JP2007091447A - Double-shaft movable conveying device - Google Patents

Double-shaft movable conveying device Download PDF

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JP2007091447A
JP2007091447A JP2005286510A JP2005286510A JP2007091447A JP 2007091447 A JP2007091447 A JP 2007091447A JP 2005286510 A JP2005286510 A JP 2005286510A JP 2005286510 A JP2005286510 A JP 2005286510A JP 2007091447 A JP2007091447 A JP 2007091447A
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wire
drum
drive
winding
clutch
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JP4898178B2 (en
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Keiji Nakamura
圭二 中村
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NKE Corp
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NKE Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveying device capable of moving and stopping a double shaft including two shafts orthogonal to each other by driving of one driving motor. <P>SOLUTION: The conveying device is provided with a first wire 13 wound around a first driving drum 11, a second wire 23 wound around a second driving drum 21, a first mounting part 10 mounted on the first wire 13 through a first clutch 15 for selecting connection or disconnection between the first wire 13 and the first mounting part 10, and a second mounting part 20 mounted on the second wire 23 through a second clutch 25 for selecting connection or disconnection between the second wire 23 and the second mounting part 20. One of the first and second clutches 15 and 25 is connected, and the other is disconnected. Thus, movement of the first mounting part 10 to a first direction D1 or movement of the second mounting part 20 to a second direction D2 can be selected by one driving motor M. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、少なくとも２軸の移動・停止を可能にした複軸移動可能な搬送装置に関する。   The present invention relates to a multi-axis movable transfer device that enables movement and stop of at least two axes.

従来より、１つの駆動モータで２軸の動作・停止を可能にした装置が提案されている（たとえば、特許文献１、２参照）
特開平９−２５０６８７公報（第２−３頁，図１） 特開平４−８４０１号公報（第２−３頁，図１） 2. Description of the Related Art Conventionally, there has been proposed a device that can operate and stop two axes with a single drive motor (see, for example, Patent Documents 1 and 2).
JP-A-9-250687 (page 2-3, FIG. 1) JP-A-4-8401 (Page 2-3, FIG. 1)

しかし、前記従来の装置では、互いに直交する２軸方向への搬送を行うことができない。   However, the conventional apparatus cannot carry in the biaxial directions perpendicular to each other.

したがって、本発明の主目的は、１つの駆動モータの駆動により互いに直交する２軸を含む複軸の移動・停止が可能な搬送装置を提供することである。   Therefore, a main object of the present invention is to provide a transport device capable of moving and stopping a multi-axis including two axes orthogonal to each other by driving of one drive motor.

前記目的を達成するために、本出願人は、搬送装置の発明をし出願している（特願２００４−１０５５７９）。しかし、この先願の発明は歯付ベルトを利用しているため、搬送距離が長くなるとコストアップする。   In order to achieve the above-mentioned object, the present applicant has applied for an invention of a transport device (Japanese Patent Application No. 2004-105579). However, since the invention of this prior application uses a toothed belt, the cost increases as the conveying distance increases.

したがって、本発明の別の目的はコストダウンを図ることである。   Therefore, another object of the present invention is to reduce the cost.

前記主目的を達成するために、本第１発明は、１つの駆動モータにより互いに概ね直交する第１および第２方向の２軸を含む複軸の移動・停止を可能にした複軸移動可能な搬送装置であって、一対の巻回部を有し駆動モータにより回転駆動する第１駆動ドラムと、一対の巻回部を有し前記駆動モータにより回転駆動する第２駆動ドラムと、前記第１駆動ドラムの一対の前記巻回部および第１従動プーリに巻回され、前記第１駆動ドラムの回転により当該第１駆動ドラムの一方の巻回部に巻き取られると共に他方の巻回部から巻き出される第１ワイヤと、前記第２駆動ドラムの一対の巻回部および第２従動プーリに巻回され、前記第２駆動ドラムの回転により当該第２駆動ドラムの一方の巻回部に巻き取られると共に他方の巻回部から巻き出される第２ワイヤと、前記第１ワイヤとの連結・解除を選択する第１クラッチを介して前記第１ワイヤに取り付けられた第１取付部と、前記第２ワイヤとの連結・解除を選択する第２クラッチを介して前記第２ワイヤに取り付けられた第２取付部と、前記第１取付部を第１方向に案内する第１リニアガイドと、前記第２取付部を第２方向に案内する第２リニアガイドとを備え、前記第１または第２クラッチの一方を連結状態とし、かつ、他方を解除状態とすることで、前記第１駆動ドラムの回転に伴う前記第１ワイヤの巻取・巻出による前記第１取付部の第１方向に沿った移動と、前記第２駆動ドラムの回転に伴う前記第２ワイヤの巻取・巻出による前記第２取付部の第２方向に沿った移動とを１つの駆動モータの駆動により選択可能としたことを特徴とする。   In order to achieve the above-mentioned main object, the first invention is capable of multi-axis movement that enables movement and stop of multi-axis including two axes in the first and second directions which are substantially orthogonal to each other by one drive motor. A first driving drum having a pair of winding parts and driven to rotate by a driving motor; a second driving drum having a pair of winding parts and driven to rotate by the driving motor; It is wound around the pair of winding portions of the driving drum and the first driven pulley, wound around one winding portion of the first driving drum by the rotation of the first driving drum, and wound from the other winding portion. The first wire to be taken out, the pair of winding portions of the second driving drum and the second driven pulley are wound, and the second driving drum is wound around one winding portion of the second driving drum by the rotation of the second driving drum. And unwound from the other winding part A first attachment portion attached to the first wire via a first clutch that selects connection / release between the second wire and the first wire, and connection / release between the second wire is selected. A second attachment portion attached to the second wire via a second clutch; a first linear guide for guiding the first attachment portion in a first direction; and guiding the second attachment portion in a second direction. A second linear guide, wherein one of the first and second clutches is in a connected state and the other is in a released state, whereby the first wire is wound and rotated along with the rotation of the first drive drum. Movement along the first direction of the first mounting portion by unwinding and along the second direction of the second mounting portion by winding and unwinding of the second wire accompanying rotation of the second drive drum. Movement can be selected by driving one drive motor. The features.

一方、本第２発明は、１つの駆動モータにより互いに概ね直交する第１および第２方向の２軸を含む複軸の移動・停止を可能にした複軸移動可能な搬送装置であって、ワイヤと、前記ワイヤの一端が巻回された第１巻回部、ならびに、前記ワイヤの他端が巻回された第２巻回部とを有する駆動ドラムと、前記駆動ドラムを正逆回転させる駆動モータと、前記第１巻回部から前記第２巻回部の間において、前記第１方向に沿った第１経路および前記第２方向に沿った第２経路を前記ワイヤが通るように、当該ワイヤを張設する複数のプーリと、前記ワイヤの第１経路に取り付けられた第１取付部と、前記ワイヤの第２経路に取り付けられた第２取付部と、前記第１取付部と前記ワイヤとの連結解除を選択する第１クラッチと、前記第２取付部と前記ワイヤとの連結解除を選択する第２クラッチと、前記第１取付部を第１方向に案内する第１リニアガイドと、前記第２取付部を第２方向に案内する第２リニアガイドとを備え、前記第１または第２クラッチの一方を連結状態とし、かつ、他方を解除状態とすることで、前記第１駆動ドラムの回転に伴う前記ワイヤの巻取・巻出による前記第１取付部の第１方向に沿った移動と、前記第２駆動ドラムの回転に伴う前記ワイヤの巻取・巻出による前記第２取付部の第２方向に沿った移動とを１つの駆動モータの駆動により選択可能としたことを特徴とする。   On the other hand, the second aspect of the present invention is a multi-axis movable transfer device capable of moving / stopping a multi-axis including two axes in the first and second directions substantially orthogonal to each other by a single drive motor, A driving drum having a first winding portion around which one end of the wire is wound, and a second winding portion around which the other end of the wire is wound, and a drive for rotating the driving drum forward and backward Between the motor and the first winding part to the second winding part, the wire passes through the first path along the first direction and the second path along the second direction. A plurality of pulleys for extending a wire; a first attachment portion attached to a first path of the wire; a second attachment portion attached to a second path of the wire; the first attachment portion and the wire A first clutch that selects the disengagement with the second attachment portion, A second clutch for selecting release of connection with the wire, a first linear guide for guiding the first mounting portion in the first direction, and a second linear guide for guiding the second mounting portion in the second direction. The first attachment portion by winding and unwinding the wire accompanying rotation of the first drive drum by bringing one of the first or second clutch into a connected state and the other into a released state. The movement along the first direction and the movement along the second direction of the second mounting portion due to winding and unwinding of the wire accompanying the rotation of the second driving drum are driven by one drive motor. It is characterized by being selectable.

これらの発明によれば、１つの駆動モータの駆動により互いに直交する２つの方向への移動、すなわち、２軸移動が可能となる。   According to these inventions, movement in two directions orthogonal to each other, that is, biaxial movement is possible by driving one drive motor.

本発明の実施例の説明に先立って、本発明を適用可能な搬送装置の一例を図１を用いて説明する。
全体構成：
図１に示すように、搬送装置は、２軸の移動・停止が可能な搬送装置であり、第１方向Ｄ１に移動可能なツール取付部（第１取付部）１０と、前記第１方向Ｄ１に概ね直交する第２方向Ｄ２に移動可能な第２取付部２０とを備えている。ツール取付部１０は、第２取付部２０の上方に設けられている。 Prior to the description of the embodiments of the present invention, an example of a transport apparatus to which the present invention can be applied will be described with reference to FIG.
overall structure:
As shown in FIG. 1, the transport device is a transport device capable of moving and stopping in two axes, and includes a tool mounting portion (first mounting portion) 10 movable in a first direction D1, and the first direction D1. And a second mounting portion 20 that is movable in a second direction D2 that is substantially orthogonal to the first direction D2. The tool attachment portion 10 is provided above the second attachment portion 20.

たとえば、第２取付部２０に電子基板等の被加工部材を固定し、ツール取付部１０に半田ごてや電動ドライバ等の加工器具を取り付けて、ツール取付部１０を第１方向Ｄ１に、第２取付部２０を第２方向Ｄ２に移動させることにより、電子基板等に任意の位置で半田付けやネジ締めなどの加工作業を自動で行うことが可能である。   For example, a workpiece such as an electronic board is fixed to the second mounting portion 20, a processing tool such as a soldering iron or an electric screwdriver is attached to the tool mounting portion 10, and the tool mounting portion 10 is moved in the first direction D1. 2. By moving the mounting portion 20 in the second direction D2, it is possible to automatically perform processing operations such as soldering and screw tightening on an electronic board or the like at an arbitrary position.

搬送装置は、下固定ベース５、柱６，７および桁８を備えている。柱６，７は、第１方向Ｄ１に離間して下固定ベース５の両端部に略鉛直方向に立設されている。桁８は、前記柱６，７に架け渡されており、柱６，７および桁８は、下固定ベース５上に、たとえば門型に形成されている。なお、桁８は片持ち等で支持されていてもよい。   The transport device includes a lower fixed base 5, columns 6 and 7, and girders 8. The columns 6 and 7 are erected in a substantially vertical direction at both ends of the lower fixed base 5 so as to be separated from each other in the first direction D1. The girder 8 is spanned over the pillars 6 and 7, and the pillars 6 and 7 and the girder 8 are formed on the lower fixed base 5, for example, in a gate shape. The girder 8 may be supported by cantilevering.

実施例１：
つぎに、本発明の実施例１について説明する。
図２は、本搬送装置の要部を示す概略斜視図である。
下固定ベース５の鉛直方向に設けられた柱６，７（図１）のうち、一方の柱６の上端には駆動モータＭが設けられており、駆動モータＭの下方には、当該モータＭにより回転駆動される第１および第２駆動ドラム１１，２１が形成された軸ユニット４が設けられている。 Example 1:
Next, Example 1 of the present invention will be described.
FIG. 2 is a schematic perspective view showing a main part of the transport apparatus.
A driving motor M is provided at the upper end of one of the pillars 6 and 7 (FIG. 1) provided in the vertical direction of the lower fixed base 5, and the motor M is provided below the driving motor M. There is provided a shaft unit 4 on which first and second drive drums 11 and 21 that are rotationally driven by the shaft are formed.

前記桁８（図１）内には、上固定ベース９が設けられている。上固定ベース９には、ツール取付部１０を移動させるための第１スライダユニット１が設けられており、下固定ベース５には、第２取付部２０を移動させるための第２スライダユニット２が設けられている。   An upper fixed base 9 is provided in the beam 8 (FIG. 1). The upper fixed base 9 is provided with a first slider unit 1 for moving the tool mounting portion 10, and the lower fixed base 5 is provided with a second slider unit 2 for moving the second mounting portion 20. Is provided.

第１スライダユニット１：
上固定ベース９には、第１従動プーリ１２が設けられている。第１駆動ドラム１１および第１従動プーリ１２は、第１方向Ｄ１に離間して設けられており、該第１駆動ドラム１１、第１従動プーリ１２間には有端状の第１ワイヤ１３が巻回されている。第１駆動ドラム１１は、第１ワイヤ１３の一端が巻回された巻回部１１ａと、他端が巻回された巻回部１１ｂとを備えている。 First slider unit 1:
The upper fixed base 9 is provided with a first driven pulley 12. The first drive drum 11 and the first driven pulley 12 are provided apart from each other in the first direction D1, and an end-like first wire 13 is provided between the first drive drum 11 and the first driven pulley 12. It is wound. The first drive drum 11 includes a winding part 11a around which one end of the first wire 13 is wound and a winding part 11b around which the other end is wound.

第１ワイヤ１３の片側には、第１クラッチ１５が固定されており、該クラッチ１５には、種々の加工器具等を取り付けるためのツール取付部（第１取付部）１０が固定されている。前記第１クラッチ１５は、図示しないエアシリンダの作動により、前記第１ワイヤ１３を挟持（把持）して、前記第１ワイヤ１３とツール取付部１０とを連結（ＯＮ）したり、その連結を解除（ＯＦＦ）したりする。   A first clutch 15 is fixed to one side of the first wire 13, and a tool attachment portion (first attachment portion) 10 for attaching various processing tools and the like is fixed to the clutch 15. The first clutch 15 clamps (holds) the first wire 13 by operating an air cylinder (not shown) to connect (ON) the first wire 13 and the tool mounting portion 10, Release (OFF).

ツール取付部１０の下部には第１スライダ１７が固定されている。上固定ベース９上には、第１スライダ１７を第１方向Ｄ１に案内する第１リニアガイド１６が設けられている。ツール取付部１０は、第１スライダ１７を介して第１リニアガイド１６に案内され、第１方向Ｄ１にスライド移動可能である。   A first slider 17 is fixed to the lower part of the tool mounting portion 10. A first linear guide 16 for guiding the first slider 17 in the first direction D1 is provided on the upper fixed base 9. The tool attachment portion 10 is guided by the first linear guide 16 via the first slider 17 and is slidable in the first direction D1.

したがって、駆動モータＭにより第１駆動ドラム１１が回転駆動されると、第１ワイヤ１３が第１駆動ドラム１１と第１従動プーリ１２との間を移動し、第１クラッチ１５がＯＮの場合、該第１ワイヤ１３に取り付けたツール取付部１０が、第１リニアガイド１６に案内されて第１方向Ｄ１に往復動される。   Therefore, when the first drive drum 11 is rotationally driven by the drive motor M, the first wire 13 moves between the first drive drum 11 and the first driven pulley 12, and when the first clutch 15 is ON, The tool attachment portion 10 attached to the first wire 13 is guided by the first linear guide 16 and reciprocated in the first direction D1.

第１ワイヤ１３には、第１ワイヤ１３を挟持することにより、第１ワイヤ１３の移動を禁止（ＯＮ状態）するための第１ブレーキ１８が設けられている。この第１ブレーキ１８は、ツール取付部１０の停止精度を保証する。第１ブレーキ１８または第１クラッチ１５のうち、少なくともいずれか一方がＯＮしていることで、ワイヤ１３とツール取付部１０との間にすべりが生じないように制御される。   The first wire 13 is provided with a first brake 18 for inhibiting the movement of the first wire 13 (ON state) by sandwiching the first wire 13. The first brake 18 ensures the stopping accuracy of the tool mounting portion 10. When at least one of the first brake 18 and the first clutch 15 is ON, control is performed so that no slip occurs between the wire 13 and the tool mounting portion 10.

第２スライダユニット２：
下固定ベース５には、一対の第２従動プーリ２２，２２が設けられている。 Second slider unit 2:
The lower fixed base 5 is provided with a pair of second driven pulleys 22 and 22.

第２従動プーリ２２，２２は、第２方向Ｄ２に互いに離間して設けられており、第２駆動ドラム２１は、第１駆動ドラム１１の直下に同軸上に設けられている。第２駆動ドラム２１および第２従動プーリ２２，２２には、有端状の第２ワイヤ２３が架け渡されている。第２駆動ドラム２１は、第２ワイヤ２３の一端が巻回された巻回部２１ａと、他端が巻回された巻回部２１ｂとを備えている。   The second driven pulleys 22 and 22 are provided to be separated from each other in the second direction D <b> 2, and the second driving drum 21 is provided coaxially immediately below the first driving drum 11. An end-like second wire 23 is bridged between the second drive drum 21 and the second driven pulleys 22 and 22. The second drive drum 21 includes a winding part 21a around which one end of the second wire 23 is wound, and a winding part 21b around which the other end is wound.

第２ワイヤ２３には、第２クラッチ２５が固定されている。第２クラッチ２５は、第２ワイヤ２３の第２従動プーリ２２，２２間における直線部分に固定されている。第２クラッチ２５には、電子基板等の被加工部材等を取り付けるための第２取付部２０が固定されている。第２取付部２０の下部には第２スライダ２７が固定されている。前記第２クラッチ２５は、図示しないエアシリンダの作動により、前記第２ワイヤ２３を挟持（把持）して前記第２ワイヤ２３と第２取付部２０とを連結（ＯＮ）したり、その連結を解除（ＯＦＦ）したりする。   A second clutch 25 is fixed to the second wire 23. The second clutch 25 is fixed to a linear portion between the second driven pulleys 22 of the second wire 23. A second attachment portion 20 for attaching a workpiece such as an electronic substrate is fixed to the second clutch 25. A second slider 27 is fixed to the lower portion of the second mounting portion 20. The second clutch 25 clamps (holds) the second wire 23 by operating an air cylinder (not shown) to connect (ON) the second wire 23 and the second mounting portion 20, or to connect the second wire 23. Release (OFF).

下固定ベース５には、第２スライダ２７を第２方向Ｄ２に案内する第２リニアガイド２６が設けられている。第２リニアガイド２６は、第２従動プーリ２２，２２間を結ぶ直線と概ね平行に設けられている。第２取付部２０は、第２スライダ２７を介して第２リニアガイド２６に案内され、第２方向Ｄ２にスライド移動可能である。   The lower fixed base 5 is provided with a second linear guide 26 for guiding the second slider 27 in the second direction D2. The second linear guide 26 is provided substantially in parallel with a straight line connecting the second driven pulleys 22 and 22. The second mounting portion 20 is guided by the second linear guide 26 via the second slider 27 and is slidable in the second direction D2.

したがって、駆動モータＭにより第２駆動ドラム２１が回転駆動されると、第２ワイヤ２３が移動され、第２クラッチ２５がＯＮの場合、該第２ワイヤ２３に取り付けた第２取付部２０が第２リニアガイド２６に案内されて第２方向Ｄ２に往復動される。   Therefore, when the second drive drum 21 is rotationally driven by the drive motor M, the second wire 23 is moved, and when the second clutch 25 is ON, the second attachment portion 20 attached to the second wire 23 is 2 Guided by the linear guide 26 and reciprocated in the second direction D2.

第２ワイヤ２３には、第２ワイヤ２３を挟持して、第２ワイヤ２３の移動を禁止するための第２ブレーキ２８が設けられている。第２ブレーキ２８は第２取付部２０の停止精度を保証する。   The second wire 23 is provided with a second brake 28 for holding the second wire 23 and prohibiting the movement of the second wire 23. The second brake 28 ensures the stopping accuracy of the second mounting portion 20.

駆動ドラム１１，２１
図３に示すように、前記軸ユニット４は、下固定ベース５に対して略鉛直方向Ｚに立設された駆動軸４１を備えている。駆動軸４１は、前記駆動モータＭによって回転駆動される。駆動軸４１の上部には、前記第１駆動ドラム１１が形成されていると共に、該駆動軸４１の下部には、第２駆動ドラム２１が形成されている。 Driving drums 11 and 21
As shown in FIG. 3, the shaft unit 4 includes a drive shaft 41 erected in the substantially vertical direction Z with respect to the lower fixed base 5. The drive shaft 41 is rotationally driven by the drive motor M. The first drive drum 11 is formed on the upper portion of the drive shaft 41, and the second drive drum 21 is formed on the lower portion of the drive shaft 41.

前記第１駆動ドラム１１は、第１ワイヤ１３の一端が固定され、かつ、巻回された第１巻回部１１ａと、該第１ワイヤ１３の他端が固定され、かつ、巻回された第２巻回部１１ｂとを有している。
同様に、第２駆動ドラム２１は、第２ワイヤ２３の一端が固定され、かつ、巻回された第１巻回部２１ａと、該第２ワイヤ２３の他端が固定され、かつ、巻回された第２巻回部２１ｂとを有している。 The first driving drum 11 has one end of the first wire 13 fixed and the wound first winding part 11a and the other end of the first wire 13 fixed and wound. And a second winding part 11b.
Similarly, the second drive drum 21 has one end of the second wire 23 fixed and the wound first winding portion 21a and the other end of the second wire 23 fixed and wound. Second winding part 21b.

駆動軸４１は、前記柱６に固定されたドラム台５０によって回転支持されている。ドラム台５０には、雌ネジ５３が形成されており、軸ユニット４の外周に形成された雄ネジ５２に螺合している。そのため、駆動モータＭにより、軸ユニット４が回転されると、雌ネジ５３および雄ネジ５２からなるネジ手段５１により、軸ユニット４が軸方向Ｚに移動される。   The drive shaft 41 is rotatably supported by a drum base 50 fixed to the pillar 6. A female screw 53 is formed on the drum base 50 and is screwed into a male screw 52 formed on the outer periphery of the shaft unit 4. Therefore, when the shaft unit 4 is rotated by the drive motor M, the shaft unit 4 is moved in the axial direction Z by the screw means 51 including the female screw 53 and the male screw 52.

駆動モータＭにより軸ユニット４が回転されて、駆動ドラム１１，２１が正転方向に回転した場合には、前記ネジ手段５１により、該駆動ドラム１１，２１が軸方向Ｚの正方向Ｚ１に所定量移動するように規制される。
一方、駆動モータＭを逆回転させることで、駆動ドラム１１，２１が前記正転方向とは逆の逆転方向に回転した場合には、前記ネジ手段５１により、駆動ドラム１１，２１が軸方向Ｚの前記正方向Ｚ１とは逆の逆方向Ｚ２に所定量移動するように規制される。 When the shaft unit 4 is rotated by the drive motor M and the drive drums 11 and 21 are rotated in the forward rotation direction, the drive drums 11 and 21 are placed in the positive direction Z1 of the axial direction Z by the screw means 51. Regulated to move quantitatively.
On the other hand, when the drive drums 11 and 21 are rotated in the reverse rotation direction opposite to the forward rotation direction by rotating the drive motor M in the reverse direction, the screw drums 51 cause the drive drums 11 and 21 to move in the axial direction Z. The movement is restricted to move a predetermined amount in the reverse direction Z2 opposite to the forward direction Z1.

ネジ手段５１のネジ山のピッチは、第１ワイヤ１３および第２ワイヤ２３の巻取位置および巻出位置が概ね一定となるピッチに設定されている。そのため、駆動モータＭにより軸ユニット４が回転されると、該軸ユニット４が軸方向Ｚに移動し、両ワイヤ１３，２３の巻取位置および巻出位置がそれぞれ一定となるように制御される。
したがって、ワイヤ１３，２３が斜めにならないので、各取付部１０，２０の停止精度が向上する。 The thread pitch of the screw means 51 is set to a pitch at which the winding position and the unwinding position of the first wire 13 and the second wire 23 are substantially constant. Therefore, when the shaft unit 4 is rotated by the drive motor M, the shaft unit 4 is moved in the axial direction Z, and the winding position and the unwinding position of both the wires 13 and 23 are controlled to be constant. .
Therefore, since the wires 13 and 23 are not inclined, the stopping accuracy of the mounting portions 10 and 20 is improved.

搬送動作：
つぎに、本搬送装置の搬送動作について説明する。
第１方向Ｄ１への移動；
図２の第１クラッチ１５をＯＮ、第２クラッチ２５をＯＦＦ、第１ブレーキ１８をＯＦＦ、第２ブレーキ２８をＯＦＦに設定した後、駆動モータＭにより駆動軸４１を回転させると、第１および第２駆動ドラム１１，２１が同一方向に回転する。図２の第１駆動ドラム１１の回転によって第１ワイヤ１３が移動され、第１ワイヤ１３に取り付けたツール取付部１０が第１リニアガイド１６に案内されて第１方向Ｄ１に移動される。駆動モータＭの回転方向を変更し、ツール取付部１０の移動方向を逆転させることで、ツール取付部１０を第１方向Ｄ１に往復動させることができる。なお、ツール取付部１０の停止時には、第１ブレーキ１８をＯＮした後に第１クラッチ１５をＯＦＦにすることにより、停止精度を高める。 Transport operation:
Next, a transport operation of the transport device will be described.
Movement in the first direction D1;
When the first clutch 15 of FIG. 2 is turned on, the second clutch 25 is turned off, the first brake 18 is turned off, and the second brake 28 is turned off, the drive motor 41 is rotated by the drive motor M. The second drive drums 11 and 21 rotate in the same direction. The first wire 13 is moved by the rotation of the first drive drum 11 in FIG. 2, and the tool attachment portion 10 attached to the first wire 13 is guided by the first linear guide 16 and moved in the first direction D1. By changing the rotation direction of the drive motor M and reversing the moving direction of the tool attachment portion 10, the tool attachment portion 10 can be reciprocated in the first direction D1. When the tool mounting portion 10 is stopped, the first clutch 15 is turned off after the first brake 18 is turned on to improve the stopping accuracy.

第２方向Ｄ２への移動；
一方、図２の第１クラッチ１５をＯＦＦ、第２クラッチ２５をＯＮ、第１ブレーキ１８をＯＦＦ、第２ブレーキ２８をＯＦＦに設定した後、駆動モータＭにより駆動軸４１を回転させると、同ドラム１１，２１が同一方向に回転する。図２の第２駆動ドラム２１の回転によって第２ワイヤ２３が移動され、第２ワイヤ２３に取り付けた第２取付部２０が第２リニアガイド２６に案内されて第２方向Ｄ２に移動される。駆動モータＭの回転方向を変更し、第２取付部２０の移動方向を逆転させることで、第２取付部２０を第２方向Ｄ２に往復動させることができる。なお、第２取付部２０の停止時には、第２ブレーキ２８をＯＮした後に第２クラッチ２５をＯＦＦにすることにより、停止精度を高める。 Movement in the second direction D2;
On the other hand, after the first clutch 15 in FIG. 2 is turned off, the second clutch 25 is turned on, the first brake 18 is turned off, and the second brake 28 is turned off, the drive motor 41 rotates the drive shaft 41. The drums 11 and 21 rotate in the same direction. The second wire 23 is moved by the rotation of the second drive drum 21 in FIG. 2, and the second attachment portion 20 attached to the second wire 23 is guided by the second linear guide 26 and moved in the second direction D2. By changing the rotation direction of the drive motor M and reversing the moving direction of the second mounting portion 20, the second mounting portion 20 can be reciprocated in the second direction D2. When the second mounting portion 20 is stopped, the second clutch 25 is turned off after the second brake 28 is turned on, so that the stopping accuracy is improved.

〔実施例２〕
つぎに、実施例２にかかる搬送装置の一実施例を図４を用いて説明する。
図４に示すように、本搬送装置は、前述の実施例１とは異なり、１個の駆動ドラム１１および１本のワイヤ１３を備えている。なお、前記駆動ドラム１１は、前述の実施例１で説明した駆動ドラムを用いている。 [Example 2]
Next, an example of a transport apparatus according to Example 2 will be described with reference to FIG.
As shown in FIG. 4, the transport apparatus includes one drive drum 11 and one wire 13, unlike the first embodiment. The drive drum 11 is the drive drum described in the first embodiment.

前記駆動ドラム１１および駆動モータＭは、ドラム台５０Ａ上に載置されている。
ドラム台５０Ａは、第３スライダ５２上に固定されており、第３スライダ５２は、第３リニアガイド５６に案内されて、駆動ドラム１１の形成された軸ユニット４の軸方向Ｚに沿って摺動自在に設定されている。
したがって、駆動モータＭにより駆動ドラム１１が回転された場合には、軸ユニット４が軸方向Ｚに移動することにより、ワイヤ１３の巻出位置および巻取位置が概ね一定となる。 The drive drum 11 and the drive motor M are placed on the drum base 50A.
The drum base 50A is fixed on the third slider 52. The third slider 52 is guided by the third linear guide 56 and slides along the axial direction Z of the shaft unit 4 on which the drive drum 11 is formed. It is set to move freely.
Therefore, when the drive drum 11 is rotated by the drive motor M, the unwinding position and the winding position of the wire 13 become substantially constant as the shaft unit 4 moves in the axial direction Z.

本装置は、第１方向Ｄ１に沿った第１経路および第２方向Ｄ２に沿った第２経路をワイヤ１３が通るように、当該ワイヤ１３を張設する複数のプーリ１２，２２，２４を備えている。なお、ワイヤ１３の停止を保証する図示しないブレーキが設けられている。   The apparatus includes a plurality of pulleys 12, 22, and 24 for stretching the wire 13 so that the wire 13 passes through the first path along the first direction D1 and the second path along the second direction D2. ing. A brake (not shown) that guarantees the stop of the wire 13 is provided.

前記ワイヤ１３は、駆動ドラム１１の一方の第１巻回部１１ａから、一方の第１従動プーリ１２を介して柱７内を通り、一対の第２従動プーリ２２，２２間に掛け渡された後、再び柱７内を通って、他方の第１従動プーリ１２を介して駆動ドラム１１の他方の第２巻回部１１ｂに巻回されている。ワイヤ１３の方向転換を行う各箇所には、補助プーリ２４がそれぞれ設けられている。
その他の構成は、実施例１と同様であり、同一部分または相当部分に同一符号を付して、その詳しい説明および図示を省略する。 The wire 13 is passed between the pair of second driven pulleys 22 and 22 from the first winding part 11a of the driving drum 11 through the first driven pulley 12 and the pillar 7. Thereafter, it passes through the pillar 7 again and is wound around the other second winding portion 11 b of the drive drum 11 via the other first driven pulley 12. Auxiliary pulleys 24 are provided at the respective locations where the direction of the wire 13 is changed.
Other configurations are the same as those of the first embodiment, and the same reference numerals are given to the same portions or corresponding portions, and detailed description and illustration thereof are omitted.

つぎに、本搬送装置の搬送動作について説明する。
第１方向Ｄ１への移動；
第１クラッチ１５をＯＮ、第２クラッチ２５をＯＦＦに設定、図示しないブレーキを解除（ＯＦＦ）した後、駆動モータＭにより駆動軸４１が回転され、駆動ドラム１１が回転される。前記駆動ドラム１１の回転によってワイヤ１３が移動され、該ワイヤ１３に取り付けたツール取付部１０が第１リニアガイド１６に案内されて第１方向Ｄ１に移動される。駆動モータＭの回転方向を変更し、ツール取付部１０の移動方向を逆転させることで、ツール取付部１０を第１方向Ｄ１に往復動させることができる。なお、停止時にはブレーキをＯＮにする。 Next, a transport operation of the transport device will be described.
Movement in the first direction D1;
After the first clutch 15 is turned on and the second clutch 25 is turned off and a brake (not shown) is released (OFF), the drive shaft 41 is rotated by the drive motor M, and the drive drum 11 is rotated. The wire 13 is moved by the rotation of the drive drum 11, and the tool mounting portion 10 attached to the wire 13 is guided by the first linear guide 16 and moved in the first direction D1. By changing the rotation direction of the drive motor M and reversing the moving direction of the tool attachment portion 10, the tool attachment portion 10 can be reciprocated in the first direction D1. When stopping, turn on the brake.

第２方向Ｄ２への移動；
一方、第１クラッチ１５をＯＦＦ、第２クラッチ２５をＯＮに設定した後、駆動モータＭにより駆動軸４１を回転され、駆動ドラム１１が回転される。前記駆動ドラム１１の回転によってワイヤ１３が移動され、前記ワイヤ１３に取り付けた第２取付部２０が第２リニアガイド２６に案内されて第２方向Ｄ２に移動される。駆動モータＭの回転方向を変更し、第２取付部２０の移動方向を逆転させることで、第２取付部２０を第２方向Ｄ２に往復動させることができる。なお、停止時にはブレーキをＯＮにする。 Movement in the second direction D2;
On the other hand, after setting the first clutch 15 to OFF and the second clutch 25 to ON, the drive shaft 41 is rotated by the drive motor M, and the drive drum 11 is rotated. The wire 13 is moved by the rotation of the driving drum 11, and the second attachment portion 20 attached to the wire 13 is guided by the second linear guide 26 and moved in the second direction D2. By changing the rotation direction of the drive motor M and reversing the moving direction of the second mounting portion 20, the second mounting portion 20 can be reciprocated in the second direction D2. When stopping, turn on the brake.

本発明を適用可能な搬送装置の一例を示す概略斜視図である。It is a schematic perspective view which shows an example of the conveying apparatus which can apply this invention. 第１発明にかかる搬送装置の実施例を示す概略斜視図である。It is a schematic perspective view which shows the Example of the conveying apparatus concerning 1st invention. 軸ユニットおよびその近傍を示す概略断面図である。It is a schematic sectional drawing which shows a shaft unit and its vicinity. 第２発明にかかる搬送装置の実施例を示す概略斜視図である。It is a schematic perspective view which shows the Example of the conveying apparatus concerning 2nd invention.

符号の説明Explanation of symbols

１０：ツール取付部
１１：第１駆動ドラム
１１ａ：第１巻回部
１１ｂ：第２巻回部
１２：第１従動プーリ
１３：第１ワイヤ
１５：第１クラッチ
１６：第１リニアガイド
２０：第２取付部
２１：第２駆動ドラム
２２：第２従動プーリ
２３：第２ワイヤ
２４：補助プーリ
２５：第２クラッチ
２６：第２リニアガイド
５０，５０ａ：ドラム台
５１：ネジ手段
Ｄ１：第１方向
Ｄ２：第２方向
Ｚ：軸方向
Ｚ１：正方向
Ｚ２：逆方向 DESCRIPTION OF SYMBOLS 10: Tool attachment part 11: 1st drive drum 11a: 1st winding part 11b: 2nd winding part 12: 1st driven pulley 13: 1st wire 15: 1st clutch 16: 1st linear guide 20: 1st 2 mounting portion 21: second driving drum 22: second driven pulley 23: second wire 24: auxiliary pulley 25: second clutch 26: second linear guide 50, 50a: drum base 51: screw means D1: first direction D2: Second direction Z: Axial direction Z1: Forward direction Z2: Reverse direction

Claims (4)

１つの駆動モータにより互いに概ね直交する第１および第２方向の２軸を含む複軸の移動・停止を可能にした複軸移動可能な搬送装置であって、
一対の巻回部を有し駆動モータにより回転駆動する第１駆動ドラムと、
別の一対の巻回部を有し前記駆動モータにより回転駆動する第２駆動ドラムと、
前記第１駆動ドラムの一対の前記巻回部および第１従動プーリに巻回され、前記第１駆動ドラムの回転により当該第１駆動ドラムの一方の巻回部に巻き取られると共に他方の巻回部から巻き出される第１ワイヤと、
前記第２駆動ドラムの一対の前記巻回部および第２従動プーリに巻回され、前記第２駆動ドラムの回転により当該第２駆動ドラムの一方の巻回部に巻き取られると共に他方の巻回部から巻き出される第２ワイヤと、
前記第１ワイヤとの連結・解除を選択する第１クラッチを介して前記第１ワイヤに取り付けられた第１取付部と、
前記第２ワイヤとの連結・解除を選択する第２クラッチを介して前記第２ワイヤに取り付けられた第２取付部と、
前記第１取付部を第１方向に案内する第１リニアガイドと、
前記第２取付部を第２方向に案内する第２リニアガイドとを備え、
前記第１または第２クラッチの一方を連結状態とし、かつ、他方を解除状態とすることで、前記第１駆動ドラムの回転に伴う前記第１ワイヤの巻取・巻出による前記第１取付部の第１方向に沿った移動と、前記第２駆動ドラムの回転に伴う前記第２ワイヤの巻取・巻出による前記第２取付部の第２方向に沿った移動とを１つの駆動モータの駆動により選択可能とした複軸移動可能な搬送装置。 A multi-axis movable transfer device that enables movement / stop of a multi-axis including two axes in the first and second directions substantially orthogonal to each other by one drive motor,
A first drive drum having a pair of winding portions and driven to rotate by a drive motor;
A second drive drum having another pair of winding portions and driven to rotate by the drive motor;
The first drive drum is wound around the pair of winding portions and the first driven pulley, and is wound around one winding portion of the first drive drum by the rotation of the first drive drum and the other winding. A first wire unwound from the section;
The second drive drum is wound around the pair of winding portions and the second driven pulley, and is wound around one winding portion of the second drive drum by the rotation of the second drive drum and the other winding. A second wire unwound from the section;
A first attachment portion attached to the first wire via a first clutch that selects connection / release with the first wire;
A second attachment portion attached to the second wire via a second clutch that selects connection / release with the second wire;
A first linear guide for guiding the first mounting portion in a first direction;
A second linear guide for guiding the second mounting portion in the second direction;
The first attachment portion by winding / unwinding the first wire accompanying the rotation of the first drive drum by setting one of the first or second clutch in a connected state and the other in a released state. Movement along the first direction and movement along the second direction of the second attachment portion due to winding and unwinding of the second wire as the second driving drum rotates. Multi-axis movable transfer device that can be selected by driving. 請求項１において、第１および第２駆動ドラムの軸線方向が同一方向に設定され、
前記第１および第２駆動ドラムおよび駆動モータを前記駆動ドラムの軸方向に移動自在に支持するドラム台と、
前記第１および第２駆動ドラムが正転方向に回転した場合に前記ドラム台が前記軸方向の正方向に所定量移動するように規制すると共に、前記第１および第２駆動ドラムが前記正転方向とは逆の逆転方向に回転した場合に前記ドラム台が前記正方向とは逆の逆方向に所定量移動するように規制して、前記第１および第２ワイヤの巻取位置および巻出位置が一定となるように制御するネジ手段とを更に備えた複軸移動可能な搬送装置。 In claim 1, the axial directions of the first and second drive drums are set in the same direction,
A drum base for supporting the first and second drive drums and the drive motor movably in the axial direction of the drive drum;
When the first and second drive drums rotate in the forward rotation direction, the drum base is regulated so as to move a predetermined amount in the forward direction of the axial direction, and the first and second drive drums move in the forward rotation direction. When the drum base is rotated in the reverse rotation direction opposite to the direction, the drum base is regulated so as to move by a predetermined amount in the reverse direction opposite to the forward direction, and the winding position and unwinding of the first and second wires are controlled. A multi-axis movable transfer device further comprising screw means for controlling the position to be constant. １つの駆動モータにより互いに概ね直交する第１および第２方向の２軸を含む複軸の移動・停止を可能にした複軸移動可能な搬送装置であって、
ワイヤと、
前記ワイヤの一端が巻回された第１巻回部、ならびに、前記ワイヤの他端が巻回された第２巻回部とを有する駆動ドラムと、
前記駆動ドラムを正逆回転させる駆動モータと、
前記第１巻回部から前記第２巻回部の間において、前記第１方向に沿った第１経路および前記第２方向に沿った第２経路を前記ワイヤが通るように、当該ワイヤを張設する複数のプーリと、
前記ワイヤの第１経路に取り付けられた第１取付部と、
前記ワイヤの第２経路に取り付けられた第２取付部と、
前記第１取付部と前記ワイヤとの連結解除を選択する第１クラッチと、
前記第２取付部と前記ワイヤとの連結解除を選択する第２クラッチと、
前記第１取付部を第１方向に案内する第１リニアガイドと、
前記第２取付部を第２方向に案内する第２リニアガイドとを備え、
前記第１または第２クラッチの一方を連結状態とし、かつ、他方を解除状態とすることで、前記第１駆動ドラムの回転に伴う前記ワイヤの巻取・巻出による前記第１取付部の第１方向に沿った移動と、前記第２駆動ドラムの回転に伴う前記ワイヤの巻取・巻出による前記第２取付部の第２方向に沿った移動とを１つの駆動モータの駆動により選択可能とした複軸移動可能な搬送装置。 A multi-axis movable transfer device that enables movement / stop of a multi-axis including two axes in the first and second directions substantially orthogonal to each other by one drive motor,
Wire,
A drive drum having a first winding portion around which one end of the wire is wound, and a second winding portion around which the other end of the wire is wound;
A drive motor for rotating the drive drum forward and backward,
Between the first winding part and the second winding part, the wire is stretched so that the wire passes through the first path along the first direction and the second path along the second direction. A plurality of pulleys to be installed;
A first attachment portion attached to the first path of the wire;
A second attachment portion attached to the second path of the wire;
A first clutch that selects connection release between the first attachment portion and the wire;
A second clutch for selecting connection release between the second attachment portion and the wire;
A first linear guide for guiding the first mounting portion in a first direction;
A second linear guide for guiding the second mounting portion in the second direction;
By setting one of the first and second clutches in a connected state and the other in a released state, the first mounting portion is wound by the winding and unwinding of the wire accompanying the rotation of the first driving drum. The movement along one direction and the movement along the second direction of the second mounting portion due to winding and unwinding of the wire accompanying the rotation of the second drive drum can be selected by driving one drive motor. Multi-axis movable transfer device. 請求項３において、前記駆動ドラムおよび駆動モータを前記駆動ドラムの軸方向に移動自在に支持するドラム台と、
前記駆動ドラムが正転方向に回転した場合に前記ドラム台が前記軸方向の正方向に所定量移動するように規制すると共に、前記駆動ドラムが前記正転方向とは逆の逆転方向に回転した場合に前記ドラム台が前記正方向とは逆の逆方向に所定量移動するように規制して、前記ワイヤの巻取位置および巻出位置が一定となるように制御するネジ手段とを更に備えた複軸移動可能な搬送装置。 The drum base according to claim 3, wherein the driving drum and the driving motor are movably supported in the axial direction of the driving drum;
When the drive drum rotates in the forward rotation direction, the drum base is regulated so as to move a predetermined amount in the forward direction of the axial direction, and the drive drum rotates in the reverse rotation direction opposite to the forward rotation direction. And a screw means for restricting the drum base to move by a predetermined amount in a direction opposite to the forward direction and controlling the winding position and unwinding position of the wire to be constant. Multi-axis movable transfer device.
JP2005286510A 2005-09-30 2005-09-30 Multi-axis movable transfer device Active JP4898178B2 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5891044A (en) * 1981-11-24 1983-05-30 Nippon Sheet Glass Co Ltd Glass composition for light converging lens
JPH05182052A (en) * 1991-10-22 1993-07-23 Nec Corp Carrying device in equipment
JPH07178683A (en) * 1993-12-24 1995-07-18 Murata Mach Ltd Driving device for orthogonal three-axis robot
JPH08174450A (en) * 1994-12-22 1996-07-09 Oki Electric Ind Co Ltd X-y table

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5891044A (en) * 1981-11-24 1983-05-30 Nippon Sheet Glass Co Ltd Glass composition for light converging lens
JPH05182052A (en) * 1991-10-22 1993-07-23 Nec Corp Carrying device in equipment
JPH07178683A (en) * 1993-12-24 1995-07-18 Murata Mach Ltd Driving device for orthogonal three-axis robot
JPH08174450A (en) * 1994-12-22 1996-07-09 Oki Electric Ind Co Ltd X-y table

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