構成で
は、接合面を面接合したことにより、剛性を高くするこ
とができ、また接合面に必要によりスペーサを挿入して
相互の取り付け位置の調整を容易にすることができるよ
うになる。In the machine tool according to any one of the first to fourteenth aspects, one surface of the outer peripheral surface of at least one pivot can be pivotally supported as a plane. In this configuration, by joining the joining surfaces, the rigidity can be increased, and a spacer can be inserted into the joining surface as necessary to facilitate adjustment of the mutual attachment position.
【００２５】[0025]
【発明の実施の形態】発明の実施の形態を添付図面を参
照して説明する。図１ないし図３は本発明に係る工作機
械の第１の実施の形態を示す。本工作機械は、固定部材
１と、第１移動部材２と、第１駆動装置３と、第２移動
部材４と、第２駆動装置６と、一対の第２平行リンク７
と、支持部材８と、一対の第１平行リンク９と、付勢機
構１１と、主軸ユニット用駆動装置１２とを具備してい
る。Embodiments of the present invention will be described with reference to the accompanying drawings. 1 to 3 show a first embodiment of a machine tool according to the present invention. The machine tool includes a fixed member 1, a first moving member 2, a first driving device 3, a second moving member 4, a second driving device 6, a pair of second parallel links 7,
, A supporting member 8, a pair of first parallel links 9, a biasing mechanism 11, and a drive unit 12 for a spindle unit.
【００２６】固定部材１は、ベースとして床の上に水平
に置かれており、３本のガイドレール１４を有する。各
ガイドレール１４は、図６に示すように、複数の位置決
め固定機構１５（図６では１個しか示されていない。）
によって固定部材１に水平かつ互いに平行に固定されて
いる。The fixing member 1 is placed horizontally on the floor as a base, and has three guide rails 14. As shown in FIG. 6, each guide rail 14 has a plurality of positioning and fixing mechanisms 15 (only one is shown in FIG. 6).
Are fixed to the fixing member 1 horizontally and parallel to each other.
【００２７】位置決め固定機構１５は、位置決め部材１
６と締付ボルト１７及び固定ボルト１８とから成り、一
側の円弧部の２点（実際には線）１６ａ，１６ｂを固定
部材１の互いに直角とされた固定面ｍと固定座ｎに当接
させるとともに、他側の押圧部１６ｃをガイドレール１
４に触れさせてセットされた位置決め部材１６を、該位
置決め部材１６の透孔１６ｄから固定部材１に螺着され
た締付ボルト１７で締め付けることによって、押圧部１
６ｃでガイドレール１８を基準面ｓに押し付け、固定ボ
ルト１８を固定部材１に螺着して固定部材１の取付座ｔ
に固定することができるようになっている。The positioning and fixing mechanism 15 includes the positioning member 1.
6 and fastening bolts 17 and fixing bolts 18. Two points (actually, lines) 16a and 16b of one side of the circular arc are applied to the fixing surface m and the fixing seat n of the fixing member 1 at right angles to each other. And pressing the other side pressing portion 16c to the guide rail 1
4 is tightened by a tightening bolt 17 screwed to the fixing member 1 from a through hole 16d of the positioning member 16 so that the pressing portion 1 is pressed.
6c, the guide rail 18 is pressed against the reference surface s, the fixing bolt 18 is screwed to the fixing member 1, and the mounting seat t of the fixing member 1 is set.
It can be fixed to.
【００２８】第１移動部材２と第２移動部材４とは、複
数の案内部２ａ，４ａをガイドレール１４に案内されて
固定部材１に該固定部材１（ガイドレール１４）の長手
方向であるＺ軸方向に移動自在にそれぞれ取り付けられ
ている。そして、両移動部材２，４は、第１駆動装置３
と第２駆動装置６によりガイドレール１４に沿ってＺ軸
方向に移動させられるようになっている。第１駆動装置
３は、固定部材１の側面に取り付けられた固定子（磁
石）３ａと第１移動部材２の側部に取り付けられた可動
子（コイル）３ｂとから成るリニアモータによって構成
され、また第２駆動装置６は、上記の固定子３ａと第２
移動部材４の側部に取り付けられた可動子（コイル）６
ｂとから成るリニアモータによって構成されている。The first moving member 2 and the second moving member 4 are guided by a plurality of guides 2a, 4a by a guide rail 14, and are fixed to the fixed member 1 in the longitudinal direction of the fixed member 1 (guide rail 14). Each is mounted movably in the Z-axis direction. Then, both moving members 2 and 4 are connected to the first driving device 3.
And the second drive device 6 to move in the Z-axis direction along the guide rail 14. The first driving device 3 is configured by a linear motor including a stator (magnet) 3 a attached to a side surface of the fixed member 1 and a movable member (coil) 3 b attached to a side of the first moving member 2. Further, the second driving device 6 includes the stator 3 a and the second
A mover (coil) 6 attached to the side of the moving member 4
b).
【００２９】各第２平行リンク７は、互いにＺ軸方向に
離間されて基端７ａを第２移動部材４に基端用枢軸２０
で枢支され、自由端７ｂに支持部材３を自由端用枢軸２
１で水平に枢支している。第２平行リンク７，７は互い
に平行とされ、基端用枢軸２０を支点にＺ軸方向と該Ｚ
軸方向に直交するＹ軸方向の（Ｚ−Ｙ）平面内で回動自
在である。The second parallel links 7 are separated from each other in the Z-axis direction, and the base 7a is connected to the second moving member 4 by the base pivot 20.
And the supporting member 3 is attached to the free end 7b by the free end pivot 2.
It is pivoted horizontally at 1. The second parallel links 7, 7 are parallel to each other, and the Z-axis direction and the Z-axis
It is rotatable in a (ZY) plane in the Y-axis direction orthogonal to the axial direction.
【００３０】基端用枢軸２０は、図７に示すように、位
置決め固定機構１５で第２移動部材４に固定され、第２
平行リンク７の基端７ａをテーパーローラベアリング２
２，２２を介して枢支している。自由端用枢軸２１は、
第２平行リンク７の自由端７ｂのテーパーローラベアリ
ング２２，２２に嵌め入れられて支持部材８に位置決め
固定機構１５で固定されている。As shown in FIG. 7, the base pivot 20 is fixed to the second moving member 4 by the positioning and fixing mechanism 15, and
The base end 7a of the parallel link 7 is tapered roller bearing 2
It pivots via 2,22. The free end pivot 21 is
The free end 7b of the second parallel link 7 is fitted into the tapered roller bearings 22, 22, and is fixed to the support member 8 by the positioning and fixing mechanism 15.
【００３１】また、各第１平行リンク９は、根端９ａを
第１移動部材２に根端用枢軸２４で枢支され、支端９ｂ
に第２平行リンク７を支端用枢軸２５で枢支している。
第１平行リンク９，９は互いに平行とされ、根端用枢軸
２４を支点に（Ｚ−Ｙ）平面内で回動自在である。Each of the first parallel links 9 has its root end 9a pivotally supported by the first moving member 2 with a pivot 24 for the root end.
The second parallel link 7 is pivotally supported by a pivot 25 for the end.
The first parallel links 9, 9 are parallel to each other, and are rotatable in the (ZY) plane with the pivot 24 for the root end as a fulcrum.
【００３２】根端用枢軸２４は、位置決め固定機構１５
で第１移動部材２に固定され、第１平行リンク９の根端
９ａをテーパーローラベアリング２２，２２を介して枢
支している。支端用枢軸２５は、第２平行リンク７のテ
ーパーローラベアリング２２，２２に嵌め入れられて第
１平行リンク９の支端９ｂに位置決め固定機構１５で固
定されている。なお、いずれの部分のテーパーローラベ
アリング２２，２２にも、通常、剛性を高める予圧が与
えられる。The root tip pivot 24 is provided with the positioning and fixing mechanism 15.
The first parallel link 9 is fixed to the first moving member 2 so as to pivotally support the root end 9 a of the first parallel link 9 via tapered roller bearings 22. The supporting end pivot 25 is fitted into the tapered roller bearings 22 of the second parallel link 7 and fixed to the supporting end 9 b of the first parallel link 9 by the positioning and fixing mechanism 15. Incidentally, a preload for increasing the rigidity is usually applied to the tapered roller bearings 22 in any part.
【００３３】ここで、各枢軸２０，２１，２４，２５の
位置関係等について説明すると、支端用枢軸２５は、基
端用枢軸２０と自由端用枢軸２１の１／２の位置にあ
り、根端用枢軸２４と支端用枢軸２５間の距離は、支端
用枢軸２５と基端用枢軸２０の間の距離及び支端用枢軸
２５と自由端用枢軸２１間の距離と等しくされ、また、
基端用枢軸２０，２０と根端用枢軸２４，２４は同一水
平面（Ｙ軸が同一位置）に配設され、第２移動部材４と
第１移動部材２によってＺ軸方向に移動させられるよう
になっている。したがって、第１移動部材２を固定した
状態で第２移動部材４をＺ軸方向に移動させると、支持
部材８が正確にＹ軸方向（図では上下方向）だけに上下
する。Here, the positional relationship between the pivots 20, 21, 24, 25 and the like will be described. The pivot 25 for the supporting end is located at half the position of the pivot 20 for the base end and the pivot 21 for the free end. The distance between the root pivot 24 and the pivot 25 is equal to the distance between the pivot 25 and the proximal pivot 20 and the distance between the pivot 25 and the free pivot 21; Also,
The base pivots 20 and 20 and the root pivots 24 and 24 are disposed on the same horizontal plane (the Y axis is at the same position) and can be moved in the Z axis direction by the second moving member 4 and the first moving member 2. It has become. Therefore, when the second moving member 4 is moved in the Z-axis direction while the first moving member 2 is fixed, the support member 8 moves up and down exactly in the Y-axis direction (vertical direction in the figure).
【００３４】付勢機構１１は、支持部材８を上に付勢す
るもので、図のように一般にコイルばねが単独で用いら
れるが、油圧シリンダやエアシリンダ、カウンタウエイ
トを使用したもの、或いは図４と図５に示すような構造
のものであってもよい。The urging mechanism 11 urges the support member 8 upward. In general, a coil spring is used alone as shown in the figure. However, a mechanism using a hydraulic cylinder, an air cylinder, a counterweight, or 4 and the structure shown in FIG.
【００３５】図４と図５と示す付勢機構１１は、コイル
径の互いに異なる複数（図のものは３本）のコイルばね
２７，２８，２９をそれらの少なくとも一部分をコイル
径方向に重ねた状態で相互間に介在部材３０，３１を装
入してほぼ同心円状に直列に設けた構成とされている。
したがって、この付勢機構１１の場合は、付勢特性を、
支持部材８の昇降距離と支持部材８にかかる荷重とに容
易に適合されることができる。The urging mechanism 11 shown in FIGS. 4 and 5 has a plurality (three in the figures) of coil springs 27, 28 and 29 having different coil diameters, at least a part of which is overlapped in the coil radial direction. In this state, intervening members 30 and 31 are inserted between each other, and are provided in series in a substantially concentric manner.
Therefore, in the case of this urging mechanism 11, the urging characteristic is
It can be easily adapted to the elevating distance of the support member 8 and the load applied to the support member 8.
【００３６】ところで、一般に、コイルばねの撓みは、
巻数と応力の関係から、自由長の５０％以下に設定さ
れ、また座屈防止から、自由長はコイル平均径の４倍以
下にとられる。中形マシニングセンタのＹ軸などでは、
ストロークが５００〜７００ｍｍで許容されるスペース
として畳んだとき３００ｍｍ、径でφ１５０ｍｍ位であ
るから、１個のコイルばねでは十分な付勢性能を得にく
いが、図４と図５の構造では満足すべき付勢性能が得ら
れる。なお、付勢機構１１は、支持部材８が下降してい
て第２平行リンク７の傾斜角度が小さくなっている状態
からの支持部材８の上昇を円滑にするが、場合によって
は省くこともあり得る。In general, the deflection of a coil spring is
The length is set to 50% or less of the free length from the relationship between the number of turns and the stress, and the free length is set to four times or less the average diameter of the coil to prevent buckling. For the Y-axis of a medium-sized machining center,
Since the stroke is about 300 mm when folded as an allowable space of 500 to 700 mm and the diameter is about 150 mm, it is difficult to obtain sufficient biasing performance with a single coil spring, but the structures of FIGS. 4 and 5 are satisfactory. Power biasing performance is obtained. The urging mechanism 11 smoothly raises the support member 8 from a state where the support member 8 is lowered and the inclination angle of the second parallel link 7 is small, but may be omitted in some cases. obtain.
【００３７】支持部材８には、主軸ユニット３３がガイ
ドレール３２を介して支持されている。主軸ユニット用
駆動装置１２は、主軸ユニット３３を、Ｚ軸方向とＹ軸
方向とにそれぞれ直交するＸ軸方向に移動させるもので
あり、支持部材８に設けられた固定子（磁石）１２ａと
主軸ユニット３３に設けられた可動子（コイル）１２ｂ
とから成るリニアモータによって構成されている。主軸
ユニット用駆動装置１２による主軸ユニット３３のＸ軸
方向の移動範囲は、少なくともパレット３４から工具マ
ガジン３５の範囲とされる。ガイドレール３２は前述の
位置決め固定機構等によって支持部材８に水平に固定さ
れている。A spindle unit 33 is supported by the support member 8 via a guide rail 32. The drive unit 12 for a spindle unit moves the spindle unit 33 in the X-axis direction orthogonal to the Z-axis direction and the Y-axis direction, respectively, and includes a stator (magnet) 12 a provided on the support member 8 and a spindle. The mover (coil) 12b provided in the unit 33
And a linear motor comprising: The moving range of the spindle unit 33 in the X-axis direction by the spindle unit driving device 12 is at least a range from the pallet 34 to the tool magazine 35. The guide rail 32 is horizontally fixed to the support member 8 by the above-described positioning and fixing mechanism.
【００３８】主軸ユニット３３は、主軸３７と該主軸３
７を回転させるモータ３８とを有する。主軸３７の先端
には、工具３９を把持する周知のチャック４０が設けら
れている。また固定部材１には、リニアスケール４２が
固定され、第１移動部材２と第２移動部材４には、リニ
アスケール４２に対して各々の位置を検出するセンサ部
（検出部）４３，４４がそれぞれ設けられている。The spindle unit 33 includes a spindle 37 and the spindle 3.
7 for rotating the motor 7. A well-known chuck 40 for holding a tool 39 is provided at the tip of the main shaft 37. A linear scale 42 is fixed to the fixed member 1, and sensor units (detection units) 43 and 44 for detecting respective positions with respect to the linear scale 42 are provided on the first moving member 2 and the second moving member 4. Each is provided.
【００３９】次に上記の構成とされた工作機械の作用を
説明する。両駆動装置３，６で両移動部材２，４を同一
Ｚ軸方向に同一距離移動させると、主軸ユニット３３は
支持部材８と一緒にＺ軸方向に移動し、また第２移動部
材４だけをＺ軸方向に移動させると、主軸ユニット３３
はＹ軸方向に移動する。また主軸ユニット用駆動装置１
２を作動させると、主軸ユニット３３はガイドレール３
２に沿ってＸ軸方向に移動する。Next, the operation of the machine tool having the above configuration will be described. When the two moving members 2 and 4 are moved by the same distance in the same Z-axis direction by the two driving devices 3 and 6, the spindle unit 33 moves in the Z-axis direction together with the support member 8, and only the second moving member 4 is moved. When moved in the Z-axis direction, the spindle unit 33
Moves in the Y-axis direction. Drive unit 1 for the spindle unit
2 is operated, the spindle unit 33 becomes the guide rail 3
2 along the X-axis.
【００４０】このように、主軸ユニット３３を、Ｘ軸、
Ｙ軸、Ｚ軸の立体空間の任意の位置に移動させることが
でき、主軸ユニット３３を一対の第２平行リンク７によ
って支持する構造のため、十分な支持剛性が得られる。
したがって、移動精度が向上し、良好な加工を行うこと
ができる。また、従来のコラムが不要で全体的に小形、
軽量となるため、製造コストと運転コストの低減が可能
となる。As described above, the spindle unit 33 is connected to the X axis,
Since the main unit 33 can be moved to any position in the three-dimensional space of the Y-axis and the Z-axis and the main shaft unit 33 is supported by the pair of second parallel links 7, sufficient support rigidity can be obtained.
Therefore, the movement accuracy is improved, and good processing can be performed. In addition, the conventional column is unnecessary and small overall,
Since the weight is reduced, manufacturing costs and operating costs can be reduced.
【００４１】また、主軸ユニット用駆動装置１２により
主軸ユニット３３を工具マガジン３５の直前に移動させ
てから、駆動装置３，６の作動で主軸ユニット３３をＺ
軸方向に移動させて工具マガジン３５から工具３９をチ
ャック４０で抜き取り、またチャック４０の工具３９を
工具マガジン３５に戻すことができる。このため、自動
工具交換装置は不要である。After the spindle unit 33 is moved immediately before the tool magazine 35 by the spindle unit drive unit 12, the drive units 3 and 6 move the spindle unit 33 to Z.
By moving the tool 39 in the axial direction, the tool 39 can be extracted from the tool magazine 35 by the chuck 40, and the tool 39 of the chuck 40 can be returned to the tool magazine 35. Therefore, an automatic tool changer is not required.
【００４２】図の第２移動部材４は、複数の案内部４ａ
をガイドレール１４に案内されて固定部材１に取り付け
られているが、第１移動部材２にＺ軸方向に移動自在に
取り付けて、図の装置と同一の作用効果を得ることがで
きる。このようにした場合、第２移動部材を（Ｚ−Ｙ）
平面内で直線或いは曲線移動させて支持部材８をＹ軸方
向に移動させるようにすることが可能である。The second moving member 4 shown in FIG.
Are mounted on the fixed member 1 guided by the guide rails 14, but can be mounted on the first moving member 2 so as to be movable in the Z-axis direction, and the same operation and effect as the illustrated apparatus can be obtained. In this case, the second moving member is set to (ZY)
The support member 8 can be moved in the Y-axis direction by linear or curved movement in a plane.
【００４３】枢軸２５を、枢軸２０，２１のほぼ中間に
設けたり、枢軸２４，２５間の距離が、枢軸２０，２５
間の距離及び／又は枢軸２１，２５間の距離と同一にな
っていない構成では、第２移動部材４のみをＺ軸方向に
移動させると、主軸ユニット３３はＹ軸方向だけに移動
せずに（Ｚ−Ｙ）平面内でＺ軸方向とＹ軸方向の合成方
向に移動することになり、主軸３７を傾斜させることが
できる。The pivot 25 is provided almost in the middle of the pivots 20 and 21 or the distance between the pivots 24 and 25 is
In a configuration in which the distance between them and / or the distance between the pivots 21 and 25 is not the same, if only the second moving member 4 is moved in the Z-axis direction, the spindle unit 33 does not move only in the Y-axis direction. The main shaft 37 can be inclined by moving in the combined direction of the Z-axis direction and the Y-axis direction in the (ZY) plane.
【００４４】位置決め固定機構は図の位置決め固定機構
１５以外の、例えば、楔状の位置決め部材を用いたもの
などを使用することができる。なお、楔状の位置決め部
材の場合は、図の固定面ｍを図６の２点鎖線のように、
その上面を高くして傾斜させなければならず、加工に特
別注文の専用工具が必要となるため、加工コストが高く
つくが、図の位置決め固定機構１５の場合はそのような
ことはなく、しかも強い押付力を得ることができる。位
置決め固定機構１５は、ガイドレールや枢軸以外の他の
部材の固定にも使用することができる。As the positioning and fixing mechanism, other than the positioning and fixing mechanism 15 shown in the figure, for example, a mechanism using a wedge-shaped positioning member can be used. In the case of a wedge-shaped positioning member, the fixing surface m in the figure is set as shown by a two-dot chain line in FIG.
Since the upper surface must be raised and inclined, and a special tool specially ordered is required for processing, the processing cost is high. However, in the case of the positioning and fixing mechanism 15 shown in the figure, such a problem does not occur. Strong pressing force can be obtained. The positioning and fixing mechanism 15 can also be used for fixing other members other than the guide rail and the pivot.
【００４５】また、図の工作機械は、支持対象物が主軸
ユニット３３となっているが、他の部材、例えばパレッ
ト３４などを支持することができる。Ｘ軸，Ｙ軸，Ｚ軸
は、いずれも他の軸に読み替えることができる。また、
図の固定部材１は水平に設けられているが、垂直、或い
は傾斜状態で設けることもあり得る。この場合は、他の
支持部材８等の位置や姿勢は、固定部材１に合わせて変
更させることは言うまでもない。In the illustrated machine tool, the object to be supported is the spindle unit 33, but it can support other members, such as the pallet 34. Any of the X axis, Y axis, and Z axis can be read as other axes. Also,
The illustrated fixing member 1 is provided horizontally, but may be provided vertically or in an inclined state. In this case, it goes without saying that the positions and postures of the other support members 8 and the like are changed according to the fixed member 1.
【００４６】また、図の駆動装置３，６，１２は、いず
れもリニアモータとなっているが、サーボモータと該サ
ーボモータの回転運動を直線運動に変換する、互いに螺
着されたナット部材とねじ軸とから成るねじ機構とによ
って構成することができる。この場合、ねじ機構のナッ
ト部材とねじ軸をボールねじ構造とすることが好まし
い。図４と図５に示した付勢機構１１は、テーブルリフ
タ等の他の装置にも用いることができる。The driving devices 3, 6, and 12 are linear motors, and each of the driving devices 3, 6, and 12 includes a servomotor and a nut member screwed together for converting the rotational motion of the servomotor into a linear motion. And a screw mechanism comprising a screw shaft. In this case, it is preferable that the nut member and the screw shaft of the screw mechanism have a ball screw structure. The biasing mechanism 11 shown in FIGS. 4 and 5 can be used for other devices such as a table lifter.
【００４７】図８は、本発明に係る工作機械の第２の実
施の形態を示す。この工作機械においては、第１平行リ
ンク９，９の支端９ｂ，９ｂが支持部材８に支端用枢軸
２５でそれぞれ枢支されている。第１平行リンク９の長
さは第２平行リンク７の長さと同一とされ、また基端用
枢軸２０，２０と根端用枢軸２４，２４は同一のＹ軸位
置に配設され、自由端用枢軸２１，２１と支端用枢軸２
５，２５も同一のＹ軸位置に配設されている。他の構造
は図１ないし図７の工作機械（前記の変更例も含む）と
同じである。FIG. 8 shows a second embodiment of the machine tool according to the present invention. In this machine tool, the support ends 9b, 9b of the first parallel links 9, 9 are pivotally supported on the support member 8 by support end pivots 25, respectively. The length of the first parallel link 9 is the same as the length of the second parallel link 7, and the base pivots 20, 20 and the root pivots 24, 24 are disposed at the same Y-axis position, and Pivots 21 and 21 and supporting pivot 2
5 and 25 are also arranged at the same Y-axis position. The other structures are the same as those of the machine tool of FIGS. 1 to 7 (including the above-mentioned modified example).
【００４８】この工作機械の場合は、第１移動部材２と
第２移動部材４とを同一Ｚ軸方向に同一距離移動させる
と、支持部材８が両移動部材２，４と同一方向に同一距
離移動し、両移動部材２，４をＺ軸方向に互いに逆方向
に同一距離移動させると、支持部材８はＹ軸方向だけに
移動する。両移動部材２，４のいずれか一方、或いは両
方の移動によりそれらの離間距離を変化させると、支持
部材８は（Ｚ−Ｙ）平面内で移動する。In this machine tool, when the first moving member 2 and the second moving member 4 are moved by the same distance in the same Z-axis direction, the support member 8 is moved by the same distance in the same direction as the two moving members 2 and 4. When the moving members 2 and 4 are moved by the same distance in opposite directions in the Z-axis direction, the supporting member 8 moves only in the Y-axis direction. When the distance between them is changed by moving one or both of the moving members 2 and 4, the supporting member 8 moves in the (ZY) plane.
【００４９】図９は、本発明に係る工作機械の第３の実
施の形態を示す。この工作機械においては、自由端用枢
軸２１と支端用枢軸２５のＹ軸位置とＺ軸位置が同一と
なっている。したがって、両枢軸２１，２５を１本に纏
めることが可能となる。この工作機械の他の構造は図１
ないし図７の工作機械（変更例も含む）と同じであり、
また作用は図８の工作機械と同じである。FIG. 9 shows a third embodiment of the machine tool according to the present invention. In this machine tool, the Y-axis position and the Z-axis position of the free-end pivot 21 and the support-end pivot 25 are the same. Therefore, it is possible to combine the pivots 21 and 25 into one. Figure 1 shows the other structure of this machine tool.
Or the same as the machine tool of FIG. 7 (including modified examples)
The operation is the same as that of the machine tool shown in FIG.
【００５０】以上は、両駆動装置３，６で両移動部材
２，４をＺ軸方向に移動させることができる場合につい
て、述べたが、いずれか一方の移動部材をＺ軸方向に移
動自在とさせ、他方の移動部材を固定部材に固定させて
も、それらの離間距離を変化させると、支持部材８は
（Ｚ−Ｙ）平面内で指導する。この場合は、固定部材に
固定された他方の移動部材の駆動装置を省くことがで
き、構造が簡単になりコストも低減できる。The case where both the moving members 2 and 4 can be moved in the Z-axis direction by the two driving devices 3 and 6 has been described above. One of the moving members can be freely moved in the Z-axis direction. Then, even if the other moving member is fixed to the fixed member, if the distance between them is changed, the support member 8 guides in the (ZY) plane. In this case, the driving device for the other moving member fixed to the fixing member can be omitted, and the structure can be simplified and the cost can be reduced.
【００５１】図１０は、本発明に係る工作機械の第４の
実施の形態を示す。この工作機械は、第１移動部材と第
２移動部材が、それぞれ２つの半体２Ｅ，２Ｆ、４Ｅ，
４Ｆに分割され、それぞれ２つの半体に駆動源を持つ第
１駆動装置と第２駆動装置によってそれぞれ個々及び互
いに同期してＺ軸方向に移動させられる構成とされる一
方、第１平行リンク９，９と第２平行リンク７，７の根
端９ａと基端７ａが半体２Ｅ，２Ｆ，４Ｅ，４Ｆにそれ
ぞれ枢軸２４，２０で枢支されている。FIG. 10 shows a fourth embodiment of the machine tool according to the present invention. In this machine tool, the first moving member and the second moving member each include two halves 2E, 2F, 4E,
4F, each of which has a drive source in two halves, and which is moved in the Z-axis direction individually and in synchronism with each other by a second drive device, while a first parallel link 9 is provided. , 9 and the root end 9a and the base end 7a of the second parallel link 7, 7 are pivotally supported on the halves 2E, 2F, 4E, 4F by pivots 24, 20, respectively.
【００５２】この工作機械の場合は、例えば、半体２Ｅ
と４Ｅ，２Ｆと４Ｆの距離を変えることにより、支持部
材８は、（Ｚ−Ｙ）平面内で回動して傾斜角度を変化さ
せる。この工作機械において、半体２Ｅ，２Ｆどうし、
又は半体４Ｅ，４Ｆどうしを互いに同期してＺ軸方向に
移動させた場合の作用と他の構造は、図１ないし図７の
工作機械（変更例も含む）と同じである。なお、図１０
の工作機械において、第１平行リンク９，９の各支端９
ｂを図８又は図９の工作機械のように支持部材８に枢支
することができる（図１０の２点鎖線参照）。各半体２
Ｅ，２Ｆ，４Ｅ，４Ｆには、リニアスケールに対して各
々の位置を検出するセンサ部が設けれれている。In the case of this machine tool, for example, the half 2E
And 4E, 2F and 4F, the support member 8 rotates in the (ZY) plane to change the inclination angle. In this machine tool, the halves 2E and 2F
Alternatively, the operation when the halves 4E and 4F are moved in the Z-axis direction in synchronization with each other and the other structure are the same as those of the machine tool (including modified examples) of FIGS. Note that FIG.
Of the first parallel link 9, 9
b can be pivotally supported on the support member 8 like the machine tool in FIG. 8 or FIG. 9 (see the two-dot chain line in FIG. 10). Each half 2
Each of E, 2F, 4E, and 4F is provided with a sensor unit for detecting each position with respect to the linear scale.
【００５３】図１１は、本発明に係る工作機械の第５の
実施の形態を示す。この工作機械は、図１０の第１平行
リンク９，９と第２平行リンク７，７を、互いに長さの
異なるリンク９Ｅ，９Ｆ、７Ｅ，７Ｆとしたものであ
る。この工作機械においても、図１０の工作機械と同等
の作用効果が得られるが、リンク９Ｅ，９Ｆどうし又は
リンク７Ｅ，７Ｆどうしの長短差を適当にすることによ
って、支持部材８の傾斜回動範囲をより大きい範囲に設
定することが可能となる。リンク９Ｅ，９Ｆの各支端９
ｂを図８又は図９の工作機械のように支持部材８に枢支
できることは、図１０の工作機械と同じである。FIG. 11 shows a fifth embodiment of the machine tool according to the present invention. In this machine tool, the first parallel link 9, 9 and the second parallel link 7, 7 in FIG. 10 are links 9E, 9F, 7E, 7F having different lengths from each other. In this machine tool, the same operation and effect as those of the machine tool shown in FIG. 10 can be obtained, but by appropriately setting the difference between the links 9E and 9F or the links 7E and 7F, the inclination rotation range of the support member 8 can be obtained. Can be set to a larger range. Each end 9 of the link 9E, 9F
The fact that b can be pivotally supported on the support member 8 like the machine tool of FIG. 8 or 9 is the same as the machine tool of FIG.
【００５４】図１２は、本発明に係る工作機械の第６の
実施の形態を示す。この工作機械は、第２移動部材が２
つの半体４Ｅ，４Ｆに分割され、２つの駆動源を持つ第
２駆動装置によって個々及び互いに同期してＺ軸方向に
移動させられる構成とされるとともに、第１〜第４実施
形態で同長であったリンク９，９とリンク７，７が図１
１の工作機械のように互いに長さの異なるリンク９Ｅ，
９Ｆ、７Ｅ，７Ｆとされ、互いの根端９ａと基端７ａを
第１移動部材２と半体４Ｅ，４Ｆにそれぞれ枢軸２４，
２０で枢支されている。この工作機械においては、半体
４Ｅ，４Ｆの離間距離を変えると、支持部材８が（Ｚ−
Ｙ）平面内で回動する。この工作機械の場合も、半体４
Ｅ，４Ｆどうしを互いに同期してＺ軸方向に移動させた
場合の作用と他の構造は、図１ないし図７の工作機械
（変更例も含む）と同じである。また、リンク９Ｅ，９
Ｆの各支端９ｂを図８又は図９の工作機械のように支持
部材８に枢支することができる。またリンク９Ｅ，９Ｆ
とリンク７Ｅ，７Ｆのいずれか一方又は両方を同長とす
ることができる。各半体２Ｅ，２Ｆ，４Ｅ，４Ｆには、
リニアスケールに対して各々の位置を検出するセンサ部
が設けれれている。FIG. 12 shows a sixth embodiment of the machine tool according to the present invention. In this machine tool, the second moving member is 2
The two halves 4E and 4F are divided into two halves 4E and 4F, and are individually and synchronously moved in the Z-axis direction by a second driving device having two driving sources, and have the same length in the first to fourth embodiments. Links 9, 9 and links 7, 7 were
Links 9E having different lengths from each other like the machine tool 1
9F, 7E, and 7F, and the roots 9a and the base ends 7a of the first moving member 2 and the halves 4E and 4F are pivotally connected to each other.
It is pivoted at 20. In this machine tool, when the separation distance between the halves 4E and 4F is changed, the support member 8 becomes (Z-
Y) Rotate in a plane. In the case of this machine tool, half 4
The operation and other structures when the E and 4F are moved in the Z-axis direction in synchronization with each other are the same as those of the machine tool of FIGS. 1 to 7 (including modified examples). Also, links 9E and 9
Each support end 9b of F can be pivotally supported on the support member 8 like the machine tool of FIG. 8 or FIG. Links 9E and 9F
And one or both of the links 7E and 7F can be the same length. In each half 2E, 2F, 4E, 4F,
A sensor unit for detecting each position with respect to the linear scale is provided.
【００５５】図１３は、本発明に係る工作機械の第７の
実施の形態を示す。この工作機械は、図１０の工作機械
から第１移動部材の半体２Ｆと、該半体２Ｆに枢支され
た第１平行リンク９が省かれた構造となっている。この
工作機械の場合は、半体４ＦをＺ軸方向に移動させた
り、半体２Ｅと半体４Ｅの離間距離を変えると、支持部
材８が（Ｚ−Ｙ）平面内で回動する。リンク９は、図１
３の２点鎖線に示すようにその支端９ｂを枢軸２１の位
置に枢支しても同一の作用効果が得られる。なお、図１
１の工作機械から半体２Ｆとリンク９Ｆを省いても、図
１ないし図７又は図１２の工作機械から１本のリンク９
又はリンク９Ｆを省いても実質的に同一の構成となる。FIG. 13 shows a seventh embodiment of the machine tool according to the present invention. This machine tool has a structure in which the half 2F of the first moving member and the first parallel link 9 pivotally supported by the half 2F are omitted from the machine tool of FIG. In the case of this machine tool, when the half body 4F is moved in the Z-axis direction or the separation distance between the half body 2E and the half body 4E is changed, the support member 8 rotates in the (ZY) plane. Link 9 is shown in FIG.
The same operation and effect can be obtained even if the support end 9b is pivotally supported at the position of the pivot 21 as shown by the two-dot chain line in FIG. FIG.
Even if the half body 2F and the link 9F are omitted from one machine tool, one link 9 can be used from the machine tool shown in FIG. 1 to FIG. 7 or FIG.
Alternatively, even if the link 9F is omitted, the configuration is substantially the same.
【００５６】図１４は、本発明に係る工作機械の第８の
実施の形態を示す。この工作機械は、図１ないし図７の
工作機械の第１平行リンク９，９の長さを長くしてその
支端９ｂを第２平行リンク７，７の上部に枢支したもの
である。このように構成すると、図１ないし図７の工作
機械と同一の作用効果が得られる上、第１平行リンク
９，９の根端９ａ，９ａと第２平行リンク７，７の基端
７ａ，７ａとがＺ軸方向に２分されることとなって、全
体構造が単純になる。FIG. 14 shows an eighth embodiment of the machine tool according to the present invention. In this machine tool, the length of the first parallel links 9, 9 of the machine tool of FIGS. 1 to 7 is increased, and the support ends 9b are pivotally supported on the upper portions of the second parallel links 7, 7. With this configuration, the same operation and effect as those of the machine tool shown in FIGS. 1 to 7 can be obtained, and the root ends 9a, 9a of the first parallel links 9, 9 and the base ends 7a, 9a of the second parallel links 7, 7 can be obtained. 7a is divided into two in the Z-axis direction, thereby simplifying the entire structure.
【００５７】この場合も、いずれか一方の移動部材をＺ
軸方向に移動自在とさせ、他方の移動部材を固定部材に
固定させることにより、支持部材８が（Ｚ−Ｙ）平面内
で回動するので、他方の移動部材の駆動装置を省くこと
ができる。Also in this case, one of the moving members is Z
By allowing the movable member to move in the axial direction and fixing the other movable member to the fixed member, the support member 8 rotates in the (ZY) plane, so that the driving device for the other movable member can be omitted. .
【００５８】図１５は、本発明に係る工作機械の第９の
実施の形態を示す。この工作機械は、図１ないし図７の
工作機械の第１平行リンク９と第２平行リンク７の数を
３本にしたものであり、図１ないし図７の工作機械と同
一の作用効果が得られる上、リンクの数が増した分、支
持剛性が大きくなる。なお、図８ないし図１４の工作機
械においても必要があればリンク数、又はリンク数と半
体数を増すことができる。FIG. 15 shows a ninth embodiment of the machine tool according to the present invention. This machine tool is such that the number of the first parallel link 9 and the number of the second parallel link 7 of the machine tool of FIGS. 1 to 7 are three, and the same operation and effect as the machine tool of FIGS. 1 to 7 are obtained. In addition to this, the support rigidity increases as the number of links increases. 8 to 14, the number of links, or the number of links and the number of halves, can be increased if necessary.
【００５９】この場合も、いずれか一方の移動部材をＺ
軸方向に移動自在とさせ、他方の移動部材を固定部材に
固定させることにより、支持部材８が（Ｚ−Ｙ）平面内
で回動するので、他方の移動部材の駆動装置を省くこと
ができる。Also in this case, one of the moving members is Z
By allowing the movable member to move in the axial direction and fixing the other movable member to the fixed member, the support member 8 rotates in the (ZY) plane, so that the driving device for the other movable member can be omitted. .
【００６０】[0060]
【発明の効果】以上説明したように、請求項１ないし４
記載の発明によれば次の効果が得られる。 （１） コラムとサドルなどと違って、支持部材を平行
リンクで支える構造のため、高剛性が得られ、しかも比
較的軽量にできるから、少ない動力で高速かつ高加減速
にできる。 （２） コラムに比べて製作しやすい平行リンクによっ
て２軸方向の運動機構が得られる。 （３） 平行リンクで駆動される２軸相互の直角度は制
御で補正できるので、機械的精度以上の精度を実現でき
る。As described above, claims 1 to 4
According to the described invention, the following effects can be obtained. (1) Unlike a column and a saddle, a structure in which a support member is supported by parallel links provides high rigidity and can be made relatively light, so that high speed and high acceleration / deceleration can be achieved with little power. (2) A biaxial movement mechanism can be obtained by a parallel link that is easier to manufacture than a column. (3) Since the perpendicularity between the two axes driven by the parallel link can be corrected by control, an accuracy higher than the mechanical accuracy can be realized.
【００６１】請求項１記載の工作機械において、支端用
枢軸を基端用枢軸と自由端用枢軸の１／２の位置に配し
て支端用枢軸と根端用枢軸間の距離を、支端用枢軸と根
端用枢軸間の距離及び支端用枢軸と自由端用枢軸間の距
離と同一とし、また根端用枢軸と基端用枢軸を同一のＹ
軸位置に配設した構成とした場合、第２移動部材をＺ軸
方向に移動させると、支持部材はＹ軸方向に移動するよ
うになり、位置を正確かつ単純に制御することが可能と
なる。[0061] In the machine tool according to the first aspect, the pivot for the supporting end is disposed at a half of the position of the pivot for the base end and the pivot for the free end, and the distance between the pivot for the supporting end and the pivot for the root end is reduced. The distance between the pivot for the support end and the pivot for the root end and the distance between the pivot for the support end and the pivot for the free end should be the same, and the same for the root axle and the base axle.
When the second moving member is moved in the Z-axis direction when the second moving member is moved in the Z-axis direction, the supporting member moves in the Y-axis direction, and the position can be controlled accurately and simply. .
【００６２】請求項４記載の工作機械において、１方の
移動部材がＺ軸方向に移動自在とされ、他方の移動部材
が固定部材に固定されているので、他方の移動部材をＺ
軸方向に移動させる駆動装置を省くことができるので構
造が簡単になり、しかもコストを低減することができ
る。In the machine tool according to the fourth aspect, one of the movable members is movable in the Z-axis direction and the other movable member is fixed to the fixed member.
Since the driving device for moving in the axial direction can be omitted, the structure is simplified and the cost can be reduced.
【００６３】請求項５ないし８のいずれか１つに記載の
工作機械によれば、請求項１ないし４記載の工作機械と
同等の効果が期待できるほか、支持部材を回動させてそ
の傾斜角度を自由に変化させることができる。According to the machine tool according to any one of the fifth to eighth aspects, the same effect as that of the machine tool according to the first to fourth aspects can be expected, and the tilt angle of the support member is rotated by rotating the support member. Can be changed freely.
【００６４】請求項１ないし８のいずれか１つに記載の
工作機械において、支持部材に、主軸ユニットあるい
は、テーブルとこれらのＺ軸方向とＹ軸方向とに直交し
たＸ軸方向に移動させる主軸ユニット用あるいは、テー
ブル用駆動装置とを備えた構成とすると、主軸ユニット
は、専用の駆動装置でＸ軸方向に移動させられるので、
最小の動力で高速かつ高加減速を実現できる。また工具
マガジンを定置式とすることができるので、寿命工具置
場を設定するなどの応用が自由にできる。The machine tool according to any one of claims 1 to 8, wherein the supporting member is moved to the main spindle unit or the table and the table in the X-axis direction orthogonal to the Z-axis direction and the Y-axis direction. If a configuration is provided with a unit or a table driving device, the spindle unit can be moved in the X-axis direction by a dedicated driving device.
High speed and high acceleration / deceleration can be realized with minimum power. In addition, since the tool magazine can be of a stationary type, applications such as setting of a service life tool place can be freely performed.
【００６５】請求項１ないし９のいずれか１つに記載の
工作機械において、駆動装置の少なくとも１つがリニア
モータとすると、構造が単純になるほか、第１駆動装置
と第２駆動装置の両方をリニアモータとした場合、１個
の固定子を両リニアモータに共用させることができる効
果がある。In the machine tool according to any one of the first to ninth aspects, when at least one of the driving devices is a linear motor, the structure is simplified, and both the first driving device and the second driving device are used. When a linear motor is used, there is an effect that one stator can be shared by both linear motors.
【００６６】請求項１ないし９のいずれか１つに記載の
工作機械において、駆動装置の少なくとも１つを、サー
ボモータと該サーボモータの回転運動を直線運動に変換
するねじ機構とによって構成すると、多量生産されてい
る市販のサーボモータとねじ機構を用いることができ、
コストの点で有利となる効果がある。In the machine tool according to any one of the first to ninth aspects, at least one of the driving devices is constituted by a servomotor and a screw mechanism for converting a rotary motion of the servomotor into a linear motion. Commercially available mass-produced servo motors and screw mechanisms can be used,
There is an advantageous effect in terms of cost.
【００６７】請求項１ないし１１のいずれか１つに記載
の工作機械において、支持部材を固定部材の上方にほぼ
水平に配設し、該支持部材に支持部材を上に付勢する付
勢機構を付設した構成とすると、付勢機構により動力補
償を行って、支持部材のＹ軸方向の上昇移動、特に、平
行リンクの傾斜角度が小さくなっている支持部材の最下
降位置からの上昇移動が円滑になる効果がある。The machine tool according to any one of claims 1 to 11, wherein the support member is disposed substantially horizontally above the fixed member, and the support member is urged upward by the support member. When the configuration is attached, the power is compensated by the urging mechanism, and the ascending movement of the support member in the Y-axis direction, in particular, the ascending movement of the support member in which the inclination angle of the parallel link is small from the lowest position is reduced. This has the effect of smoothing out.
【００６８】請求項１２記載の工作機械において、付勢
機構を、コイル径の互いに異なる複数のコイルばねを、
それらの少なくとも一部分をコイル径方向に重ねた状態
で相互間に介在部材を装入してほぼ同心円状に直列に設
けた構成とすると、小設置スペースで付勢ストロークを
長くすることができ、付勢機構の付勢特性を、支持部材
の昇降距離（Ｙ軸方向移動距離）と支持部材にかかる荷
重とに適合させることが容易になり、また性能コストが
良好になる効果がある。In the machine tool according to the twelfth aspect, the urging mechanism may include a plurality of coil springs having different coil diameters.
When at least a part of them is overlapped in the coil radial direction and an intervening member is inserted therebetween and provided substantially in concentric circles in series, the biasing stroke can be lengthened in a small installation space, This makes it easy to adjust the biasing characteristics of the biasing mechanism to the up-and-down distance (movement distance in the Y-axis direction) of the support member and the load applied to the support member, and has an effect of improving the performance cost.
【００６９】請求項１ないし１３のいずれか１つに記載
の工作機械において、移動部材又は半体の少なくとも１
つに、リニアスケールの位置を検出するセンサ部を設け
た構成では、固定部材に対する移動部材又は半体の移動
距離、両移動部材の相対移動距離、移動部材と半体の相
対移動距離、両半体の相対移動距離を正確に検出するこ
とができる効果がある。The machine tool according to any one of claims 1 to 13, wherein at least one of the moving member and the half body is provided.
Finally, in the configuration in which the sensor unit for detecting the position of the linear scale is provided, the moving distance of the moving member or half with respect to the fixed member, the relative moving distance of both moving members, the relative moving distance of the moving member and half, There is an effect that the relative movement distance of the body can be accurately detected.
【００７０】請求項１ないし１４のいずれか１つに記載
の工作機械において、枢軸の少なくとも１つを、予圧を
与えられて剛性を高められたベアリングを介して枢支し
た構成とすると、リンクが緩みなく枢支されるので、作
動精度が向上する効果がある。In the machine tool according to any one of the first to fourteenth aspects, when at least one of the pivots is pivotally supported via a pre-loaded rigidity-enhanced bearing, the link is formed. Since it is pivotally supported without loosening, there is an effect that operation accuracy is improved.
【００７１】請求項１ないし１５のいずれか１つに記載
の工作機械において、少なくとも１つの枢軸の外周面の
一面を平面として枢支しているので、接合面の剛性を高
くすることができる。また、接合面にスペーサを挿入す
ることにより、高さ位置の調整を容易に行うことができ
る効果がある。In the machine tool according to any one of the first to fifteenth aspects, since one surface of the outer peripheral surface of at least one pivot is pivotally supported as a plane, the rigidity of the joint surface can be increased. In addition, by inserting a spacer into the joint surface, there is an effect that the height position can be easily adjusted.
【図１】 本発明に係る工作機械の第１の実施の形態を
示す側面図である。FIG. 1 is a side view showing a first embodiment of a machine tool according to the present invention.
【図２】 固定部材と第１移動部材等の関係を示す平面
図である。FIG. 2 is a plan view showing a relationship between a fixed member and a first moving member and the like.
【図３】 同じく、断面図である。FIG. 3 is also a cross-sectional view.
【図４】 付勢機構の他の例を示す伸張状態の図であ
る。FIG. 4 is a view of an extended state showing another example of the biasing mechanism.
【図５】 図４の付勢機構の縮小状態の図である。FIG. 5 is a view of the urging mechanism of FIG. 4 in a contracted state.
【図６】 位置決め固定機構によるガイドレールの固定
状態を示す断面図である。FIG. 6 is a cross-sectional view showing a fixed state of the guide rail by the positioning and fixing mechanism.
【図７】 位置決め固定機構による枢軸の固定状態を示
す断面図である。FIG. 7 is a sectional view showing a fixed state of the pivot by the positioning and fixing mechanism.
【図８】 本発明に係る工作機械の第２の実施の形態を
示す主要部の略図である。FIG. 8 is a schematic view of a main part of a machine tool according to a second embodiment of the present invention.
【図９】 本発明に係る工作機械の第３の実施の形態を
示す主要部の略図である。FIG. 9 is a schematic view of a main part of a machine tool according to a third embodiment of the present invention.
【図１０】 本発明に係る工作機械の第４の実施の形態
を示す主要部の略図である。FIG. 10 is a schematic view of a main part of a machine tool according to a fourth embodiment of the present invention.
【図１１】 本発明に係る工作機械の第５の実施の形態
を示す主要部の略図である。FIG. 11 is a schematic view of a main part showing a fifth embodiment of the machine tool according to the present invention.
【図１２】 本発明に係る工作機械の第６の実施の形態
を示す主要部の略図である。FIG. 12 is a schematic view of a main part of a machine tool according to a sixth embodiment of the present invention.
【図１３】 本発明に係る工作機械の第７の実施の形態
を示す主要部の略図である。FIG. 13 is a schematic view of a main part of a machine tool according to a seventh embodiment of the present invention.
【図１４】 本発明に係る工作機械の第８の実施の形態
を示す主要部の略図である。FIG. 14 is a schematic view of a main part showing an eighth embodiment of the machine tool according to the present invention.
【図１５】 本発明に係る工作機械の第９の実施の形態
を示す主要部の略図である。FIG. 15 is a schematic view of a main part showing a ninth embodiment of the machine tool according to the present invention.
１ 固定部材 ２ 第１移動部材 ２Ｅ，２Ｆ，４Ｅ，４Ｆ 半体 ３ 第１駆動装置 ４ 第２移動部材 ６ 第２駆動装置 ７ 第２平行リンク ７Ｅ，７Ｆ，９Ｅ，
９Ｆ リンク ７ａ 基端 ７ｂ 自由端 ８ 支持部材 ９ 第１平行リンク ９ａ 根端 ９ｂ 支端 １１ 付勢機構 １２ 主軸ユニット
用駆動装置 ２０ 基端用枢軸 ２１ 自由端用枢軸 ２４ 根端用枢軸 ２５ 支端用枢軸 ２７，２８，２９ コイルばね ３０，３１ 介在部
材 ３３ 主軸ユニット ４２ リニアスケー
ル ４３，４４ センサ部DESCRIPTION OF SYMBOLS 1 Fixed member 2 1st moving member 2E, 2F, 4E, 4F Half body 3 1st drive device 4 2nd moving member 6 2nd drive device 7 2nd parallel link 7E, 7F, 9E,
9F link 7a base end 7b free end 8 support member 9 first parallel link 9a root end 9b support end 12 biasing mechanism 12 drive unit for spindle unit 20 base end axis 21 free end end axis 24 root end end axis 25 end end Pivot shaft 27, 28, 29 Coil spring 30, 31 Interposed member 33 Main shaft unit 42 Linear scale 43, 44 Sensor unit
Claims (16)
動自在に取り付けられた第１移動部材と、 該第１移動部材をＺ軸方向に移動させる第１駆動装置
と、 上記固定部材及び第１移動部材に対してＺ軸方向に移動
自在に設けられた第２移動部材と、 該第２移動部材をＺ軸方向に移動させる第２駆動装置
と、 上記第１移動部材に、互いにＺ軸方向に離間されて根端
を根端用枢軸で枢支され該根端用枢軸を支点にＺ軸方向
と該Ｚ軸方向に直交するＹ軸方向の（Ｚ−Ｙ）平面内で
回動自在とされた互いに平行な一対の第１平行リンク
と、 上記第２移動部材に、互いにＺ軸方向に離間されて基端
を基端用枢軸で枢支され該基端用枢軸を支点に（Ｚ−
Ｙ）平面内で回動自在とされるとともに、ほぼ中間部に
上記各第１平行リンクの各支端を支端用枢軸でそれぞれ
枢支して互いに平行に設けられた一対の第２平行リンク
と、 該一対の第２平行リンクの自由端に自由端用枢軸で上記
固定部材と平行に枢支された支持部材とを具備したこと
を特徴とする工作機械。1. A fixing member, a first moving member movably attached to the fixing member in a Z-axis direction which is a longitudinal direction of the fixing member, and a first moving member for moving the first moving member in the Z-axis direction. A second driving member provided to be movable in the Z-axis direction with respect to the fixed member and the first moving member; a second driving device for moving the second moving member in the Z-axis direction; The first moving member is separated from each other in the Z-axis direction, and its root end is pivotally supported by the root-end pivot, and the root-end pivot is used as a fulcrum in the Z-axis direction and the Y-axis direction orthogonal to the Z-axis direction. ZY) A pair of first parallel links that are rotatable in a plane and are mutually separated in the Z-axis direction by the second moving member, and the base end is pivotally supported by a base end pivot. With the base end pivot as a fulcrum (Z-
Y) A pair of second parallel links that are rotatable in a plane and are provided substantially parallel to each other at substantially middle portions by pivotally supporting the respective support ends of the first parallel links with support shafts. A machine tool, comprising: a free end of the pair of second parallel links; and a support member pivotally supported by a free end pivot in parallel with the fixed member.
の１／２の位置にあって支端用枢軸と根端用枢軸間の距
離が、支端用枢軸と基端用枢軸間の距離及び支端用枢軸
と自由端用枢軸間の距離と同一とされ、また根端用枢軸
と基端用枢軸が同一のＹ軸位置に配設されたことを特徴
とする請求項１記載の工作機械。2. The support pivot is located at one half of the base pivot and the free end pivot, and the distance between the support pivot and the root pivot is less than the support pivot and the base pivot. The distance between the pivots and the distance between the support end pivot and the free end pivot are the same, and the root end pivot and the base end pivot are arranged at the same Y-axis position. The machine tool according to 1.
動自在に取り付けられた第１移動部材と、 該第１移動部材をＺ軸方向に移動させる第１駆動装置
と、 上記固定部材及び第１移動部材に対してＺ軸方向に移動
自在に設けられた第２移動部材と、 該第２移動部材をＺ軸方向に移動させる第２駆動装置
と、 上記第１移動部材に、互いにＺ軸方向に離間されて根端
を根端用枢軸で枢支され該根端用枢軸を支点にＺ軸方向
と該Ｚ軸方向に直交するＹ軸方向の（Ｚ−Ｙ）平面内で
回動自在とされた互いに平行な一対の第１平行リンク
と、 上記第２移動部材に、互いにＺ軸方向に離間されて基端
を基端用枢軸で枢支され該基端用枢軸を支点に（Ｚ−
Ｙ）平面内で回動自在とされた互いに平行な一対の第２
平行リンクと、 上記各第１平行リンクの支端と各第２平行リンクの自由
端とに支端用枢軸と自由端用枢軸とで枢支された上記固
定部材と平行な支持部材とを具備したことを特徴とする
工作機械。3. A fixing member, a first moving member movably attached to the fixing member in a Z-axis direction which is a longitudinal direction of the fixing member, and a first moving member for moving the first moving member in the Z-axis direction. A second driving member provided to be movable in the Z-axis direction with respect to the fixed member and the first moving member; a second driving device for moving the second moving member in the Z-axis direction; The first moving member is separated from each other in the Z-axis direction, and its root end is pivotally supported by the root-end pivot, and the root-end pivot is used as a fulcrum in the Z-axis direction and the Y-axis direction orthogonal to the Z-axis direction. ZY) A pair of first parallel links that are rotatable in a plane and are mutually separated in the Z-axis direction by the second moving member, and the base end is pivotally supported by a base end pivot. With the base end pivot as a fulcrum (Z-
Y) A pair of second parallel second members rotatable in a plane.
A parallel link; and a support member parallel to the fixed member pivotally supported at a support end of each of the first parallel links and a free end of each of the second parallel links by a support end pivot and a free end pivot. A machine tool characterized by the following.
ずれか１方の移動部材が固定部材の長手方向であるＺ軸
方向に移動自在に取り付けられことをことを特徴とする
請求項１ないし３のいずれか１つに記載の工作機械。4. The moving member according to claim 1, wherein one of the first moving member and the second moving member is movably attached in a Z-axis direction which is a longitudinal direction of the fixed member. 3. The machine tool according to any one of 3.
に他方の第２平行リンクがそれぞれ枢支され、 第２駆動装置は、分割された２つの半体にそれぞれ設け
られ上記２つの半体をＺ軸方向に個々及び互いに同期し
て移動させ得る構成とされたことを特徴とする請求項１
ないし３のいずれか１つに記載の工作機械。5. The second moving member is divided into two halves, one of the second parallel links is pivotally supported on one half, and the other second parallel link is pivotally supported on the other half. The two-drive device is provided on each of the two divided halves, and is configured to be able to move the two halves individually and in synchronization with each other in the Z-axis direction.
4. The machine tool according to any one of items 3 to 3.
２つの半体に分割され、 第１移動部材の一方の半体に一方の第１平行リンクが、
また他方の半体に他方の第１平行リンクがそれぞれ枢支
されるとともに、 第２移動部材の一方の半体に一方の第２平行リンクが、
また他方の半体に他方の第２平行リンクがそれぞれ枢支
され、 第１駆動装置は、分割された２つの半体にそれぞれ設け
られ上記第１移動部材の２つの半体をＺ軸方向に個々及
び互いに同期して移動させ得る構成とされ、 第２駆動装置は、分割された２つの半体にそれぞれ設け
られ上記第２移動部材の２つの半体をＺ軸方向に個々及
び互いに同期して移動させ得る構成とされたことを特徴
とする請求項１ないし３のいずれか１つに記載の工作機
械。6. The first moving member and the second moving member are each divided into two halves, and one first parallel link is provided on one half of the first moving member.
In addition, the other first parallel link is pivotally supported on the other half, respectively, and one second parallel link is provided on one half of the second moving member.
Further, the other second parallel link is pivotally supported on the other half, respectively, and the first drive device is provided on each of the divided two halves, and connects the two halves of the first moving member in the Z-axis direction. The second driving device is provided on each of the divided two halves, and synchronizes the two halves of the second moving member individually and with each other in the Z-axis direction. The machine tool according to any one of claims 1 to 3, wherein the machine tool is configured to be movable.
第１平行リンクの長さと、一対の第２平行リンクの長さ
のいずれか一方又は両方が互いに異なる長さとされたこ
とを特徴とする工作機械。7. The machine tool according to claim 5, wherein one or both of a length of the pair of first parallel links and a length of the pair of second parallel links are different from each other. And machine tools.
１移動部材の１つの半体と該半体に枢支されたリンク、
又は第１移動部材に枢支された１つのリンクが省かれた
ことを特徴とする工作機械。8. The machine tool according to claim 6, wherein one half of the first moving member and a link pivotally supported by the half,
A machine tool characterized in that one link pivotally supported by the first moving member is omitted.
ーブルとこれらのＺ軸方向とＹ軸方向とに直交したＸ軸
方向に移動させる主軸ユニット用あるいは、テーブル用
駆動装置とを備えたことを特徴とする請求項１ないし８
のいずれか１つに記載の工作機械。9. The support member includes a spindle unit or a table and a drive unit for a spindle unit or a table for moving the table in an X-axis direction orthogonal to the Z-axis direction and the Y-axis direction. Claims 1 to 8
The machine tool according to any one of the above.
ータとされたことを特徴とする請求項１ないし９のいず
れか１つに記載の工作機械。10. The machine tool according to claim 1, wherein at least one of the driving devices is a linear motor.
モータと該サーボモータの回転運動を直線運動に変換す
るねじ機構とによって構成されたことを特徴とする請求
項１ないし９のいずれか１つに記載の工作機械。11. The apparatus according to claim 1, wherein at least one of the driving devices includes a servomotor and a screw mechanism that converts a rotary motion of the servomotor into a linear motion. The described machine tool.
に配設され、該支持部材に支持部材を上に付勢する付勢
機構が付設されたことを特徴とする請求項１ないし１１
のいずれか１つに記載の工作機械。12. The supporting member according to claim 1, wherein said supporting member is disposed substantially horizontally above said fixing member, and said supporting member is provided with an urging mechanism for urging said supporting member upward.
The machine tool according to any one of the above.
複数のコイルばねを、それらの少なくとも一部分をコイ
ル径方向に重ねた状態で相互間に介在部材を装入してほ
ぼ同心円状に直列に設けた構成とされたことを特徴とす
る請求項１２記載の工作機械。13. The biasing mechanism includes a plurality of coil springs having different coil diameters, and an intervening member is inserted between the plurality of coil springs in a state where at least a part of the coil springs is overlapped in the coil radial direction, and the springs are substantially concentrically connected in series. The machine tool according to claim 12, wherein the machine tool is provided.
に、上記固定部材に設けられたリニアスケールに対して
各々の位置を検出するセンサ部が設けられたことを特徴
とする請求項１ないし１３のいずれか１つに記載の工作
機械。14. A sensor according to claim 1, wherein at least one of the movable member and the half body is provided with a sensor unit for detecting each position with respect to the linear scale provided on the fixed member. The machine tool according to any one of the above.
られて剛性を高められたベアリングを介して枢支された
ことを特徴とする請求項１ないし１４のいずれか１つに
記載の工作機械。15. The machine tool according to claim 1, wherein at least one of the pivots is pivotally supported via a preloaded and rigid bearing.
を平面として枢支されたことを特徴とする請求項１ない
し１５のいずれか１つに記載の工作機械。16. The machine tool according to claim 1, wherein one of the outer peripheral surfaces of at least one pivot is pivotally supported on a plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP36559399A JP3500532B2 (en) | 1999-12-22 | 1999-12-22 | Machine Tools |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP36559399A JP3500532B2 (en) | 1999-12-22 | 1999-12-22 | Machine Tools |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001179560A true JP2001179560A (en) | 2001-07-03 |
| JP3500532B2 JP3500532B2 (en) | 2004-02-23 |
Family
ID=18484656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP36559399A Expired - Fee Related JP3500532B2 (en) | 1999-12-22 | 1999-12-22 | Machine Tools |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3500532B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7334304B2 (en) * | 2005-09-01 | 2008-02-26 | Index-Werke Gmbh & Co. Kg Hahn Tessky | Machine tool |
| JP2008229816A (en) * | 2007-03-23 | 2008-10-02 | Tokkyokiki Corp | Positioning base |
| JP2016209973A (en) * | 2015-05-13 | 2016-12-15 | 株式会社京都製作所 | Transfer device |
| CN111331397A (en) * | 2020-04-15 | 2020-06-26 | 昆山允可精密工业技术有限公司 | Tubular product auxiliary stay tool and lathe for lathe |
-
1999
- 1999-12-22 JP JP36559399A patent/JP3500532B2/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7334304B2 (en) * | 2005-09-01 | 2008-02-26 | Index-Werke Gmbh & Co. Kg Hahn Tessky | Machine tool |
| US7578036B2 (en) | 2005-09-01 | 2009-08-25 | Index-Werke Gmbh Co. Kg Hahn & Tessky | Machine tool |
| JP2008229816A (en) * | 2007-03-23 | 2008-10-02 | Tokkyokiki Corp | Positioning base |
| JP2016209973A (en) * | 2015-05-13 | 2016-12-15 | 株式会社京都製作所 | Transfer device |
| CN111331397A (en) * | 2020-04-15 | 2020-06-26 | 昆山允可精密工业技术有限公司 | Tubular product auxiliary stay tool and lathe for lathe |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3500532B2 (en) | 2004-02-23 |
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