JP2004306225A

JP2004306225A - Rotational positioning mechanism

Info

Publication number: JP2004306225A
Application number: JP2003105701A
Authority: JP
Inventors: Kazuya Hirose; 和也廣瀬; Jukan An; 重桓安
Original assignee: Individual
Current assignee: Individual
Priority date: 2003-04-09
Filing date: 2003-04-09
Publication date: 2004-11-04

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rotational positioning mechanism, performing multiple adjustment action for precise positioning, and having high versatility. <P>SOLUTION: A mover 3 connected to a linear actuator is disposed to freely move along a guide member 2 attached on a base, one end of a rotating member 5 is rotatably fitted to the upper end side of a base post 4 erected on the base, and the other end of the rotating member 5 is connected to the mover 3 through a connecting rod 6. The rotating member 5 is rotated around a fitting part (a) of the base post 4 and one end of the rotating member 5. The size of the connecting rod 6 can be set according to the length of the rotating member 5 and the space between the fitting part (a) of the rotating member 5 in the base post 4 and a moving passage for passing a connecting part (c) in the mover 3. For example, the size can be substantially equal (preferably a little shorter than) to the diameter of a circular arc as a locus of rotation traced by the connecting part (b) of the rotating member 5 and the connecting rod 6. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

【０００１】
【発明の属する技術分野】
本発明は、簡単な機構で、多面に亘る精密な位置決め調節動作が可能で、汎用性の高い、回転位置決め機構に関するものである。
【０００２】
【従来の技術】
従来、回転角度を決める機構としては、（１）回動部材の回転中心に減速機付モータを配置したもの、（２）ラックとピニオンを用いたもの、（３）ベルトまたはギアドライブを用いたものが知られている。
これら機構のうち、（１）減速機付モータを配置したものでは、外力に対する安定性に欠け、一方（２）ラックとピニオンを用いたものや、（３）ベルトまたはギアドライブを用いたものでは、精度上の問題がある。
そこで、本出願人は、回動部材に連結杆を介して駆動機構を連結して前記回動部材を回動させる機構に注目した。
【０００３】
【発明が解決しようとする課題】
ただし、このような機構においては、連結杆の両連結端部を結ぶ線上、またはその延長線上に回動部材の中心が一致する位置はこの機構の特異点であり、回動部材の回動範囲が限定されたものとならざるを得ない。
従って、前記回動部材の中心と、駆動機構によって作動する連結杆の両連結端部との位置関係、さらには連結杆長を考慮すれば、前記回動部材の回動範囲を拡大することができると共に、外力に対して安定した動きが得られると考えられる。
本発明は以上のような観点から提案されたものであって、簡単な機構で、多面に亘る精密な位置決め調節動作が可能で、汎用性の高い、回転位置決め機構を提供することを目的とする。
【０００４】
【課題を解決するための手段】
前記した課題を解決するために、本発明では、請求項１において、案内部材に沿って、駆動機構によって往復動させる構成とした移動子と、一端側を基柱に回動自在に取り付けた回動部材の他端側とを、連結杆を介して連結して、前記移動子の往復動により前記回動部材の他端側を基柱における回動部材の一端側を中心として回動させる構成とし、前記案内部材上の移動子の移動路と、前記基柱における回動部材の一端側との間を、所定間隔設ける設定とした回転位置決め機構を提案する。
また本発明では、請求項２において、前記連結杆と移動子との連結箇所は、前記回動部材の他端側の回動によって描く円弧の接線上に沿って、往復動する設定とした回転位置決め機構を提案する。
また本発明では、請求項３において、前記連結杆を、前記案内部材上の移動子の移動路と、前記基柱における回動部材の一端側との間の間隔に応じて寸法を設定するようにした回転位置決め機構を提案する。
また本発明では、請求項４において、前記駆動機構は、前記案内部材に沿って、案内部材に近接した位置において案内部材に平行に配設したねじ軸と、このねじ軸に移動可能に螺合すると共に前記移動子と連結する構成の雌ねじ部材とを備えた回転位置決め機構を提案する。
また本発明では、請求項５において、前記駆動機構は、前記移動子に直接結合してなるリニアモータで構成した回転位置決め機構を提案する。
また本発明では、請求項６において、前記基柱の回動部材との取付箇所において、前記回動部材一端部には、工具類や、監視機器類を設置するためのテーブルを固定支持する構成とした回転位置決め機構を提案する。
さらに本発明では、請求項７において、前記案内部材および基柱を支える基台を、基台鉛直方向に貫く軸廻りに回動可能な回動テーブル上に配置した回転位置決め機構を提案する。
【０００５】
請求項１によれば、案内部材に沿って、駆動機構によって移動子を往復動させると、回動部材は、連結杆を介して基柱における回動部材の一端側を中心として回動する。この際、前記案内部材上の移動子の移動路と、回動中心である前記基柱における回動部材の一端側の位置とに、所定間隔設けることで、回動部材の回動範囲は拡大する。
【０００６】
請求項２によれば、回動部材の他端側と連動杆との連結箇所は、回動部材の一端側から他端側までの寸法を半径とする円弧を描き、１８０度以上回動させることができる。
【０００７】
請求項３によれば、案内部材上の移動子による連結杆の動作ストロークに応じて回動部材を外力の影響に対して安定して回動させることができる。
【０００８】
請求項４によれば、案内部材に平行に配設したねじ軸を回転駆動させることで、雌ねじ部材がねじ軸上を移動し、これと共に移動子を案内部材に沿って移動させることができる。
【０００９】
請求項５によれば、機構を一層簡敏化することができ、重量も軽くすることができ、広範囲な応用が可能となる。
【００１０】
請求項６によれば、駆動機構によって連結杆を介して回動部材を回動させることで、前記回動部材一端部に固定支持したテーブルを自在に変位させることができ、テーブルに設置した工具類や、監視機器類を所望の角度範囲で回動調節することができる。
【００１１】
請求項７によれば、基台鉛直方向に貫く軸廻りに回動テーブルを回動させ、さらに回動部材一端部のテーブルを前記軸廻りに調節することで、回動テーブル上面に位置する半球部分の所望の位置に位置決めできる。
【００１２】
【発明の実施の態様】
以下、本発明にかかる回転位置決め機構につき、一つの実施の態様を示し、添付の図面に基づいて説明する。
図１に回転位置決め機構１を示す。この回転位置決め機構１は、基台（図示省略）上に付設した案内部材２に沿って、リニアアクチュエータ（図示省略）に連なる移動子３を移動自在に配設すると共に、基台上に垂設した基柱４の上端側に、回動部材５の一端側を回動自在に取り付ける一方、この回動部材５の他端側を、連結杆６を介して前記移動子３と連結し、前記回動部材５を基柱４と回動部材５の一端との取付箇所ａを中心として回動させる構成としている。
前記回動部材５の他端側と連結杆６との連結箇所ｂは、所定角度範囲の円弧を描く構成であり、前記連結杆６の他端と移動子３との連結箇所ｃは、前記円弧の接線に沿って（ここでは、基柱４の軸線と前記円弧との交点を通過する接線上に沿って）、往復動する設定としている。
【００１３】
前記リニアアクチュエータは、周知の構成のものであり、図示および詳細な説明は省略するが、例えば前記基台上の案内部材２に沿って、案内部材２に近接した位置において案内部材２に平行にねじ軸を配設しており、このねじ軸上に螺合した雌ねじ部材と前記移動子３とを連結する構成としている。また前記ねじ軸には、端部側に駆動用モータ（図示省略）を接続している。なお、この駆動用モータは、設定されたソフトウェアに基づき、コントローラにより給電して作動させるようにしている。
【００１４】
また、前記基柱４は基台上に、回動部材５の一端部との取付箇所ａまでの高さ寸法を、（移動子３における連結箇所ｃの高さ）＋（回動部材５の長さ）としている。
【００１５】
前記連結杆６の寸法は、前記回動部材５の長さと、基柱４における回動部材５の取付箇所ａと移動子３における連結箇所ｃが通過する移動路との間隔に応じて設定することができ、例えば、回動部材５と連結杆６との連結箇所ｂが辿る回動軌跡である円弧の直径と略同一寸法（望ましくは若干短い寸法、後述）としている。
【００１６】
以上のような回転位置決め機構１において、リニアアクチュエータを起動して、移動子３を基台上の案内部材２に沿って移動させることで、前記移動子３を介して連結杆６を連動させ、回動部材５は基柱４との取付箇所ａ中心に変位していく。この際、リニアアクチュエータにおける、案内部材２に平行に配設したねじ軸を回転駆動させることで、雌ねじ部材がねじ軸上を移動し、これと共に移動子３を案内部材２に沿って移動させることができる。
前記移動子３が案内部材２に沿って移動することで、前記回動部材５と連結杆６との連結箇所ｂは、所定角度範囲で円弧を描くように回動することができる。
【００１７】
この場合、前記基柱４の軸線と前記円弧との交点を通過する接線上に沿って、前記連結杆６の他端と移動子３との連結箇所ｃが前記案内部材２に沿って往復動する設定であり、回動部材５の一端との取付箇所ａまでの高さ寸法を、（移動子３における連結箇所ｃの高さ）＋（回動部材５の長さ）とし、さらには、連結杆６は、回動部材５と連結杆６との連結箇所ｂが辿る回動軌跡である円弧の直径と略同一寸法としているので、可動範囲は以下のように最大限、略２５０度に達するものとなる。
【００１８】
例えば、前記回転位置決め機構１では、図２中、回動部材５と連結杆６とが一直線状態となるまで、移動子３を右に移動させて、動作の限界位置（特異点Ａ）であるＰ点に達することができる。
一方、図３に示すように、前記移動子３を左に移動させて、回動部材５と連結杆６との連結箇所ｂが基柱４の軸線上方、延長線上に達すると、前記回動部材５と連結杆６とが前記基柱４の軸線上に重なった状態となる、動作のもう一つの限界位置（特異点Ｂ）であるＱ点に達することができる。
【００１９】
本発明にかかる回転位置決め機構１は、以下のように構成することもできる。
この場合、図４に示すように、連結杆６の寸法は、回動部材５と連結杆６との連結箇所ｂが辿る回動軌跡である円弧の直径に比較して、若干短くしている。
なお、この回転位置決め機構１においても、回動部材５の長さと、基柱４における回動部材５の取付箇所ａと移動子３における連結箇所ｃが通過する移動路との間隔を、等しく設定した例を図示している。
また、その他、機構要素は、前述の回転位置決め機構１と同一であるので、同符号で示して、説明は省略する。
【００２０】
このような回転位置決め機構１においては、連動杆６の長さを、回動部材５と連結杆６との連結箇所ｂが辿る回動軌跡である円弧の直径より、若干短い寸法としたため、前記連結箇所ｂは、移動子３を左に移動させても、基柱４の軸線上方、延長線上に達せず、その手前で停止することになる。こうすることで、力の伝達効率の低い特異点Ｂを避けることができ、外力に対する安定性を確保することができる。
すなわち、連動杆６の長さを前記円弧の直径より短く設定することで、回動部材５と連結杆６とのなす角度θを力の伝達効率が低下して動作の不安定を来す、限度角度以上とすることができる。
例えば、図４において、回動部材５の取付箇所ａと連結箇所ｂ間の距離をＲとし、連結杆６の長さを１．７０７Ｒとすれば、回動部材５の可動範囲βが４２〜２２２゜，４３〜２２３゜，４４〜２２４゜，４５〜２２５゜で、回動部材５と連動杆６とのなす角度θは３０度以上となり、外力に対して安定した動作をもたらすことができる。
【００２１】
以上のように、上述の回転位置決め機構１によって、外力に対して安定した動作をもたらすことができることができるので、様々な工具類や、監視機器類に用いることができる。
すなわち、前記回動部材５の基柱４との取付箇所ａにおいて、前記回動部材５頂点側に、工具類や、監視機器類を設置することで、これら工具類や、監視機器類を広範囲に角度調節することが可能となる。
【００２２】
そこで、前記回動部材５頂点側に設置する各種工具類や、監視装置等について説明する。
工具類としては、例えば、回動部材５頂点側に配置したテーブル７上にスピンドル８を介し６面加工機９を取り付けることができる（図５参照）。
この場合、テーブル７上に、前記スピンドル８を適宜な駆動装置により進退可能に支持すれば、先端の工具を被加工面に進退作動させて加工し、しかも、回動部材５の基柱４との取付箇所ａを中心として、前記工具を広範囲に亘って回動調節して被加工面を加工することができる。
なお、この機構では、安定稼働範囲が１８０度あれば充分なので、さらに、基台鉛直方向に貫く軸廻りに回動させれば、それぞれ要求される加工範囲に充分、工具をもたらして使用することができるものとなる。
【００２３】
また、本発明にかかる回転位置決め機構１は、次のような構成として、工具類や、監視装置等に用いることもできる。
すなわち図６に示す６面加工機９に用いた回転位置決め機構１では、案内部材２を配置した基台１０を、回動テーブル１１上に配置する構成としている。
かかる回動テーブル１１には、周知の機構を用いることができる。この回動テーブル１１は、基台１０の適所に設けることができるが、回動軸Ｌが基柱４の軸線に一致させる位置に配置することが望ましい。
但し、実際上は、機構の荷重バランス上、図示しているように前記案内部材２端部側の基柱４に近接した位置に回動軸Ｌがくるように設けている。
【００２４】
さらに、本発明にかかる回転位置決め機構１は、前記スピンドル８の代りに、ＣＣＤカメラ１２を取り付けた製品表面の検査器１３や、防犯カメラとして利用することができる（図７参照）。
さらに、テーブル７上にパラボラアンテナ１４を取り付けた、追尾装置１５の回転位置決め機構１として用いることも可能である（図８参照）。
【００２５】
以上のような回転位置決め機構１によれば、基柱４に近接した回動テーブル７の回動軸Ｌ廻りに、前記回動テーブル７を回動させることで、回動部材５頂点のテーブル７を回動軸Ｌを貫く軸廻りに調節すると共に、リニアアクチュエータによって、前記テーブル７を所望角度に調節することができ、高い精度で、広範囲な位置決めが自在となり、一層、高性能な工具類や、監視機器類として提供することができる。
【００２６】
さらに本発明にかかる回転位置決め機構１として、案内部材２上の移動子３の作動用として、図示はしないが例えばリニアモータを用いることも可能である。
なお、リニアモータとしては、例えば超音波モータ、ピエゾアクチュエータ等を挙げることができる。
【００２７】
かかる回転位置決め機構１によれば、機構を一層簡敏化することができ、重量も軽くすることができ、広範囲な応用が可能となる。
【００２８】
以上、本発明にかかる回転位置決め機構について、基柱４における回動部材５の取付箇所ａと移動子３における連結箇所ｃが通過する移動路との間隔Ｓを回動部材５の長さと等しい寸法に設定した例を挙げて説明したが、前記間隔Ｓは、回動部材の長さより短い寸法に設定することができる。この場合においても、連動杆６の長さを適宜設定することで、安定した動作範囲で稼働させることができる。
【００２９】
【発明の効果】
本発明によれば、シンプルな構造で、可動範囲を拡張することができ、様々な精密作動を要する装置に応用が可能である。
【００３０】
【図面の簡単な説明】
【図１】本発明にかかる回転位置決め機構の原理的、省略的、且つ模式的な側面図である。
【図２】図１に示す回転位置決め機構の動作の限界点である、一つの特異点に至った状態を示す、側面説明図である。
【図３】図１に示す回転位置決め機構の動作の限界点である、もう一つの特異点に至った状態を示す、側面説明図である。
【図４】本発明にかかる回転位置決め機構のもう一つの原理的、省略的、且つ模式的な側面図である。
【図５】本発明にかかる回転位置決め機構を用いた工具の一例を示す、模式的側面図である。
【図６】本発明にかかる回転位置決め機構を用いた工具の別例を示す、模式的側面図である。
【図７】本発明にかかる回転位置決め機構を用いた検査装置の別例を示す、模式的側面図である。
【図８】本発明にかかる回転位置決め機構を用いた監視装置の別例を示す、模式的側面図である。
【符号の説明】
１回転位置決め機構
２案内部材
３移動子
４基柱
５回動部材
６連結杆
７テーブル
８スピンドル
９６面加工機
１０基台
１１回動テーブル
１２ＣＣＤカメラ
１３検査器
１４パラボラアンテナ
１５追尾装置
ａ取付箇所
ｂ，ｃ連結箇所
Ｌ回動軸[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a highly versatile rotary positioning mechanism capable of performing precise positioning adjustment operations over many surfaces with a simple mechanism.
[0002]
[Prior art]
Conventionally, as a mechanism for determining a rotation angle, (1) a mechanism in which a motor with a reduction gear is arranged at the center of rotation of a rotating member, (2) a mechanism using a rack and a pinion, and (3) a belt or a gear drive are used. Things are known.
Among these mechanisms, (1) a motor provided with a reduction gear lacks stability against external force, while (2) a device using a rack and a pinion, and (3) a device using a belt or a gear drive. , There is a problem with accuracy.
Therefore, the present applicant has paid attention to a mechanism that connects a driving mechanism to a rotating member via a connecting rod to rotate the rotating member.
[0003]
[Problems to be solved by the invention]
However, in such a mechanism, a position where the center of the rotating member coincides with a line connecting both connecting end portions of the connecting rod or an extension thereof is a singular point of the mechanism, and the rotating range of the rotating member is Must be limited.
Therefore, considering the positional relationship between the center of the rotating member and both connecting ends of the connecting rod operated by the driving mechanism, and further considering the connecting rod length, it is possible to enlarge the rotating range of the rotating member. It is considered that stable and stable movement can be obtained against external force.
SUMMARY OF THE INVENTION The present invention has been proposed in view of the above, and has as its object to provide a highly versatile, rotational positioning mechanism capable of performing precise positioning adjustment operations over many surfaces with a simple mechanism. .
[0004]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, according to the present invention, in claim 1, a moving element configured to reciprocate by a driving mechanism along a guide member, and a rotating element rotatably mounted at one end side to a base. A configuration in which the other end of the moving member is connected via a connecting rod, and the other end of the rotating member is rotated around the one end of the rotating member in the base by the reciprocating motion of the movable element. A rotary positioning mechanism is proposed in which a predetermined interval is provided between the moving path of the moving element on the guide member and one end side of the rotating member in the base column.
According to the present invention, in claim 2, the connecting portion between the connecting rod and the moving element is set to reciprocate along a tangent line of an arc drawn by the rotation of the other end of the rotating member. A positioning mechanism is proposed.
Further, in the present invention, in claim 3, the size of the connecting rod is set according to the distance between the moving path of the moving element on the guide member and one end side of the rotating member in the base column. A rotary positioning mechanism is proposed.
Further, in the present invention, in claim 4, the driving mechanism is configured such that, along the guide member, a screw shaft disposed parallel to the guide member at a position close to the guide member, and movably engaged with the screw shaft. In addition, a rotary positioning mechanism including a female screw member configured to be connected to the mover is proposed.
According to the present invention, there is provided a rotary positioning mechanism according to claim 5, wherein the driving mechanism is constituted by a linear motor directly coupled to the moving element.
According to the present invention, in the configuration according to claim 6, a table for installing tools and monitoring equipment is fixedly supported at one end of the rotating member at a mounting position of the base with the rotating member. We propose a rotation positioning mechanism.
Further, the present invention proposes a rotary positioning mechanism according to claim 7, wherein a base supporting the guide member and the base is arranged on a rotary table that can rotate about an axis that penetrates the base in a vertical direction.
[0005]
According to the first aspect, when the movable element is reciprocated by the drive mechanism along the guide member, the rotating member rotates around the one end side of the rotating member in the base pillar via the connecting rod. At this time, by providing a predetermined interval between the moving path of the moving element on the guide member and a position on one end side of the rotating member on the base pillar which is the center of rotation, the rotating range of the rotating member is enlarged. I do.
[0006]
According to the second aspect, the connecting portion between the other end of the turning member and the interlocking rod draws an arc having a radius from one end to the other end of the turning member, and is turned by 180 degrees or more. be able to.
[0007]
According to the third aspect, the turning member can be stably turned against the influence of the external force in accordance with the operation stroke of the connecting rod by the moving member on the guide member.
[0008]
According to the fourth aspect, by rotating the screw shaft disposed in parallel with the guide member, the female screw member moves on the screw shaft, and the movable member can be moved along the guide member together with the female screw member.
[0009]
According to the fifth aspect, the mechanism can be further simplified, the weight can be reduced, and a wide range of applications can be realized.
[0010]
According to the sixth aspect, by rotating the rotating member via the connecting rod by the driving mechanism, the table fixedly supported at one end of the rotating member can be freely displaced, and the tool installed on the table And the monitoring devices can be rotationally adjusted in a desired angle range.
[0011]
According to the seventh aspect, the hemisphere located on the upper surface of the rotary table is formed by rotating the rotary table around an axis penetrating in the vertical direction of the base and further adjusting the table at one end of the rotary member around the axis. The part can be positioned at a desired position.
[0012]
DESCRIPTION OF THE PREFERRED EMBODIMENTS
Hereinafter, one embodiment of a rotation positioning mechanism according to the present invention will be described with reference to the accompanying drawings.
FIG. 1 shows a rotation positioning mechanism 1. The rotary positioning mechanism 1 has a movable member 3 connected to a linear actuator (not shown) movably disposed along a guide member 2 attached to the base (not shown), and is vertically mounted on the base. One end of a rotating member 5 is rotatably attached to the upper end of the base 4, and the other end of the rotating member 5 is connected to the mover 3 via a connecting rod 6. The rotating member 5 is configured to rotate around a mounting point a between the base column 4 and one end of the rotating member 5.
The connecting point b between the other end of the rotating member 5 and the connecting rod 6 is configured to draw an arc within a predetermined angle range, and the connecting point c between the other end of the connecting rod 6 and the moving element 3 is It is set to reciprocate along the tangent of the arc (here, on the tangent passing through the intersection of the axis of the base column 4 and the arc).
[0013]
The linear actuator has a well-known configuration, and illustration and detailed description thereof are omitted. For example, along the guide member 2 on the base, in parallel with the guide member 2 at a position close to the guide member 2 A screw shaft is provided, and the female screw member screwed onto the screw shaft is connected to the mover 3. A drive motor (not shown) is connected to the end of the screw shaft. The drive motor is operated by being supplied with electric power by a controller based on the set software.
[0014]
The height of the base 4 on the base up to the mounting point a with one end of the rotating member 5 is calculated by (the height of the connecting point c of the movable member 3) + (the height of the rotating member 5). Length).
[0015]
The dimensions of the connecting rod 6 are set according to the length of the rotating member 5 and the distance between the mounting point a of the rotating member 5 on the base 4 and the moving path through which the connecting point c of the moving element 3 passes. For example, the diameter is approximately the same as the diameter of an arc which is a rotation locus followed by a connection point b between the rotation member 5 and the connection rod 6 (preferably a slightly shorter size, which will be described later).
[0016]
In the rotation positioning mechanism 1 as described above, the linear actuator is activated, and the moving member 3 is moved along the guide member 2 on the base, whereby the connecting rod 6 is interlocked via the moving member 3, The rotating member 5 is displaced toward the center of the mounting point a with the base 4. At this time, the female screw member moves on the screw shaft by rotating and driving the screw shaft of the linear actuator disposed in parallel with the guide member 2, thereby moving the mover 3 along the guide member 2. Can be.
When the moving element 3 moves along the guide member 2, the connecting point b between the turning member 5 and the connecting rod 6 can turn so as to draw an arc within a predetermined angle range.
[0017]
In this case, the connecting point c between the other end of the connecting rod 6 and the moving element 3 reciprocates along the guide member 2 along a tangent passing through the intersection of the axis of the base column 4 and the arc. The height dimension from the one end of the rotating member 5 to the mounting point a is set to (the height of the connecting point c in the movable member 3) + (the length of the rotating member 5). Since the connecting rod 6 has substantially the same diameter as the diameter of an arc which is a rotation locus followed by a connecting point b between the rotating member 5 and the connecting rod 6, the movable range is as large as about 250 degrees as follows. Will be reached.
[0018]
For example, in the rotation positioning mechanism 1, the moving element 3 is moved to the right until the rotating member 5 and the connecting rod 6 are in a straight line in FIG. Point P can be reached.
On the other hand, as shown in FIG. 3, when the moving member 3 is moved to the left, and the connecting point b between the rotating member 5 and the connecting rod 6 reaches above the axis of the base column 4 and on an extension line, the turning is performed. The moving member 5 and the connecting rod 6 can reach the point Q, which is another limit position (singular point B) of the operation, in which the moving member 5 and the connecting rod 6 are overlapped on the axis of the base column 4.
[0019]
The rotation positioning mechanism 1 according to the present invention can also be configured as follows.
In this case, as shown in FIG. 4, the dimension of the connecting rod 6 is slightly shorter than the diameter of an arc which is a turning locus followed by a connecting point b between the turning member 5 and the connecting rod 6. .
In this rotary positioning mechanism 1 as well, the length of the pivoting member 5 and the distance between the mounting point a of the pivoting member 5 on the base 4 and the moving path through which the connecting point c of the moving element 3 passes are set to be equal. FIG.
In addition, the other mechanical elements are the same as those of the above-described rotary positioning mechanism 1, and thus are denoted by the same reference numerals, and description thereof will be omitted.
[0020]
In the rotation positioning mechanism 1 described above, the length of the interlocking rod 6 is set to be slightly shorter than the diameter of the circular arc that is the rotation locus that the connection point b between the rotation member 5 and the connection rod 6 follows. Even if the moving element 3 is moved to the left, the connecting point b does not reach above the axis of the base column 4 and does not reach an extension, and stops before the connecting point b. By doing so, it is possible to avoid the singular point B where the transmission efficiency of the force is low, and it is possible to secure stability against external force.
That is, by setting the length of the interlocking rod 6 to be shorter than the diameter of the arc, the angle θ between the rotating member 5 and the connecting rod 6 decreases the power transmission efficiency, resulting in unstable operation. It can be more than the limit angle.
For example, in FIG. 4, if the distance between the mounting point a of the rotating member 5 and the connecting point b is R, and the length of the connecting rod 6 is 1.707R, the movable range β of the rotating member 5 is 42 to 222 °, 43 to 223 °, 44 to 224 °, and 45 to 225 °, the angle θ between the rotating member 5 and the interlocking rod 6 is 30 degrees or more, and a stable operation against external force can be provided. .
[0021]
As described above, since the above-described rotation positioning mechanism 1 can provide a stable operation with respect to an external force, it can be used for various tools and monitoring devices.
That is, by installing tools and monitoring devices on the apex side of the rotating member 5 at the mounting position a of the rotating member 5 with the base column 4, these tools and monitoring devices can be widely used. It is possible to adjust the angle.
[0022]
Therefore, various tools installed on the vertex side of the rotating member 5, a monitoring device, and the like will be described.
As tools, for example, a six-side processing machine 9 can be attached via a spindle 8 on a table 7 arranged on the vertex side of the rotating member 5 (see FIG. 5).
In this case, if the spindle 8 is supported on the table 7 so as to be able to advance and retreat by an appropriate driving device, the tool at the tip is advanced and retracted to the surface to be machined to perform the machining. The tool can be rotated and adjusted over a wide range around the mounting point a to process the work surface.
In this mechanism, a stable operation range of 180 degrees is sufficient, so if the tool is further rotated around an axis that penetrates in the vertical direction of the base, it is necessary to bring the tool sufficiently to the required processing range. Can be done.
[0023]
In addition, the rotation positioning mechanism 1 according to the present invention can be used for tools, monitoring devices, and the like as the following configuration.
That is, the rotation positioning mechanism 1 used in the six-sided processing machine 9 shown in FIG. 6 has a configuration in which the base 10 on which the guide member 2 is disposed is disposed on the rotating table 11.
A known mechanism can be used for the rotating table 11. The turning table 11 can be provided at an appropriate position on the base 10, but is desirably arranged at a position where the turning axis L coincides with the axis of the base 4.
However, in practice, the rotational axis L is provided at a position close to the base column 4 on the end portion side of the guide member 2 as shown in the figure in view of the load balance of the mechanism.
[0024]
Furthermore, the rotary positioning mechanism 1 according to the present invention can be used as an inspection device 13 for a product surface to which a CCD camera 12 is attached, or a security camera, instead of the spindle 8 (see FIG. 7).
Further, it can be used as the rotation positioning mechanism 1 of the tracking device 15 in which the parabolic antenna 14 is mounted on the table 7 (see FIG. 8).
[0025]
According to the rotation positioning mechanism 1 as described above, the rotation table 7 is rotated around the rotation axis L of the rotation table 7 close to the base 4, so that the table 7 at the top of the rotation member 5 is rotated. Can be adjusted around the axis passing through the rotation axis L, and the table 7 can be adjusted to a desired angle by the linear actuator. , As monitoring equipment.
[0026]
Further, as the rotation positioning mechanism 1 according to the present invention, although not shown, for example, a linear motor can be used for operating the moving element 3 on the guide member 2.
Note that examples of the linear motor include an ultrasonic motor and a piezo actuator.
[0027]
According to the rotation positioning mechanism 1, the mechanism can be further simplified, the weight can be reduced, and a wide range of applications can be achieved.
[0028]
As described above, in the rotation positioning mechanism according to the present invention, the distance S between the mounting point a of the rotating member 5 on the base 4 and the moving path through which the connecting point c of the moving element 3 passes is equal to the length of the rotating member 5. As described above, the interval S can be set to a dimension shorter than the length of the rotating member. Also in this case, by setting the length of the interlocking rod 6 appropriately, it is possible to operate in a stable operation range.
[0029]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, a movable range can be extended with a simple structure, and it is applicable to the apparatus which requires various precision operations.
[0030]
[Brief description of the drawings]
FIG. 1 is a principle, abbreviated, and schematic side view of a rotary positioning mechanism according to the present invention.
FIG. 2 is an explanatory side view showing a state where one singular point has been reached, which is a limit point of the operation of the rotary positioning mechanism shown in FIG. 1;
FIG. 3 is an explanatory side view showing a state where another singular point, which is a limit point of the operation of the rotary positioning mechanism shown in FIG. 1, has been reached;
FIG. 4 is another principle, abbreviated, and schematic side view of the rotary positioning mechanism according to the present invention.
FIG. 5 is a schematic side view showing an example of a tool using the rotation positioning mechanism according to the present invention.
FIG. 6 is a schematic side view showing another example of a tool using the rotation positioning mechanism according to the present invention.
FIG. 7 is a schematic side view showing another example of the inspection device using the rotation positioning mechanism according to the present invention.
FIG. 8 is a schematic side view showing another example of the monitoring device using the rotation positioning mechanism according to the present invention.
[Explanation of symbols]
REFERENCE SIGNS LIST 1 rotation positioning mechanism 2 guide member 3 mover 4 base 5 rotating member 6 connecting rod 7 table 8 spindle 9 6-side processing machine 10 base 11 rotation table 12 CCD camera 13 inspector 14 parabolic antenna 15 tracking device a Location b, c Connection location L Rotation axis

Claims

案内部材に沿って、駆動機構によって往復動させる構成とした移動子と、一端側を基柱に回動自在に取り付けた回動部材の他端側とを、連結杆を介して連結して、前記移動子の往復動により前記回動部材の他端側を基柱における回動部材の一端側を中心として回動させる構成とし、前記案内部材上の移動子の移動路と、前記基柱における回動部材の一端側との間を、所定間隔設ける設定としたことを特徴とする回転位置決め機構。Along with the guide member, the movable element reciprocated by the drive mechanism and the other end of the rotating member rotatably attached to the base at one end are connected via a connecting rod, The reciprocating motion of the movable element causes the other end of the rotating member to rotate about the one end of the rotating member in the base, and the movement path of the movable on the guide member, and A rotation positioning mechanism, wherein a predetermined interval is provided between the rotation member and one end of the rotation member.

前記連結杆と移動子との連結箇所は、前記回動部材の他端側の回動によって描く円弧の接線上に沿って、往復動する設定としたことを特徴とする請求項１記載の回転位置決め機構。2. The rotation according to claim 1, wherein the connecting portion between the connecting rod and the movable member is set to reciprocate along a tangent line of an arc drawn by the rotation of the other end of the rotating member. Positioning mechanism.

前記連結杆を、前記案内部材上の移動子の移動路と、前記基柱における回動部材の一端側との間の間隔に応じて寸法を設定するようにしたことを特徴とする請求項１または２記載の回転位置決め機構。2. The size of the connecting rod is set in accordance with a distance between a moving path of a movable element on the guide member and one end of a rotating member on the base column. 3. Or the rotation positioning mechanism according to 2.

前記駆動機構は、前記案内部材に沿って、案内部材に近接した位置において案内部材に平行に配設したねじ軸と、このねじ軸に移動可能に螺合すると共に前記移動子と連結する構成の雌ねじ部材とを備えたことを特徴とする請求項１記載の回転位置決め機構。The drive mechanism has a configuration in which a screw shaft disposed in parallel with the guide member at a position close to the guide member along the guide member and movably screwed to the screw shaft and connected to the mover. The rotation positioning mechanism according to claim 1, further comprising a female screw member.

前記駆動機構は、前記移動子に直接結合してなるリニアモータで構成したことを特徴とする請求項１記載の回転位置決め機構。2. The rotary positioning mechanism according to claim 1, wherein said drive mechanism is constituted by a linear motor directly connected to said mover.

前記基柱の回動部材との取付箇所において、前記回動部材一端部には、工具類や、監視機器類を設置するためのテーブルを固定支持する構成としたことを特徴とする請求項１記載の回転位置決め機構。2. The table according to claim 1, wherein a table for installing tools and monitoring equipment is fixedly supported at one end of the rotating member at a position where the base is attached to the rotating member. The rotary positioning mechanism according to the above.

前記案内部材および基柱を支える基台を、基台鉛直方向に貫く軸廻りに回動可能な回動テーブル上に配置したことを特徴とする請求項１ないし６記載のうち、いずれか１記載の回転位置決め機構。7. The base according to claim 1, wherein the base supporting the guide member and the base is disposed on a turntable that is rotatable around an axis passing through the base in a vertical direction. Rotary positioning mechanism.