JP2004138623A - Feeder - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cheap and lightweight feeder using a simple mechanism to surely control turning in a yawing direction of a vehicle. <P>SOLUTION: The feeder is provided with the vehicle 7 longer in a rectangular direction than in a traveling direction, linear guiding means 2, 3 guiding movement of the vehicle, a linear driving gear 4 moving the vehicle 7, and an attitude regulation means regulating yawing motion of the vehicle 7 on its base 1. The attitude regulation means contains two funiculus bodies 15, 16, four funiculus body retaining points 22A, B, C, D located on both ends of the base 1 or vehicle 7, and at least two of turning mechanisms 17A, B, C or D to control yawing motion of the vehicle by using tensions of the funiculus bodies 15, 16 spanned through these turning mechanisms. <P>COPYRIGHT: (C)2004,JPO

Description

　本発明は、送り装置に係り、特に移動方向とは直角の方向に長い移動体におけるヨーイング運動を簡単な機構で規制する送り装置に関する。 The present invention relates to a feeder, and more particularly, to a feeder that regulates yawing motion of a moving body that is long in a direction perpendicular to the moving direction with a simple mechanism.

　従来の送り装置としては、例えば特開平５−９２３７６号公報に開示されたものがある。このものは、図１５に示すように、基台１００上に、Ｘ軸方向へ平行に配設された１対のＸ軸ガイド１１４ａ，１１４ｂと、Ｘ軸方向と直角な方向へ平行に配設された１対のＹ軸ガイド１２６ａ，１２６ｂと、Ｘ軸方向へ配設されると共に１対のＹ軸ガイド１２６ａ，１２６ｂ間に跨がって配設されＹ軸ガイド１２６ａ，１２６ｂに沿ってＹ軸方向へ移動可能なＸ軸スライダガイド１３０と、Ｘ軸ガイド１１４ｂ，１１４ｂ間に跨がって配設されＸ軸ガイド１１４ａ，１１４ｂに沿ってＸ軸方向へ移動可能なＹ軸スライダガイド１１８と、Ｘ軸スライダガイド１３０とＹ軸スライダガイド１１８上をＸ−Ｙ方向へ移動可能なスライダ１４２と、スライダ１４２をＸ−Ｙ方向へ移動させるための駆動機構１３４，１３６，１３８，１４０と、Ｘ軸スライダガイド１３０のＸ軸方向に対する傾きを規制するためのＸ軸規制手段およびＹ軸スライダガイド１１８のＹ軸方向に対する傾きを規制するためのＹ軸規制手段とを備えた２次元運動機構である。 As a conventional feeder, for example, there is one disclosed in Japanese Patent Application Laid-Open No. 5-92376. As shown in FIG. 15, a pair of X-axis guides 114a and 114b are provided on a base 100 in parallel with the X-axis direction, and are provided in parallel with a direction perpendicular to the X-axis direction. The pair of Y-axis guides 126a and 126b are arranged in the X-axis direction, and are arranged so as to extend between the pair of Y-axis guides 126a and 126b. An X-axis slider guide 130 movable in the axial direction; a Y-axis slider guide 118 disposed across the X-axis guides 114b and 114b and movable in the X-axis direction along the X-axis guides 114a and 114b. A slider 142 movable on the X-axis slider guide 130 and the Y-axis slider guide 118 in the XY directions, driving mechanisms 134, 136, 138, 140 for moving the slider 142 in the XY directions; Is a two-dimensional movement mechanism that includes a Y-axis regulating means for regulating the inclination with respect to the Y-axis direction of the X-axis regulating means and Y-axis slider guide 118 for regulating an inclination with respect to the X-axis direction of the slider guide 130.

　Ｘ軸規制手段は、Ｘ軸ラック１１２ａ，１１２ｂ、Ｙ軸ロッド１２０、そのロッド両端に取り付けたピニオンギア１２２ａ，１２２ｂを組み合わせて構成し、Ｙ軸規制手段は、Ｙ軸ラック１２４ａ，１２４ｂ、Ｘ軸ロッド１３２、そのロッド両端に取り付けたピニオンギア１３３ａ，１３３ｂを組み合わせて構成して、スライダ１４２がＸ軸ロッド１３２およびＹ軸ロッド１２０に案内されてＸ−Ｙ方向へ移動する際のヨーイング方向の回動変位を規制している。 The X-axis restricting means is configured by combining the X-axis racks 112a and 112b, the Y-axis rod 120, and the pinion gears 122a and 122b attached to both ends of the rod, and the Y-axis restricting means is the Y-axis racks 124a and 124b and the X-axis. A combination of a rod 132 and pinion gears 133a, 133b attached to both ends of the rod, the rotation in the yawing direction when the slider 142 is guided by the X-axis rod 132 and the Y-axis rod 120 and moves in the XY direction. It regulates dynamic displacement.

　しかしながら、上記従来の送り装置である２次元運動機構には、次のような問題点がある。
（１）Ｙ軸規制手段を構成するＹ軸ロッド１２０およびＸ軸規制手段を構成するＸ軸ロッド１３２に重量のある部材を用いているため、それらのイナーシャが駆動機構にとって余分な負荷となる。
（２）機構が複雑で部品点数が多く、高価になる。
（３）Ｙ軸規制手段のＹ軸ロッド１２０およびＸ軸規制手段のＸ軸ロッド１３２のヨーイング方向の回動変位を規制する手段としてラック・ピニオン又はタイミングベルトの代わりに平ベルトやワイヤなどを採用した場合は、Ｙ軸ロッド１２０，Ｘ軸ロッド１３２にすべりが発生してしまい、確実に駆動動力が伝達されない。
　そこで、本発明はこのような従来の問題点に着目してなされたものであり、簡単な機構で移動体のヨーイング方向の回動を規制することが可能な送り装置を提供することを目的とする。 However, the two-dimensional motion mechanism which is the above-mentioned conventional feeder has the following problems.
(1) Since heavy members are used for the Y-axis rod 120 constituting the Y-axis regulating means and the X-axis rod 132 constituting the X-axis regulating means, their inertia becomes an extra load on the drive mechanism.
(2) The mechanism is complicated, the number of parts is large, and the cost is high.
(3) A flat belt or a wire is used instead of a rack and pinion or a timing belt as means for restricting the rotational displacement of the Y-axis rod 120 of the Y-axis restriction means and the X-axis rod 132 of the X-axis restriction means in the yawing direction. In this case, slippage occurs in the Y-axis rod 120 and the X-axis rod 132, and the driving power is not reliably transmitted.
Therefore, the present invention has been made in view of such a conventional problem, and an object of the present invention is to provide a feeder capable of restricting rotation of a moving body in a yawing direction by a simple mechanism. I do.

　上記の目的を達成する本発明の請求項１の送り装置は、移動方向に対して直角方向に長い移動体と、該移動体を移動方向に案内する少なくとも一対の平行に配した直線案内装置と、該直線案内装置に沿って前記移動体を移動させる直線駆動装置と、前記移動体の移動時のヨーイング運動を規制する姿勢規制手段とを基台上に備え、該姿勢規制手段は、２本の索体と、各索体の端部を係止するべく前記移動体の長手方向に間隔をおいて前記基台または移動体の両端部に配置した４か所の係止点と、前記移動体の長手方向に間隔をおいて前記基台または移動体に配置した少なくとも２個の方向変換機構とを有し、一方の索体は前記基台または移動体の一端側の前記係止点に一端を係止すると共に他端を前記方向変換機構を通し方向転換させた後に点対称位置にある他端側係止点に連結して懸け渡し、他方の索体は前記基台または移動体の他端側の係止点に一端を係止すると共に他端を前記方向変換機構を逆方向に通して方向転換させた後に点対称位置にある一端側の係止点に連結して懸け渡してあり、それら索体の張力で前記移動体のヨーイング運動を規制することを特徴とするものである。 A feeder according to claim 1 of the present invention that achieves the above object includes a moving body that is long in a direction perpendicular to a moving direction, and at least a pair of parallel linear guide devices that guide the moving body in the moving direction. A linear drive device for moving the movable body along the linear guide device, and a posture regulating means for regulating yawing motion during the movement of the moving body on a base; And four locking points disposed at both ends of the base or the moving body at intervals in the longitudinal direction of the moving body so as to lock the ends of the rope bodies; At least two direction changing mechanisms arranged on the base or the moving body at intervals in the longitudinal direction of the body, and one of the cords is provided at the locking point on one end side of the base or the moving body. After locking one end and changing the other direction through the direction changing mechanism The other cable body is connected to the other end side locking point at the point symmetrical position and suspended, and the other cable body locks one end at the other end side locking point of the base or the moving body and changes the other end in the direction change. After passing through the mechanism in the opposite direction and changing direction, it is connected to and suspended from one of the locking points at the point symmetrical position, and the yawing motion of the moving body is regulated by the tension of the cords. It is assumed that.

　また、本発明の請求項２の送り装置は、Ｘ軸方向へ移動するＸ軸方向移動体と、該Ｘ軸方向移動体に直交してＹ軸方向へ移動するＹ軸方向移動体とを有するＸ−Ｙ送り装置であって、前記各移動体の移動方向に平行に配設されて当該移動体をそれぞれ移動方向に案内する直線案内装置と、各移動体を移動方向に駆動する駆動装置と、各移動体の移動時のヨーイング運動を規制する姿勢規制手段とを備え、該姿勢規制手段は、少なくとも１本の索体と、該索体を係止するべく前記移動体の長手方向に間隔をおいて前記基台または移動体の両端部に配置した少なくとも２か所の係止点と、前記移動体の長手方向又は長手方向と直角方向に間隔をおいて前記基台または移動体に配置した少なくとも２個の方向変換機構とを有し、前記の索体は、前記係止点の一方に係止すると共に前記方向変換機構を通し方向転換させた後に他方の係止点に係止して懸け渡し、更に一方の係止点に係止すると共に前記方向変換機構を前記とは逆方向に通して方向転換させた後に他方の係止点に係止して懸け渡してあり、前記索体の張力で前記移動体のヨーイング運動を規制する構成としたことを特徴とするものである。 Further, the feeder according to claim 2 of the present invention has an X-axis direction moving body that moves in the X-axis direction, and a Y-axis direction moving body that moves in the Y-axis direction orthogonal to the X-axis direction moving body. An XY feeder, which is disposed in parallel with the moving direction of each of the moving bodies and guides each of the moving bodies in the moving direction, and a driving device that drives each of the moving bodies in the moving direction. Posture restricting means for restricting the yawing movement of each moving body when moving, the posture restricting means includes at least one cable body and a gap in the longitudinal direction of the moving body for locking the cable bodies. And at least two locking points disposed at both ends of the base or the moving body, and disposed on the base or the moving body at an interval in a longitudinal direction or a direction perpendicular to the longitudinal direction of the moving body. At least two direction changing mechanisms, wherein the cable body is After being locked at one of the locking points and changing the direction through the direction changing mechanism, it is locked and suspended at the other locking point, and further locked at one locking point, and After passing through the opposite direction to change the direction, it is locked and suspended at the other locking point, and is configured to regulate the yawing movement of the moving body by the tension of the rope body. Is what you do.

　直線駆動装置の駆動で、移動方向と直角方向に長い移動体に推進力を加えると、移動体に加速度が生じて移動体重心には推進力に対し反対方向の慣性力が作用する。この推進力と慣性力とが一直線上にない場合、推進力と慣性力によって偶力が発生し、移動体全体が移動方向に対し水平方向に回動（ヨーイング）しようとする。このヨーイングの回動を姿勢規制手段に張設した索体が阻止して移動体の姿勢変化を規制する。 駆 動 When driving force is applied to a moving body that is long in a direction perpendicular to the moving direction by driving the linear drive device, acceleration is generated in the moving body, and an inertial force in a direction opposite to the propelling force acts on the moving body weight center. When the propulsion force and the inertia force are not on a straight line, a couple is generated by the propulsion force and the inertia force, and the entire moving body tends to rotate (yaw) in the horizontal direction with respect to the movement direction. The rope body stretched on the posture restricting means prevents the rotation of the yawing, thereby restricting the posture change of the moving body.

　以上説明したように、本発明の送り装置によれば、移動方向に対して直角方向に長い移動体と、該移動体を移動方向に案内する少なくとも一対の平行に配した直線案内装置と、該直線案内装置に沿って前記移動体を移動させる直線駆動装置と、前記移動体のヨーイング運動を規制する姿勢規制手段とを基台上に備え、該姿勢規制手段は、２本の索体と、各索体の端部を係止するべく前記移動体の長手方向に間隔をおいて前記基台または移動体の両端部に配置した４か所の係止点と、前記移動体の長手方向に間隔をおいて前記基台または移動体に配置した少なくとも２個の方向変換機構とを有し、一方の索体は前記基台または移動体の一端側の前記係止点に一端を係止すると共に他端を前記方向変換機構を通し方向転換させた後に点対称位置にある他端側係止点に連結して懸け渡し、他方の索体は前記基台または移動体の他端側の係止点に一端を係止すると共に他端を前記方向変換機構を逆方向に通して方向転換させた後に点対称位置にある一端側の係止点に連結して懸け渡して、それら索体の張力で前記移動体のヨーイング運動を規制するものとしたため、移動体のヨーイング方向の姿勢変動を簡単な機構で規制することが可能になり、その結果、移動体を正確な姿勢で確実に送ることができて構造簡単で安価な送り装置を提供できるという効果が得られる。 As described above, according to the feeder of the present invention, a moving body that is long in a direction perpendicular to the moving direction, at least a pair of parallel linear guide devices that guide the moving body in the moving direction, A linear drive device for moving the moving body along a linear guide device, and a posture regulating means for regulating yawing motion of the moving body are provided on a base. The posture regulating means includes two ropes, Four locking points arranged at both ends of the base or the moving body at intervals in the longitudinal direction of the moving body to lock the ends of the cords, and in the longitudinal direction of the moving body, At least two direction changing mechanisms disposed on the base or the moving body at an interval, and one of the cords has one end locked to the locking point on one end side of the base or the moving body. And the point is symmetric after the other end is turned through the direction changing mechanism. The other cable body is connected and suspended at a certain other end locking point, and the other rope body has one end locked at the other end locking point of the base or the moving body, and the other end is connected to the direction changing mechanism in the opposite direction. After turning the direction of the moving body, it is connected to the locking point at one end side at the point symmetrical position and suspended therefrom, and the yawing movement of the moving body is regulated by the tension of the cable body. It is possible to regulate the variation of the attitude in the direction by a simple mechanism, and as a result, it is possible to reliably send the moving body in an accurate attitude, and to provide an inexpensive feeding device with a simple structure.

　以下、この発明の実施例を図面を参照して説明する。
　図１は、この発明の第１実施例の概要を表した平面図である。基台１上に平行に、一対の直線案内機構であるリニアガイド装置２，３が配設されている。更に、そのリニアガイド装置２，３と平行に一台の直線駆動装置であるボールねじ装置４が配置されている。リニアガイド装置２，３はいずれも、基台１に固定したガイドレール５に案内されて軸方向に滑らかに移動可能なスライダ６が取り付けられており、その二台のスライダ６に移動方向に対して直角方向に長い移動体７が搭載されている。ボールねじ装置４は両端部を回転自在に支持部８，９で支持されて基台１に取り付けられたねじ軸１０に図示されない多数のボールを介してナット１１が螺合され、そのナット１１に移動体７の端部が係止されている。ねじ軸１０の一端に取り付けたモータ１２でねじ軸を正逆に回転させることによりナット１１ひいては移動体７がリニアガイド装置のガイドレール５に沿って前後に移動する。
　以上が本実施例の送り装置における移動体の送り構造である。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a plan view showing an outline of a first embodiment of the present invention. Parallel to the base 1 are linear guide devices 2 and 3 which are a pair of linear guide mechanisms. Further, a ball screw device 4 as a single linear drive device is arranged in parallel with the linear guide devices 2 and 3. Each of the linear guide devices 2 and 3 has a slider 6 that is guided by a guide rail 5 fixed to the base 1 and that can move smoothly in the axial direction. The moving body 7 which is long in the right angle direction is mounted. Both ends of the ball screw device 4 are rotatably supported by support portions 8 and 9, and a nut 11 is screwed through a number of balls (not shown) to a screw shaft 10 attached to the base 1. The end of the moving body 7 is locked. By rotating the screw shaft in the forward and reverse directions by a motor 12 attached to one end of the screw shaft 10, the nut 11 and thus the moving body 7 move back and forth along the guide rail 5 of the linear guide device.
The above is the feed structure of the moving body in the feed device of the present embodiment.

　次に、移動体の姿勢規制手段について説明する。
　この実施例の姿勢規制手段は、２本の索体（例えばワイヤ）１５，１６と４個の方向変換機構１７Ａ，１７Ｂ，１７Ｃ，１７Ｄを備えている。各方向変換機構１７Ａ〜１７Ｄはいずれも同一構造で、図２に示すように基台１に立設した固定軸１８にボールベアリングなどの軸受１９を介して滑車２０が取り付けてある。この実施例の場合、４個ともガイドレール５の端部近くにおいて基台１上に設置しほぼ点対称に配置している。 Next, the posture regulating means of the moving body will be described.
The posture restricting means of this embodiment includes two cords (for example, wires) 15, 16 and four direction changing mechanisms 17A, 17B, 17C, 17D. Each of the direction changing mechanisms 17A to 17D has the same structure, and a pulley 20 is mounted on a fixed shaft 18 erected on the base 1 via a bearing 19 such as a ball bearing as shown in FIG. In the case of this embodiment, all four are installed on the base 1 near the end of the guide rail 5 and are arranged almost point-symmetrically.

　また、移動体７の端部には、ワイヤ１５，１６の端部を固定する４個所の係止点２２Ａ，２２Ｂ，２２Ｃ，２２Ｄが点対称に配設されている。そのうちの２箇所の係止点２２Ｃ，２２Ｄには張力調整機構２３が設置してある。
　前記張力調整機構２３は、図３に示すように、移動体７にボルトで固定されるＬ形金具２４の上端部に貫通孔２５を設けてボルト２６を通し、Ｌ形金具２４を挟むようにしてこのボルト２６に螺合した２個のナット２７ａ，２７ｂを調整してボルト２６を進退させ、又ボルト２６の先端部に取り付けたワイヤ固定板２８を挟むようにしてボルト２６に螺合した２個のナット２９ａ，２９ｂを調整してワイヤ固定板２８を進退させるように構成して、ワイヤ固定板２８に固定したワイヤ１５（１６）の張力を調整するものである。 At the end of the moving body 7, four locking points 22A, 22B, 22C, 22D for fixing the ends of the wires 15, 16 are arranged point-symmetrically. A tension adjusting mechanism 23 is installed at two of the locking points 22C and 22D.
As shown in FIG. 3, the tension adjusting mechanism 23 is provided with a through-hole 25 at the upper end of an L-shaped bracket 24 fixed to the moving body 7 with bolts, passes a bolt 26, and sandwiches the L-shaped bracket 24. The two nuts 27a and 27b screwed to the bolt 26 are adjusted to move the bolt 26 forward and backward, and the two nuts 29a screwed to the bolt 26 so as to sandwich the wire fixing plate 28 attached to the tip of the bolt 26. , 29b are adjusted to move the wire fixing plate 28 forward and backward, and the tension of the wire 15 (16) fixed to the wire fixing plate 28 is adjusted.

　ワイヤ１５は一端を係止点２２Ａに固定し、他端はまず方向変換機構１７Ａの滑車２０に通して方向転換させた後に、移動体７の反対側に位置する方向変換機構１７Ｂの滑車２０に通して再度方向転換させ、その後に前記係止点２２Ａとほぼ点対称の位置にある係止点２２Ｃに設置してある張力調整機構２３に連結してＺ型に懸け渡してある。
　ワイヤ１６は一端を係止点２２Ｂに固定し、他端は方向変換機構１７Ｄの滑車２０に通して方向転換させた後に、移動体７の反対側に位置する方向変換機構１７Ｃの滑車２０に通して再度方向転換させ、その後に前記係止点２２Ｂと点対称の位置にある係止点２２Ｄに設置してある張力調整機構２３に連結して逆Ｚ型に懸け渡してある。 One end of the wire 15 is fixed to the locking point 22A, and the other end is first turned through the pulley 20 of the direction changing mechanism 17A, and then turned to the pulley 20 of the direction changing mechanism 17B located on the opposite side of the moving body 7. After that, the direction is changed again, and after that, it is connected to a tension adjusting mechanism 23 installed at a locking point 22C substantially symmetrical with the locking point 22A, and is suspended in a Z-shape.
One end of the wire 16 is fixed to the locking point 22B, and the other end is passed through the pulley 20 of the direction changing mechanism 17D to change the direction, and then passed through the pulley 20 of the direction changing mechanism 17C located on the opposite side of the moving body 7. After that, the direction is changed again, and thereafter, it is connected to the tension adjusting mechanism 23 installed at the locking point 22D which is located symmetrically with respect to the locking point 22B, and is suspended in an inverted Z-shape.

　このように、ワイヤ１５，１６を方向変換機構１７Ａ〜１７Ｄに懸け渡すときは、滑車２０に巻きつけずに通すだけで方向転換させてよいが、図２に示すように１回以上滑車２０に巻付けた後ワイヤ１５，１６の方向を転換させてもよい。
　上記の送り装置の作用を説明する。
　モータ１２を一方向に駆動してボールねじ装置４のねじ軸１０を回転させ、ナット１１を介して移動体７に力Ｆを加えることにより、移動体７を矢符号Ｙ方向に移動させる。このとき図１に示すように、ナット１１と一体の移動体７（合計質量ｍ）には加速度αが生じて重心点Ｇに慣性力ｍαが作用する。この慣性力ｍαと力Ｆとが偶力となって移動体７が図１で時計回りに回動（ヨーイング運動）しようとする。しかし、係止点２２Ｂと係止点２２Ｄとの間に方向変換機構１７Ｃ，１７Ｄを介して張設したワイヤ１６の張力で、その時計回りのヨーイング運動は規制される。 As described above, when the wires 15 and 16 are hung over the direction change mechanisms 17A to 17D, the direction may be changed simply by passing the wires 15 and 16 without winding them around the pulley 20, but as shown in FIG. After the winding, the directions of the wires 15 and 16 may be changed.
The operation of the above-described feeding device will be described.
The motor 12 is driven in one direction to rotate the screw shaft 10 of the ball screw device 4, and a force F is applied to the moving body 7 via the nut 11, thereby moving the moving body 7 in the arrow Y direction. At this time, as shown in FIG. 1, an acceleration α is generated in the moving body 7 (total mass m) integrated with the nut 11, and an inertia force mα acts on the center of gravity G. The inertia force mα and the force F become a couple, and the moving body 7 tends to rotate clockwise in FIG. 1 (yawing movement). However, the clockwise yawing motion is restricted by the tension of the wire 16 stretched between the locking point 22B and the locking point 22D via the direction changing mechanisms 17C and 17D.

　モータ１２を逆方向に回転駆動して、移動体７に力Ｆ’を加え矢符号Ｙ’方向に移動させる場合は、ナット１１と一体の移動体７（合計質量ｍ）に加速度α’が生じて重心点Ｇに慣性力ｍα’が作用する。この慣性力ｍα’により移動体７が図１で反時計回りに回動しようとする。しかし、係止点２２Ａと係止点２２ＣＤとの間に方向変換機構１７Ａ，１７Ｂを介して張設したワイヤ１５の張力で、その反時計回りのヨーイング運動は規制される。 When the motor 12 is rotationally driven in the reverse direction to apply a force F 'to the moving body 7 and move the moving body 7 in the direction of the arrow Y', an acceleration α 'is generated in the moving body 7 (total mass m) integral with the nut 11. The inertia force mα ′ acts on the center of gravity G. The inertial force m [alpha] 'causes the moving body 7 to rotate counterclockwise in FIG. However, the counterclockwise yawing motion is restricted by the tension of the wire 15 stretched between the locking point 22A and the locking point 22CD via the direction changing mechanisms 17A and 17B.

　方向変換機構１７Ａ〜１７Ｄに懸け渡したワイヤ１５，１６はいずれも両端を移動体７に固定して張設されているから、方向変換機構１７Ａ〜１７Ｄの滑車２０に巻きつけずに通しただけでも滑りを生じるおそれはなく、ヨーイング運動による移動体７の姿勢変動を確実に規制することができる。しかも、図２に示すようにワイヤ１５，１６を１回以上滑車２０に巻付けて張設した場合には、滑りが発生しないだけでなく、移動体７が急加減速したときにはワイヤ１５，１６が締まり、最も近い方向変換機構１７Ａ〜１７Ｄによって拘束されるためワイヤ剛性が高まり、移動体７のこじりが小さくなる。ためにワイヤ１５，１６の耐久性が大きくなる。 Since the wires 15 and 16 suspended from the direction changing mechanisms 17A to 17D are both stretched with both ends fixed to the moving body 7, the wires 15 and 16 only pass through the pulleys 20 of the direction changing mechanisms 17A to 17D without being wound. However, there is no risk of slippage, and it is possible to reliably restrict the posture change of the moving body 7 due to the yawing motion. Further, as shown in FIG. 2, when the wires 15 and 16 are wound around the pulley 20 at least once and stretched, not only does the slippage not occur, but also when the moving body 7 suddenly accelerates and decelerates. Are tightened and restrained by the closest direction change mechanisms 17A to 17D, so that the wire rigidity is increased and the twisting of the moving body 7 is reduced. Therefore, the durability of the wires 15 and 16 increases.

　この送り装置では、従来例の重いロッドなどのように移動体７の負荷イナーシャを大きく増加させるものがないから、駆動モータ１２の負担が小さい。また、機構が簡単であり、安価にできる。
　図４に本発明の第２の実施例を示す。
　なお、第１の実施例と同一の構成部分には第１の実施例と同一の符号を付し、重複する説明は省略する（以下、その他の実施例においても同様である）。 In this feeder, since there is nothing to greatly increase the load inertia of the moving body 7 unlike a conventional heavy rod or the like, the load on the drive motor 12 is small. In addition, the mechanism is simple and can be made inexpensive.
FIG. 4 shows a second embodiment of the present invention.
The same components as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and duplicate description will be omitted (the same applies to other embodiments).

　この実施例の姿勢規制手段は、２本のワイヤ１５，１６と２個の二連式方向変換機構３０Ａ，３０Ｂを備えている。２箇の二連式方向変換機構３０Ａ，３０Ｂは基台１上、移動体移動方向の両端部のリニアガイド装置２，３の中間位置に配設されている。これらの二連式方向変換機構３０Ａ，３０Ｂには、図４（ｂ）または図４（ｃ）に示すように２個の滑車２０が直列または並列に配設してあり、それぞれの滑車２０に別々にワイヤを通して独立に回転可能に構成してある。 姿勢 The posture restricting means of this embodiment includes two wires 15, 16 and two double direction changing mechanisms 30A, 30B. The two double direction changing mechanisms 30A and 30B are disposed on the base 1 at intermediate positions between the linear guide devices 2 and 3 at both ends in the moving body moving direction. As shown in FIG. 4 (b) or FIG. 4 (c), two pulleys 20 are arranged in series or in parallel in these double direction change mechanisms 30A, 30B. It is configured to be rotatable independently through separate wires.

　ワイヤ１５は一端を係止点２２Ａに固定し、他端はまず二連式方向変換機構３０Ａの一方の滑車２０に通して方向転換させた後に、移動体７の反対側に位置する二連式方向変換機構３０Ｂの一方の滑車２０に通して再度方向転換させて係止点２２Ｃに設置してある張力調整機構２３に連結してＺ型に懸け渡してある。
　ワイヤ１６は一端を係止点２２Ｂに固定し、他端は二連式方向変換機構３０Ｂの他方の滑車２０に通して方向転換させた後に、移動体７の反対側に位置する二連式方向変換機構３０Ａの他方の滑車２０に通して再度方向転換させた後係止点２２Ｄに設置してある張力調整機構２３に連結して逆Ｚ型に懸け渡してある。 One end of the wire 15 is fixed to the locking point 22A, and the other end is first passed through one pulley 20 of the double direction change mechanism 30A to change the direction, and then the double type is positioned on the opposite side of the moving body 7. The direction is changed again through one of the pulleys 20 of the direction changing mechanism 30B, and is connected to a tension adjusting mechanism 23 installed at the locking point 22C and is hung in a Z-shape.
The wire 16 has one end fixed to the locking point 22B and the other end passed through the other pulley 20 of the double direction change mechanism 30B to change the direction, and then the double direction positioned on the opposite side of the moving body 7 After turning again through the other pulley 20 of the conversion mechanism 30A, it is connected to the tension adjustment mechanism 23 installed at the locking point 22D and suspended in an inverted Z-shape.

　この実施例は第１の実施例の方向変換機構の１７Ａと１７Ｃとを一個所にまとめて二連式方向変換機構３０Ａとし、また、第１の実施例の方向変換機構の１７Ｂと１７Ｄとを一個所にまとめて二連式方向変換機構３０Ｂとしたのであり、作用・効果は第１実施例と同じである。
　図５に本発明の第３の実施例を示す。
　この実施例の姿勢規制手段は、２本のワイヤ１５，１６と、基台１の４コーナ部に配設した４個の方向変換機構１７Ａ，１７Ｂ，１７Ｃ，１７Ｄを備えている点は図１のものと同様であるが、更に移動体７上に長手方向に間隔をおいて配設した２個の方向変換機構１７Ｅ，１７Ｆを備えている点が異なる。 In this embodiment, the direction changing mechanisms 17A and 17C of the first embodiment are combined into a single location to form a dual direction changing mechanism 30A, and the direction changing mechanisms 17B and 17D of the first embodiment are combined with each other. The double direction changing mechanism 30B is integrated into one place, and the operation and effect are the same as those of the first embodiment.
FIG. 5 shows a third embodiment of the present invention.
The position regulating means of this embodiment is provided with two wires 15 and 16 and four direction changing mechanisms 17A, 17B, 17C and 17D provided at four corners of the base 1 in FIG. , Except that two direction changing mechanisms 17E and 17F are further provided on the moving body 7 at intervals in the longitudinal direction.

　ワイヤ１５は一端を係止点２２Ａに固定し、他端はまず方向変換機構１７Ａを通して反対方向に１８０度方向変換した後に、移動体７上にある方向変換機構１７Ｅに通して横方向に方向転換させ、移動体７上を経て他の方向変換機構１７Ｆに通して下方向に方向転換させ、そのご方向変換機構１７Ｂに通して更に１８０度方向変換した後に、係止点２２Ｃに設置してある張力調整機構２３に連結して懸け渡してある。 One end of the wire 15 is fixed to the locking point 22A, and the other end is first turned 180 degrees in the opposite direction through the direction changing mechanism 17A, and then turned laterally through the direction changing mechanism 17E on the moving body 7. Then, after passing through the moving body 7 and passing through another direction changing mechanism 17F, the direction is changed downward, and the direction is further changed by 180 degrees through the direction changing mechanism 17B. It is connected to the tension adjusting mechanism 23 and suspended.

　ワイヤ１６は一端を係止点２２Ｂに固定し、他端はまず方向変換機構１７Ｄを通して反対方向に１８０度方向変換した後に、移動体７上にある方向変換機構１７Ｅに通して横方向に方向転換させ、移動体７上を経て他の方向変換機構１７Ｆに通して上方向に方向転換させ、その後方向変換機構１７Ｃに通して更に１８０度方向変換した後に、係止点２２Ｄに設置してある張力調整機構２３に連結して懸け渡してある。 One end of the wire 16 is fixed to the locking point 22B, and the other end is first turned 180 degrees in the opposite direction through the direction changing mechanism 17D, and then turned laterally through the direction changing mechanism 17E on the moving body 7. After passing through the moving body 7 and passing through the other direction changing mechanism 17F to change the direction upward, and then passing through the direction changing mechanism 17C to further change the direction by 180 degrees, the tension set at the locking point 22D is set. It is connected to the adjusting mechanism 23 and suspended.

　この場合、移動体７上に設置してある方向変換機構１７Ｅ，１７Ｆの滑車は例えば図２に示す滑車２０と同じでよい。その滑車にはワイヤ１５および１６の両方を逆巻きに通してあり、一つの滑車で同時に両方のワイヤ１５，１６を反対向きに方向変換させることになるが、両ワイヤ１５，１６共に、滑車の回転方向と同一となるため差し支えない。ワイヤ１５は移動体７の反時計回りの回動運動を規制し、ワイヤ１６は時計回りの回動運動を規制する。
　この第３の実施例によれば、ワイヤ１５，１６はリニアガイド装置のガイドレール５沿い及び移動体７上のみを通り送り装置の幅方向中央部は通らないから、装置中央部の全体を作業領域として確保することができ、また中央部に他機構が設置されてもワイヤとの干渉が発生しないという利点がある。
　図６に本発明の第４の実施例を示す。 In this case, the pulleys of the direction changing mechanisms 17E and 17F installed on the moving body 7 may be the same as, for example, the pulley 20 shown in FIG. The pulley has both wires 15 and 16 wound in opposite turns, and one pulley will simultaneously turn both wires 15 and 16 in opposite directions, but both wires 15 and 16 both rotate the pulley. Since it is the same as the direction, there is no problem. The wire 15 regulates the counterclockwise rotation of the moving body 7, and the wire 16 restricts the clockwise rotation.
According to the third embodiment, since the wires 15 and 16 pass only along the guide rail 5 of the linear guide device and on the moving body 7 and do not pass through the central portion in the width direction of the feeding device, the entire central portion of the device is worked. There is an advantage that it can be secured as an area, and even if another mechanism is installed in the center, interference with the wire does not occur.
FIG. 6 shows a fourth embodiment of the present invention.

　この実施例の姿勢規制手段は、２本のワイヤ１５，１６と、基台１の一端側の左右のコーナ部に配設した２個の方向変換機構１７Ａ，１７Ｃと、基台１の他端側の左右のコーナ部に配設した２個の二連式方向変換機構３０Ａ，３０Ｂを備えている。
　ワイヤ１５は一端を係止点２２Ａに固定し、他端はまず方向変換機構１７Ａを通して反対方向に１８０度方向変換した後に、移動体７の下を通り反対側の二連式方向変換機構３０Ａの一方の滑車で横に方向転換させてそのまま延ばし、対向コーナにある二連式方向変換機構３０Ｂの一方の滑車で上向きに方向転換させた後に係止点２２Ｃに設置してある張力調整機構２３に連結して懸け渡してある。 The posture restricting means of this embodiment includes two wires 15 and 16, two direction change mechanisms 17 A and 17 C disposed at left and right corners on one end side of the base 1, and the other end of the base 1. There are provided two double direction changing mechanisms 30A and 30B arranged at the left and right corners of the side.
One end of the wire 15 is fixed to the locking point 22A, and the other end of the wire 15 is first turned 180 degrees in the opposite direction through the direction changing mechanism 17A, and then passes under the moving body 7 to be connected to the opposite double direction changing mechanism 30A. The pulley is turned sideways by one pulley and extended as it is. After turning upward by one pulley of the dual direction change mechanism 30B at the opposite corner, the tension is adjusted to the tension adjusting mechanism 23 installed at the locking point 22C. It is connected and suspended.

　ワイヤ１６は一端を係止点２２Ｂに固定し、他端はまず下方の二連式方向変換機構３０Ａの他方の滑車で横に方向転換させてからワイヤ１５と平行にそのまま横に延ばし、対向コーナにある二連式方向変換機構３０Ｂの他方の滑車で上向きに方向転換させた後に、移動体７の下を通り反対側の方向変換機構１７Ｃに通して反対方向に１８０度方向変換させ、その後係止点２２Ｄに設置してある張力調整機構２３に連結して懸け渡してある。 One end of the wire 16 is fixed to the locking point 22B, and the other end is first turned sideways by the other pulley of the lower two-way turning mechanism 30A, and then extends horizontally in parallel with the wire 15 so as to extend in the opposite corner. After turning upward with the other pulley of the dual-type turning mechanism 30B, the vehicle passes under the moving body 7 and passes through the turning mechanism 17C on the opposite side to turn 180 degrees in the opposite direction. It is connected to and suspended from a tension adjusting mechanism 23 installed at a stop point 22D.

　ワイヤ１５は移動体７の反時計回りの回動運動を規制し、ワイヤ１６は時計回りの回動運動を規制する。
　この第４の実施例によれば、ワイヤ１５，１６は基台１の３辺沿いを通るように懸け渡してあるため、装置中央部は移動体７の移動範囲の全域を作業領域として確保できる。また、中央部に他の機構が設置されてもワイヤとの干渉が生じない。また、移動体７の上をワイヤが通らないため、移動体７上に設置された他の機構との干渉も生じない等の利点がある。 The wire 15 regulates the counterclockwise rotation of the moving body 7, and the wire 16 restricts the clockwise rotation.
According to the fourth embodiment, since the wires 15 and 16 are suspended along the three sides of the base 1, the entire area of the moving range of the moving body 7 can be secured as a work area at the center of the apparatus. . Also, even if another mechanism is installed at the center, interference with the wire does not occur. In addition, since the wire does not pass over the moving body 7, there is an advantage that interference with other mechanisms installed on the moving body 7 does not occur.

　図７に本発明の第５の実施例を示す。
　この実施例の姿勢規制手段は、２本のワイヤ１５，１６の係止点２２Ａ，２２Ｂ，２２Ｃ，２２Ｄが基台１のコーナ部に点対称に配設されている。また、２個の方向変換機構１７Ｅ，１７Ｆが図５の場合と同じく移動体７の上に配設されている。
　ワイヤ１５は一端を係止点２２Ａに固定し、他端はまず移動体７上にある方向変換機構１７Ｅに通して横方向に方向転換させ、移動体７上を経て他の方向変換機構１７Ｆに通して下方向に方向転換した後に、係止点２２Ｃに設置してある張力調整機構２３に連結して懸け渡してある。 FIG. 7 shows a fifth embodiment of the present invention.
In the posture restricting means of this embodiment, the locking points 22A, 22B, 22C, 22D of the two wires 15, 16 are arranged point-symmetrically at the corners of the base 1. Also, two direction changing mechanisms 17E and 17F are arranged on the moving body 7 as in the case of FIG.
One end of the wire 15 is fixed to the locking point 22A, and the other end is first turned laterally through a direction changing mechanism 17E on the moving body 7, and then to another direction changing mechanism 17F via the moving body 7. After passing through and turning in the downward direction, it is connected to and suspended from a tension adjusting mechanism 23 installed at the locking point 22C.

　ワイヤ１６は一端を係止点２２Ｂに固定し、他端はまず移動体７上にある方向変換機構１７Ｅにワイヤ１５とは逆巻きに通して横方向に方向転換させ、移動体７上を経て他の方向変換機構１７Ｆにワイヤ１５とは逆巻きに通して上方向に方向転換した後に、係止点２２Ｄに設置してある張力調整機構２３に連結して懸け渡してある。
　ワイヤ１５は移動体７の反時計回りの回動運動を規制し、ワイヤ１６は時計回りの回動運動を規制する。
　この第５の実施例によれば、ワイヤ１５，１６はリニアガイド装置のガイドレール５沿い及び移動体７上のみを通るため、装置の移動体移動方向の両端部が作業領域として利用できる。 One end of the wire 16 is fixed to the locking point 22B, and the other end is first turned to the direction changing mechanism 17E on the moving body 7 in the reverse direction to the wire 15 so as to change its direction in the horizontal direction, and then passes through the moving body 7 to the other direction. After passing through the direction changing mechanism 17F in the reverse winding direction with respect to the wire 15 to change the direction upward, it is connected to and suspended from a tension adjusting mechanism 23 installed at the locking point 22D.
The wire 15 regulates the counterclockwise rotation of the moving body 7, and the wire 16 restricts the clockwise rotation.
According to the fifth embodiment, since the wires 15 and 16 pass only along the guide rail 5 of the linear guide device and on the moving body 7, both ends of the apparatus in the moving direction of the moving body can be used as working areas.

　図８〜図１４に本発明の第６の実施例を示す。
　この実施例は、Ｘ−Ｙ送り装置で、Ｘ軸方向へ移動する移動体７Ｘを有するＸ軸方向送り装置３１と、これに直交してＹ軸方向へ移動する移動体７Ｙを有するＹ軸方向送り装置３２とを備えている。まず、その送り構造について説明すると、Ｘ軸方向送り装置３１は基台１のＹ向の両端部に、平行に配設したＸ軸方向に延びる一対のリニアガイド装置２Ｘ，３Ｘを備え、その各ガイドレール５Ｘに取りつけてあるスライダ６Ｘにスライダ移動方向に対して直角方向に長い移動体７Ｘがイケール３３，３４を介して搭載されている。一方、Ｙ軸方向送り装置３２は基台１のＸ軸方向の両端部に、平行に配設したＹ軸方向に延びる一対のリニアガイド装置２Ｙ，３Ｙを備え、その各ガイドレール５Ｙに取りつけてあるスライダ６Ｙにスライダ移動方向に対して直角方向に長い移動体７Ｙが搭載されている。移動体７Ｘには移動体７Ｙの駆動装置であるボールねじ装置４Ｙが、支持部８Ｙ，９Ｙで回転自在に支持したねじ軸１０Ｙとこれに螺合したナット１１Ｙと、ねじ軸１０Ｙの駆動モータ１２Ｙとを有して搭載されている。また、移動体７Ｙには移動体７Ｘの駆動装置であるボールねじ装置４Ｘが、支持部８Ｘ，９Ｘで回転自在に支持したねじ軸１０Ｘとこれに螺合したナット１１Ｘと、ねじ軸１０Ｘの駆動モータ１２Ｘとを有して搭載されている。そして、ボールねじ装置４Ｘのナット１１Ｘとボールねじ装置４Ｙのナット１１Ｙとが連結板３５を介して連結されている。 8 to 14 show a sixth embodiment of the present invention.
In this embodiment, an X-Y feeder is an X-axis feeder 31 having a moving body 7X moving in the X-axis direction, and a Y-axis feeder having a moving body 7Y moving orthogonally to the Y-axis direction. And a feeding device 32. First, the feed structure will be described. The X-axis direction feeder 31 is provided with a pair of linear guide devices 2X and 3X extending in the X-axis direction arranged in parallel at both ends of the base 1 in the Y direction. A moving body 7X, which is long in a direction perpendicular to the slider moving direction, is mounted on a slider 6X attached to the guide rail 5X via scales 33 and 34. On the other hand, the Y-axis direction feeder 32 is provided with a pair of linear guide devices 2Y and 3Y extending in the Y-axis direction provided in parallel at both ends in the X-axis direction of the base 1, and attached to the respective guide rails 5Y. A moving body 7Y that is long in a direction perpendicular to the slider moving direction is mounted on a certain slider 6Y. A ball screw device 4Y, which is a driving device of the moving body 7Y, includes a screw shaft 10Y rotatably supported by supporting portions 8Y and 9Y, a nut 11Y screwed to the screw shaft 10Y, and a driving motor 12Y for the screw shaft 10Y. And is mounted. A ball screw device 4X, which is a driving device of the moving body 7X, has a screw shaft 10X rotatably supported by the supporting portions 8X and 9X, a nut 11X screwed to the screw shaft 10X, and a driving of the screw shaft 10X. It is equipped with a motor 12X. The nut 11X of the ball screw device 4X and the nut 11Y of the ball screw device 4Y are connected via a connecting plate 35.

　次に、このＸ−Ｙ送り装置における移動体７Ｘ，７Ｙの姿勢規制手段について説明する。
　移動体７Ｘの姿勢規制手段は、図７に示す第５実施例の送り装置における移動体７と同じである。すなわち、２本のワイヤ１５，１６と、移動体７Ｘに配設した２個の方向変換機構１７Ｅ，１７Ｆと、基台１の四隅に配した４個のワイヤ係止点２２Ａ，２２Ｂ，２２Ｃ，２２Ｄとを備え、そのうちの２箇所の係止点２２Ｃ，２２Ｄには張力調整機構２３が設置してある。そして、ワイヤ１５は図１１に示すように、一端を係止点２２Ａに固定し、方向変換機構１７Ｅ，１７Ｆを通すことによりそれぞれ方向を変換してＺ型に懸け渡し、他端を係止点２２Ｃの張力調整機構２３に固定してある。一方、ワイヤ１６は図１２に示すように、一端を係止点２２Ｄの張力調整機構２３に固定し、方向変換機構１７Ｅ，１７Ｆに逆巻きに通すことによりそれぞれ方向を変換して逆Ｚ型に懸け渡し、他端を係止点２２Ｂに固定してある。ワイヤ１５により移動体７Ｘの時計回りの回動運動を規制し、ワイヤ１６により移動体７Ｘの反時計回りの回動運動を規制する。 Next, the posture restricting means of the moving bodies 7X and 7Y in the XY feeder will be described.
The posture restricting means of the moving body 7X is the same as the moving body 7 in the feeder of the fifth embodiment shown in FIG. That is, two wires 15 and 16, two direction changing mechanisms 17E and 17F provided on the moving body 7X, and four wire locking points 22A, 22B, 22C, and 4 provided at the four corners of the base 1. 22D, of which two tension points 22C and 22D are provided with a tension adjusting mechanism 23. Then, as shown in FIG. 11, one end of the wire 15 is fixed to the locking point 22A, the direction is changed by passing through the direction changing mechanisms 17E and 17F, and the wire 15 is suspended in a Z-shape. It is fixed to a tension adjusting mechanism 23 of 22C. On the other hand, as shown in FIG. 12, one end of the wire 16 is fixed to the tension adjusting mechanism 23 at the locking point 22D, and the wire 16 is passed through the direction changing mechanisms 17E and 17F in reverse winding so as to change the directions thereof and hang in an inverted Z shape. The other end is fixed to the locking point 22B. The wire 15 restricts the clockwise rotation of the moving body 7X, and the wire 16 restricts the counterclockwise rotation of the moving body 7X.

　移動体７Ｙの姿勢規制手段は２本のワイヤ３７，３８と、基台１に配設した４個の方向変換機構１７Ａ，１７Ｂ，１７Ｃ，１７Ｄと、移動体７Ｙの長手方向端部に配した４個のワイヤ係止点３９Ａ，３９Ｂ，３９Ｃ，３９Ｄとを備え、そのうちの２箇所の係止点３９Ａ，３９Ｂには張力調整機構２３がそれぞれ設置してある。そして、ワイヤ３７は図１３に示すように、一端を係止点３９Ｂの張力調整機構２３に固定し、方向変換機構１７Ｂ，１７Ａ，１７Ｄを通すことによりそれぞれ方向を変換して懸け渡し、他端を係止点３９Ｃに固定してある。一方、ワイヤ３８は図１４に示すように、一端を係止点３９Ａの張力調整機構２３に固定し、方向変換機構１７Ａ，１７Ｂ，１７Ｃとに逆巻きに通すことによりそれぞれ方向を変換して懸け渡し、他端を係止点３９Ｄに固定してある。ワイヤ３７により移動体７Ｙの時計回りの回動運動を規制し、ワイヤ３８により移動体７Ｙの反時計回りの回動運動を規制する。なお、移動体７Ｙの姿勢規制手段として、図６に示す第４実施例の移動体７の姿勢規制手段を採用しても良い。 The posture restricting means of the moving body 7Y is provided at two wires 37, 38, four direction changing mechanisms 17A, 17B, 17C, 17D provided on the base 1, and at longitudinal ends of the moving body 7Y. Four wire locking points 39A, 39B, 39C, 39D are provided, and two of the locking points 39A, 39B are provided with tension adjusting mechanisms 23, respectively. Then, as shown in FIG. 13, one end of the wire 37 is fixed to the tension adjusting mechanism 23 at the locking point 39B, the direction is changed by passing the direction changing mechanisms 17B, 17A, and 17D, and the wire 37 is suspended. Is fixed to the locking point 39C. On the other hand, as shown in FIG. 14, one end of the wire 38 is fixed to the tension adjusting mechanism 23 at the locking point 39A, and the wire 38 is wound around the direction changing mechanisms 17A, 17B, and 17C in reverse winding so as to change their directions, respectively, and to be suspended. , The other end is fixed to a locking point 39D. The wire 37 regulates the clockwise rotation of the moving body 7Y, and the wire 38 regulates the counterclockwise rotation of the moving body 7Y. Note that, as the posture restricting means of the moving body 7Y, the posture restricting means of the moving body 7 of the fourth embodiment shown in FIG. 6 may be employed.

　この第６の実施例のＸ−Ｙ送り装置は、Ｘ−Ｙの２軸方向に広い作業領域を確保しつつ、二つの移動体７Ｘ，７Ｙのヨーイング方向の運動を規制できる利点がある。
　なお、上記各実施例では索体としてワイヤを用いた場合を説明したが、これに限らず、平ベルト，チエーン，コイルばね等を用いても良い。
　また、移動体を直線移動させる直線駆動装置としてはボールねじ装置を用いた場合を説明したが、その他の直線駆動装置であるタイミングベルト送り機構やラックアンドピニオン送り機構を用いることもできる。 The XY feeder according to the sixth embodiment has an advantage that the movement of the two moving bodies 7X and 7Y in the yawing direction can be restricted while securing a wide working area in the XY biaxial directions.
In each of the above embodiments, the case where a wire is used as the cord is described. However, the present invention is not limited to this, and a flat belt, a chain, a coil spring, or the like may be used.
Also, a case has been described in which a ball screw device is used as the linear drive device for linearly moving the moving body. However, other linear drive devices such as a timing belt feed mechanism and a rack and pinion feed mechanism can also be used.

　また、張力調整機構についても、図３に示した構造に限定するものではなく、その他バネを組み込んだものでも良い。
　また、各実施例ではワイヤを２本使用した例を示したが、例えば移動体の張力調整機構２３の設置してない係止点２２Ａ，２２Ｂ間にワイヤを通した上で２２Ａ，２２Ｂで固定（この場合一つの係止点だけでも可）して１本のワイヤとすることもできる。
　更にまた、ワイヤは同じ経路を１本のワイヤで数往復しても良く、また同じ経路に複数本のワイヤを通しても良い。このようにすることによって、ヨーイング方向の規制のためワイヤの剛性が向上する。
　また、第１の実施例のみならず、第２〜第６の実施例においても、ワイヤを方向転換機構に懸け渡すときに、１回以上滑車２０に巻き付けた後、ワイヤの方向を転換させても良い。 Further, the tension adjusting mechanism is not limited to the structure shown in FIG. 3, but may be a mechanism incorporating a spring.
In each embodiment, two wires are used. However, for example, a wire is passed between the locking points 22A and 22B where the tension adjusting mechanism 23 of the moving body is not installed, and the wires are fixed at 22A and 22B. (In this case, only one locking point is possible.)
Furthermore, the wire may make several reciprocations on the same path with one wire, or may pass a plurality of wires through the same path. By doing so, the rigidity of the wire is improved due to the restriction in the yawing direction.
In addition to the first embodiment, in the second to sixth embodiments, when the wire is wound around the pulley 20 at least once when the wire is hung over the direction change mechanism, the direction of the wire is changed. Is also good.

本発明の第１実施例の概要を示す平面図である。It is a top view showing the outline of the 1st example of the present invention. 図１に示すものの方向変換機構の斜視図である。FIG. 2 is a perspective view of a direction changing mechanism of the one shown in FIG. 1. 図１に示すものの張力調整機構の側面図である。FIG. 2 is a side view of the tension adjusting mechanism shown in FIG. 1. （ａ）は本発明の第２実施例の概要を示す平面図、（ｂ）はその方向変換機構の一例を説明する斜視図、（ｃ）はその方向変換機構の他の例を説明する斜視図である。(A) is a plan view showing an outline of a second embodiment of the present invention, (b) is a perspective view illustrating an example of the direction changing mechanism, and (c) is a perspective view illustrating another example of the direction changing mechanism. FIG. 本発明の第３実施例の概要を示す平面図である。It is a top view showing the outline of the 3rd example of the present invention. 本発明の第４実施例の概要を示す平面図である。It is a top view showing the outline of the 4th example of the present invention. 本発明の第５実施例の概要を示す平面図である。It is a top view showing the outline of the 5th example of the present invention. 本発明の第６実施例の概要を示す平面図である。It is a top view showing the outline of the 6th example of the present invention. 図８のIX−IX線断面図である。FIG. 9 is a sectional view taken along line IX-IX of FIG. 8. 図８のX−X線断面図である。FIG. 9 is a sectional view taken along line XX of FIG. 8. 図８に示すもののワイヤ配置図である。FIG. 9 is a wire layout diagram of what is shown in FIG. 8. 図８に示すもののワイヤ配置図である。FIG. 9 is a wire layout diagram of what is shown in FIG. 8. 図８に示すもののワイヤ配置図である。FIG. 9 is a wire layout diagram of what is shown in FIG. 8. 図８に示すもののワイヤ配置図である。FIG. 9 is a wire layout diagram of what is shown in FIG. 8. 従来の送り装置の一例を示す平面図である。It is a top view showing an example of the conventional feeder.

符号の説明Explanation of reference numerals

　１　基台
　２　直線案内装置
　３　直線案内装置
　４　直線駆動装置
　７　移動体
　７Ｘ　移動体
　７Ｙ　移動体
　１５　索体
　１６　索体
　１７Ａ　方向変換機構
　１７Ｂ　方向変換機構
　１７Ｃ　方向変換機構
　１７Ｄ　方向変換機構
　２２Ａ　係止点
　２２Ｂ　係止点
　２２Ｃ　係止点
　２２Ｄ　係止点
　２３　張力調整機構
　３０Ａ　方向変換機構
　３０Ｂ　方向変換機構
　３１　Ｘ軸方向送り装置
　３２　Ｙ軸方向送り装置 REFERENCE SIGNS LIST 1 base 2 linear guide 3 linear guide 4 linear drive 7 moving body 7X moving body 7Y moving body 15 rope body 16 rope body 17A direction conversion mechanism 17B direction conversion mechanism 17C direction conversion mechanism 17D direction conversion mechanism 22A locking point 22B Locking Point 22C Locking Point 22D Locking Point 23 Tension Adjustment Mechanism 30A Direction Conversion Mechanism 30B Direction Conversion Mechanism 31 X-Axis Direction Feeding Device 32 Y-Axis Direction Feeding Device

Claims (2)

　移動方向に対して直角方向に長い移動体と、該移動体を移動方向に案内する少なくとも一対の平行に配した直線案内装置と、該直線案内装置に沿って前記移動体を移動させる直線駆動装置と、前記移動体の移動時のヨーイング運動を規制する姿勢規制手段とを基台上に備え、該姿勢規制手段は、少なくとも１本の索体と、該索体を係止するべく前記移動体の長手方向に間隔をおいて前記基台または移動体の両端部に配置した少なくとも２か所の係止点と、前記移動体の長手方向又は長手方向と直角方向に間隔をおいて前記基台または移動体に配置した少なくとも２個の方向変換機構とを有し、前記の索体は、前記係止点の一方に係止すると共に前記方向変換機構を通し方向転換させた後に他方の係止点に係止して懸け渡し、更に一方の係止点に係止すると共に前記方向変換機構を前記とは逆方向に通して方向転換させた後に他方の係止点に係止して懸け渡してあり、前記索体の張力で前記移動体のヨーイング運動を規制する構成としたことを特徴とする送り装置。 A moving body that is long in a direction perpendicular to the moving direction, at least a pair of parallel linear guiding devices that guide the moving body in the moving direction, and a linear driving device that moves the moving body along the linear guiding device And a posture restricting means for restricting the yawing movement of the moving body when moving, on the base, the posture restricting means comprises at least one rope and the moving body for locking the rope. At least two locking points disposed at both ends of the base or the moving body at intervals in the longitudinal direction of the base, and the base at intervals in the longitudinal direction or at right angles to the longitudinal direction of the moving body. Or at least two direction changing mechanisms disposed on the moving body, wherein the cable body is locked at one of the locking points and the other is locked after the direction changing mechanism is turned through. Locked to a point and suspended, and further locked on one side And the direction change mechanism is passed in the opposite direction to change the direction, and then locked and suspended at the other locking point, and the yawing motion of the moving body is caused by the tension of the cable body. A feeding device characterized in that the feeding device is restricted. 　Ｘ軸方向へ移動するＸ軸方向移動体と、該Ｘ軸方向移動体に直交してＹ軸方向へ移動するＹ軸方向移動体とを有するＸ−Ｙ送り装置であって、前記各移動体の移動方向に平行に配設されて当該移動体をそれぞれ移動方向に案内する直線案内装置と、各移動体を移動方向に駆動する駆動装置と、各移動体の移動時のヨーイング運動を規制する姿勢規制手段とを備え、該姿勢規制手段は、少なくとも１本の索体と、該索体を係止するべく前記移動体の長手方向に間隔をおいて前記基台または移動体の両端部に配置した少なくとも２か所の係止点と、前記移動体の長手方向又は長手方向と直角方向に間隔をおいて前記基台または移動体に配置した少なくとも２個の方向変換機構とを有し、前記の索体は、前記係止点の一方に係止すると共に前記方向変換機構を通し方向転換させた後に他方の係止点に係止して懸け渡し、更に一方の係止点に係止すると共に前記方向変換機構を前記とは逆方向に通して方向転換させた後に他方の係止点に係止して懸け渡してあり、前記索体の張力で前記移動体のヨーイング運動を規制する構成としたことを特徴とするＸ−Ｙ送り装置。 An XY feeder comprising: an X-axis direction moving body that moves in the X-axis direction; and a Y-axis direction moving body that moves in the Y-axis direction orthogonal to the X-axis direction moving body. A linear guide device disposed in parallel with the moving direction of the moving object to guide the moving object in the moving direction, a driving device for driving each moving object in the moving direction, and restricting the yawing motion of each moving object when moving. Posture restricting means, wherein the posture restricting means is provided on at least one cable body and at both ends of the base or the moving body at intervals in the longitudinal direction of the moving body to lock the cable body. At least two locking points disposed, and at least two direction conversion mechanisms disposed on the base or the moving body at an interval in a longitudinal direction or a direction perpendicular to the longitudinal direction of the moving body, The cable body is locked at one of the locking points and After changing the direction through the conversion mechanism, it was locked at the other locking point and suspended, further locked at one locking point, and the direction was changed by passing the direction conversion mechanism in the opposite direction to the above. An XY feeder, wherein the XY feeder is configured so as to be hooked and suspended at the other hooking point later, and that the yawing motion of the moving body is regulated by the tension of the cable body.

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