JP4767824B2 - Multi-degree-of-freedom spherical bearing - Google Patents

Multi-degree-of-freedom spherical bearing Download PDF

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JP4767824B2
JP4767824B2 JP2006322881A JP2006322881A JP4767824B2 JP 4767824 B2 JP4767824 B2 JP 4767824B2 JP 2006322881 A JP2006322881 A JP 2006322881A JP 2006322881 A JP2006322881 A JP 2006322881A JP 4767824 B2 JP4767824 B2 JP 4767824B2
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panel
sphere
spherical bearing
holding member
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JP2008138692A (en
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壮作 木村
剛 岩切
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Hephaist Seiko Co Ltd
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Hephaist Seiko Co Ltd
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/06—Ball-joints; Other joints having more than one degree of angular freedom, i.e. universal joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C23/00—Bearings for exclusively rotary movement adjustable for aligning or positioning
    • F16C23/06—Ball or roller bearings
    • F16C23/08—Ball or roller bearings self-adjusting
    • F16C23/082—Ball or roller bearings self-adjusting by means of at least one substantially spherical surface
    • F16C23/086—Ball or roller bearings self-adjusting by means of at least one substantially spherical surface forming a track for rolling elements

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Rolling Contact Bearings (AREA)
  • Support Of The Bearing (AREA)
  • Bearings For Parts Moving Linearly (AREA)

Description

本発明は、多自由度球面軸受に関し、特に取り付け対象物を保持する中心球体とこの中心部材を保持する第１部材とからなる組立体を移動可能な多自由度球面軸受に関する。   The present invention relates to a multi-degree-of-freedom spherical bearing, and more particularly to a multi-degree-of-freedom spherical bearing capable of moving an assembly composed of a central sphere holding an object to be attached and a first member holding the central member.

従来、保持しようとする対象物を保持して対象物の角度を調整できるようにするために、球面軸受が用いられる。この球面軸受は、外周部材と、保持器と、複数の鋼球と、ロッドの先端部を有している。ロッドの先端部は球体状であり、保持器は外周部材の凹部内に配置されている。ロッドの先端部と保持器との間には、複数の鋼球が配置されていて、ロッドの先端部が外周部材に対して複数の鋼球を介して揺動できるようになっている（例えば、特許文献１参照）。
ところで保持しようとする対象物として多数のパネルの集合体、例えば大型のパラポラアンテナは、個々の反射面を構成するパネルをそれぞれ異なった所定の角度に調整して固定し、全体としてパラボラ状のアンテナ面を形成するように構成されている。 Conventionally, spherical bearings are used to hold an object to be held and adjust the angle of the object. This spherical bearing has an outer peripheral member, a cage, a plurality of steel balls, and a rod tip. The tip of the rod has a spherical shape, and the cage is disposed in the recess of the outer peripheral member. A plurality of steel balls are arranged between the tip of the rod and the cage, and the tip of the rod can swing with respect to the outer peripheral member via the plurality of steel balls (for example, , See Patent Document 1).
By the way, an aggregate of a large number of panels as an object to be held, for example, a large parapolar antenna, is fixed by adjusting the panels constituting the individual reflecting surfaces to different predetermined angles. An antenna surface is formed.

しかしながら、このようなパラボラアンテナは、個々の反射面を構成するパネルを取り付けるためにパネルの角度調整装置が用いられている。パネルの角度調整装置は、基体を有しており、この基体が大型の溶接構造のフレームとなっているので、この基体において反射面を取り付ける取付け位置が高い精度で仕上げられていることは期待できない。このため、個々の反射面となるパネルを取り付けた後で、各パネルの反射面の角度をそれぞれ調整する必要が生じる。   However, in such a parabolic antenna, a panel angle adjusting device is used to attach a panel constituting each reflecting surface. Since the panel angle adjusting device has a base body, and the base body is a large welded frame, it cannot be expected that the mounting position for attaching the reflecting surface on the base body is finished with high accuracy. . For this reason, after attaching the panel used as each reflective surface, it becomes necessary to adjust the angle of the reflective surface of each panel, respectively.

そして、このような大型のパラボラアンテナは山頂に近い屋外に設置されるものなので、一旦設置されたパラボラアンテナは、その後、長期間にわたって屋外で外気温度の大きな変化と風雪にさらされた状態で設置されることになる。このため、パラボラアンテナは、長期間にわたって、調整された反射面の角度が変わることがないように、強風にも耐えられるようにしっかりと固定されなければならない。さらに外気温度が大きく変化してパネル自体が伸び縮みしてもパネルにその応力が加わらないよう支持部はパネルの伸縮方向に対し拘束があってはならない。   And since such a large parabolic antenna is installed outdoors near the top of the mountain, once installed, the parabolic antenna is then installed outdoors over a long period of time and exposed to wind and snow. Will be. For this reason, the parabolic antenna must be firmly fixed to withstand strong winds so that the angle of the adjusted reflecting surface does not change over a long period of time. Further, the support portion should not be constrained with respect to the expansion / contraction direction of the panel so that the stress is not applied to the panel even when the outside air temperature changes greatly and the panel itself expands and contracts.

このようなパネルの角度調整装置の一例を図８及び図９に示す。
ここで、図８は角度が調整されるパネル５０の平面図である。図８に示すパネル５０の背面に設けられた３個所の調整位置５１ａ、５１ｂ、５１ｃの高さを調整して、パネル５０の角度を調整する。図９は図８のＤ−Ｄ断面図であり、例えば、図９に示す構造の角度調整装置５２は、パネル５０の角度を調整するように構成されている。 An example of such a panel angle adjusting device is shown in FIGS.
Here, FIG. 8 is a plan view of the panel 50 whose angle is adjusted. The angle of the panel 50 is adjusted by adjusting the heights of the three adjustment positions 51a, 51b, and 51c provided on the back surface of the panel 50 shown in FIG. 9 is a cross-sectional view taken along the line DD of FIG. 8. For example, the angle adjusting device 52 having the structure shown in FIG. 9 is configured to adjust the angle of the panel 50.

図９に示す角度調整装置５２は、パネル５０の３個所の調整位置５１ａ、５１ｂ、５１ｃにおいて基台５３からの高さを調整することによって、パネル５０の傾き方向と角度を調整する。パネル５０に取り付けられた球面軸受５４ａ、５４ｂ、５４ｂをそれぞれ調整ねじ５５で昇降させることによって、パネル５０の傾きの方向と角度を任意に調整する。そして、調整ねじ５５の下端には、調整ねじ５５を回転させるための最も簡便な駆動源として、つまみ５６が設けられている。
特開２００２−３３９９４７号公報 The angle adjusting device 52 shown in FIG. 9 adjusts the inclination direction and angle of the panel 50 by adjusting the height from the base 53 at the three adjustment positions 51a, 51b, 51c of the panel 50. The spherical bearings 54a, 54b, 54b attached to the panel 50 are moved up and down with the adjusting screw 55, so that the inclination direction and the angle of the panel 50 are arbitrarily adjusted. A knob 56 is provided at the lower end of the adjustment screw 55 as the simplest drive source for rotating the adjustment screw 55.
JP 2002-339947 A

ところが、このような構造の角度調整装置５２では、パネル５０を傾斜させることによって、図８に示す調整位置５１ａから調整位置５１ｂ、５１ｃまでの距離Ｌ１と、図９に示す球面軸受５４ａ、５４ｂ間の距離Ｌ２との間に距離との差が生じる。この距離の差（Ｌ２−Ｌ１）を吸収するために、パネル５０と球面軸受５４ａ、５４ｂの間には何らかの距離の差の吸収装置を設けるか、あるいは角度の調整後にパネル５０と球面軸受５４ａ、５４ｂとを固定しなければならない。   However, in the angle adjustment device 52 having such a structure, by tilting the panel 50, the distance L1 from the adjustment position 51a to the adjustment positions 51b and 51c shown in FIG. 8 and the distance between the spherical bearings 54a and 54b shown in FIG. A difference from the distance occurs between the distance L2 and the distance L2. In order to absorb this difference in distance (L2−L1), an absorption device of some distance difference is provided between the panel 50 and the spherical bearings 54a and 54b, or the panel 50 and the spherical bearing 54a, 54b must be fixed.

しかし、パネル５０と球面軸受５４ａ、５４ｂの間に距離の差の吸収装置を設けると、通常の吸収装置ではどうしても剛性が低くなり、長期間にわたって風雪にさらされ、強風に耐えることが困難になる。一方、角度の調整後にパネル５０と球面軸受５４ａ、５４ｂとを固定すれば、充分な剛性は得られるが、パネル５０の取付作業に手間が掛かり、特に、現地で角度の調整をしなければならないときには、高所などの危険個所で、手間の掛かるパネル５０の取付け作業をしなければならない。しかも、周囲の気温変動によるパネルの伸縮量を調整位置５１ａ、５１ｂ、５１ｃが補償出来ないと、パネル５０に無理な応力、歪みが加わることになる。
そこで、本発明は、上記のような従来技術の課題を解消するために、保持しようとする対象物の角度の調整が可能であると共に距離の差も吸収することができ、充分な剛性が得られる多自由度球面軸受を提供することを目的とする。 However, if an absorption device having a difference in distance is provided between the panel 50 and the spherical bearings 54a and 54b, the ordinary absorption device inevitably has low rigidity, is exposed to wind and snow for a long time, and is difficult to withstand strong winds. . On the other hand, if the panel 50 and the spherical bearings 54a and 54b are fixed after adjusting the angle, sufficient rigidity can be obtained. However, it takes time to install the panel 50, and in particular, the angle must be adjusted locally. In some cases, it is necessary to carry out the troublesome work of installing the panel 50 in a dangerous place such as a high place. In addition, if the adjustment positions 51a, 51b, and 51c cannot compensate for the amount of expansion and contraction of the panel due to ambient temperature fluctuations, excessive stress and distortion will be applied to the panel 50.
Therefore, the present invention can adjust the angle of the object to be held and can also absorb the difference in distance in order to solve the problems of the prior art as described above, thereby obtaining sufficient rigidity. It is an object to provide a multi-degree-of-freedom spherical bearing.

上記課題を解消するために、本発明の多自由度球面軸受は、保持しようとする対象物を保持するための多自由度球面軸受において、
内部に凹状の球面が形成された球体保持部材（第１部材）と、前記球体保持部材の前記凹状の球面によって外周を揺動可能に支持されている前記対象物を取り付けるための中心球体、そして前記球体保持部材をその水平方向の滑動（移動）を可能にする滑動手段（移動装置）を介して支持する、前記球体保持部材の周囲に配置された球体保持部材支持部材（第２部材）を備え、前記中心球体が複数の球体を介して前記球体保持部材に保持されていることを特徴とする。 In order to solve the above problems, a multi-degree-of-freedom spherical bearing of the present invention is a multi-degree-of-freedom spherical bearing for holding an object to be held,
A spherical body holding member (first member) having a concave spherical surface formed therein, a central spherical body for mounting the object supported by the concave spherical surface of the spherical body holding member so as to be swingable on the outer periphery; and A sphere holding member support member (second member) disposed around the sphere holding member, which supports the sphere holding member via sliding means (moving device) that enables sliding (moving) in the horizontal direction. And the center sphere is held by the sphere holding member via a plurality of spheres .

本発明の多自由度球面軸受は、好ましくは前記球体保持部材が球体保持部材支持部材の側に向かって延びる延長部分を有し、かつ前記球体保持部材支持部材が球体保持部材の側に向かって延びる延長部分を有していて、前記滑動手段が上記の両延長部分の間に挿入された、球体と球体保持板（リテーナ）とから構成される滑動手段であることを特徴とする。 In the multi-degree-of-freedom spherical bearing of the present invention, preferably, the sphere holding member has an extending portion extending toward the sphere holding member support member, and the sphere holding member support member faces the sphere holding member. The sliding means includes a sphere and a sphere holding plate (retainer), which has an extending portion extending, and is inserted between the two extending portions .

本発明の多自由度球面軸受は、好ましくは前記球体保持部材支持部材の延長部分が中央に開口部を備えるリング状の形状にあり、そして前記リング状の延長部分の開口部に前記球体保持部材に支持された中心球体が配置されていることを特徴とする。 In the multi-degree-of-freedom spherical bearing of the present invention, preferably, the extended portion of the spherical body holding member support member has a ring shape with an opening in the center, and the spherical body holding member is formed in the opening of the ring shaped extended portion. The center sphere supported by the is arranged .

本発明の多自由度球面軸受によれば、保持しようとする対象物の角度の調整が可能であると共に距離の差も吸収することができ、充分な剛性が得られる。   According to the multi-degree-of-freedom spherical bearing of the present invention, the angle of the object to be held can be adjusted and the difference in distance can be absorbed, so that sufficient rigidity can be obtained.

以下、図面を参照して、本発明の多自由度球面軸受の好ましい実施形態を詳細に説明する。
図１は、本発明の多自由度球面軸受の第１の実施例を示す断面図であり、図２は、本発明の多自由度球面軸受の第２の実施例を示す断面図である。
図３（ａ）は、第２の実施例における支持部１３の支持面８６Ｓと球体９０を示す平面図であり、図３（ｂ）は、第２の実施例における移動案内部１４の球体１１０と複数の直線溝１７０を示す平面図である。 Hereinafter, preferred embodiments of the multi-degree-of-freedom spherical bearing of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a cross-sectional view showing a first embodiment of the multi-degree-of-freedom spherical bearing of the present invention, and FIG. 2 is a cross-sectional view showing a second embodiment of the multi-degree-of-freedom spherical bearing of the present invention.
FIG. 3A is a plan view showing the support surface 86S of the support portion 13 and the sphere 90 in the second embodiment, and FIG. 3B is a sphere 110 of the movement guide portion 14 in the second embodiment. 2 is a plan view showing a plurality of linear grooves 170. FIG.

図４は、本発明の多自由度球面軸受の実施例が用いられている角度調整装置により角度が調整されるパネルの第１の実施例を示す平面図であり、図５は、本発明の多自由度球面軸受の実施例が用いられている角度調整装置の第１の実施例の構造を示す図４のＣ−Ｃ線における断面図である。
図６は、本発明の多自由度球面軸受の実施例が用いられている角度調整装置により角度が調整されるパネルの第２の実施例を示す平面図である。図７は本発明の多自由度球面軸受の実施例が用いられている角度調整装置の第２の実施例の構造を示すＦ―Ｆ断面図である。 FIG. 4 is a plan view showing a first embodiment of a panel whose angle is adjusted by an angle adjusting device using the embodiment of the multi-degree-of-freedom spherical bearing of the present invention, and FIG. It is sectional drawing in the CC line of FIG. 4 which shows the structure of 1st Example of the angle adjusting device in which the Example of a multi-degree-of-freedom spherical bearing is used.
FIG. 6 is a plan view showing a second embodiment of the panel in which the angle is adjusted by the angle adjusting device in which the embodiment of the multi-degree-of-freedom spherical bearing of the present invention is used. FIG. 7 is a cross-sectional view taken along line FF showing the structure of the second embodiment of the angle adjusting device in which the embodiment of the multi-degree-of-freedom spherical bearing of the present invention is used.

＜第１の実施例＞
図１を参照して、第１の実施例の多自由度球面軸受１０を説明する。
図１の多自由度球面軸受１０は、保持しようとする対象物の一例であるパネル３０を保持する軸受であり、概略的には、揺動装置２００と移動装置（滑動手段）２５０を有している。
揺動装置２００は、第１部材（球体保持部材）１１と、中心球体１２と、玉軸受１６０を有している。移動装置２５０は、支持部１３と移動案内部１４を有している。揺動装置２００と移動装置２５０は、保持しようとするパネル３０を、Ｒ方向に揺動して、しかもＸ方向とＹ方向からなるＸ―Ｙ面内で移動可能に、すなわち多自由度で移動可能に保持することができる。Ｘ―Ｙ面は図１の紙面垂直方向に形成されている面である。Ｘ方向とＹ方向とＺ方向は互いに直交している。 <First embodiment>
A multi-degree-of-freedom spherical bearing 10 according to a first embodiment will be described with reference to FIG.
A multi-degree-of-freedom spherical bearing 10 in FIG. 1 is a bearing that holds a panel 30 that is an example of an object to be held, and generally includes a rocking device 200 and a moving device (sliding means) 250. ing.
The rocking device 200 includes a first member (sphere holding member) 11, a center sphere 12, and a ball bearing 160. The moving device 250 has a support part 13 and a movement guide part 14. The swinging device 200 and the moving device 250 swing the panel 30 to be held in the R direction and can move in the XY plane composed of the X direction and the Y direction, that is, move with multiple degrees of freedom. Can be held as possible. The XY plane is a plane formed in the direction perpendicular to the paper surface of FIG. The X direction, the Y direction, and the Z direction are orthogonal to each other.

第１部材１１は、円筒部分７５と延長部分７６とサポート部材７９を含んでいる。第１部材１１の円筒部分７５は、内部に凹状の球面（球面座ともいう）２３が形成されている。中心球体１２の外周面２４は、第１部材１１の凹状の球面２３に対して、玉軸受１６０を介して、Ｒ方向に沿って揺動可能に支持されている。
この中心球体１２は、パネル３０を取り付けて保持するための取付部２５に固定されている。取付部２５は、軸部２６と、この軸部２６の両端部に設けられたフランジ２７，２７を有しており、取付部２５の軸部２６は、中心球体１２の中心の貫通孔２７Ｈを通過している。中心球体１２が揺動していない中立状態では、取付部２５の軸部２６の中心と中心球体１２の中心は、中心軸ＣＬを通っていて、中心軸ＣＬはＺ方向に平行である。 The first member 11 includes a cylindrical portion 75, an extension portion 76, and a support member 79. The cylindrical portion 75 of the first member 11 has a concave spherical surface (also referred to as a spherical seat) 23 formed therein. The outer peripheral surface 24 of the center sphere 12 is supported by the concave spherical surface 23 of the first member 11 via a ball bearing 160 so as to be swingable along the R direction.
The central sphere 12 is fixed to an attachment portion 25 for attaching and holding the panel 30. The mounting portion 25 has a shaft portion 26 and flanges 27, 27 provided at both ends of the shaft portion 26. The shaft portion 26 of the mounting portion 25 has a through hole 27 </ b> H at the center of the central sphere 12. Has passed. In the neutral state where the central sphere 12 is not swinging, the center of the shaft portion 26 of the mounting portion 25 and the center of the central sphere 12 pass through the central axis CL, and the central axis CL is parallel to the Z direction.

パネル３０の孔と介在部材２８の孔には軸部２６が通っており、フランジ２７，２７と軸部２６は、パネル３０と介在部材２８と中心球体１２を一体的に固定することで組立体１２０を構成している。
上述したように、第１部材１１の内部には、凹状の球面２３が形成され、中心球体１２の外周面２４は第１部材１１の凹状の球面２３に沿って、玉軸受１６０によってＲ方向に沿って揺動可能に支持されている。 The shaft portion 26 passes through the hole of the panel 30 and the hole of the interposed member 28, and the flanges 27, 27 and the shaft portion 26 are assembled by fixing the panel 30, the interposed member 28 and the central sphere 12 together. 120 is configured.
As described above, the concave spherical surface 23 is formed inside the first member 11, and the outer peripheral surface 24 of the central sphere 12 is moved in the R direction by the ball bearing 160 along the concave spherical surface 23 of the first member 11. It is supported so that it can swing along.

図１の多自由度球面軸受１０では、第１部材１１の凹状の球面２３と中心球体１２の外周面２４との間に、リテーナ（保持器）７０によって相互に離間して保持された複数の球体７１が配置されている。リテーナ７１と複数の球体７０は玉軸受１６０を構成している。これにより、中心球体１２と取付部２５とパネル３０の組立体１２０は、第１部材１１に対して玉軸受１６０の複数の球体７１を介して、Ｒ方向に沿って揺動可能である。   In the multi-degree-of-freedom spherical bearing 10 of FIG. 1, a plurality of retainers (retainers) 70 are held apart from each other between the concave spherical surface 23 of the first member 11 and the outer peripheral surface 24 of the central sphere 12. A sphere 71 is arranged. The retainer 71 and the plurality of spheres 70 constitute a ball bearing 160. Thereby, the assembly 120 of the central sphere 12, the mounting portion 25, and the panel 30 can swing along the R direction with respect to the first member 11 via the plurality of spheres 71 of the ball bearing 160.

図１に示す第１部材１１は、筒状部分７５とリング状の延長部分７６とリング状のサポート部材７９を有している。筒状部分７５の内周面には、すでに説明した凹状の球面２３が全周に沿って形成されている。筒状部分７５と延長部分７６とリング状のサポート部材７９は、ほぼ断面Ｕ字型を有しており、延長部分７６はＸ―Ｙ平面内に沿って形成されている。リング状のサポート部材７９は、Ｘ―Ｙ平面内に沿って、延長部分７６と平行になるように形成されており、サポート部材７９の内周部部分は、筒状部分７５の下端部に対して固定されている。延長部分７６の外径寸法とサポート部材７９の外径寸法は同じであり、筒状部分７５の内径寸法とサポート部材７９の内径寸法は同じである。   The first member 11 shown in FIG. 1 has a cylindrical portion 75, a ring-shaped extension portion 76, and a ring-shaped support member 79. On the inner peripheral surface of the cylindrical portion 75, the concave spherical surface 23 described above is formed along the entire circumference. The cylindrical portion 75, the extended portion 76, and the ring-shaped support member 79 have a substantially U-shaped cross section, and the extended portion 76 is formed along the XY plane. The ring-shaped support member 79 is formed so as to be parallel to the extension portion 76 along the XY plane, and the inner peripheral portion of the support member 79 is in relation to the lower end portion of the cylindrical portion 75. Is fixed. The outer diameter of the extension portion 76 and the outer diameter of the support member 79 are the same, and the inner diameter of the cylindrical portion 75 and the inner diameter of the support member 79 are the same.

筒状部分７５の貫通孔７７Ａには介在部材２８が通っており、介在部材２８の外径は貫通孔７７の内径よりも小さくなっており、中心球体１２が揺動されて中心球体１２の中心軸ＣＬがＺ軸に対して傾いても、介在部材２８と筒状部分７５の貫通孔７７Ａの内面が衝突しないようになっている。   The interposed member 28 passes through the through-hole 77A of the cylindrical portion 75, and the outer diameter of the interposed member 28 is smaller than the inner diameter of the through-hole 77, and the central sphere 12 is swung to the center of the central sphere 12. Even if the axis CL is inclined with respect to the Z axis, the interposition member 28 and the inner surface of the through hole 77A of the cylindrical portion 75 do not collide.

一方、図１に示す固定側の第２部材（球体保持部材支持部材）２２は、固定板７７に固定されており、第２部材２２は外側部分８５と延長部分８６を有している。外側部分８５と延長部分８６は断面Ｌ字型を形成しており、内部空間領域８８は外側部分８５と延長部分８６と固定板７７により形成されている。この内部空間領域８８には、下端側のフランジ２７とサポート部材７９と中心球体１２の下部と筒状部分７５の下部と移動案内部１４が収容されている。
延長部分８６の孔部分（開口部）８９内には、筒状部分７５が配置されている。筒状部分７５の外径は、孔部分８９の内径よりも小さくなっていることで、中心球体１２が揺動されても、筒状部分７５の外周面が孔部分８９の内周面に当たらないようになっている。 On the other hand, the second member (sphere holding member support member) 22 on the fixed side shown in FIG. 1 is fixed to a fixing plate 77, and the second member 22 has an outer portion 85 and an extension portion 86. The outer portion 85 and the extension portion 86 have an L-shaped cross section, and the inner space region 88 is formed by the outer portion 85, the extension portion 86, and the fixing plate 77. In this internal space area 88, the flange 27 on the lower end side, the support member 79, the lower part of the central spherical body 12, the lower part of the cylindrical part 75, and the movement guide part 14 are accommodated.
A cylindrical portion 75 is disposed in the hole portion (opening portion) 89 of the extension portion 86. Since the outer diameter of the cylindrical portion 75 is smaller than the inner diameter of the hole portion 89, even if the central sphere 12 is swung, the outer peripheral surface of the cylindrical portion 75 hits the inner peripheral surface of the hole portion 89. There is no such thing.

次に、図１に示す移動装置２５０の支持部１３と移動案内部１４の構造例について説明する。移動装置２５０は、上述した揺動装置２００をＸ―Ｙ平面内で移動（水平方向に滑動）させる装置であり、移動装置２５０は支持部１３と移動案内部１４を有している。
まず、図１の支持部１３を説明すると、支持部１３は、延長部分７６と、延長部分８６と、複数の球体９０と、リテーナ（球体保持板）９１から構成されている。リテーナ９１には、相互に離間された複数の球体９０が保持されている。リテーナ９１と複数の球体９０は、平面軸受１６１を構成している。延長部分７６の下側の支持面７６Ｓと延長部分８６の上側の支持面８６Ｓは、共に平坦面である。 Next, the structural example of the support part 13 and the movement guide part 14 of the moving apparatus 250 shown in FIG. 1 is demonstrated. The moving device 250 is a device that moves (slides in the horizontal direction) the above-described rocking device 200 in the XY plane, and the moving device 250 includes the support portion 13 and the movement guide portion 14.
First, the support portion 13 shown in FIG. 1 will be described. The support portion 13 includes an extension portion 76, an extension portion 86, a plurality of spheres 90, and a retainer (sphere holding plate) 91. The retainer 91 holds a plurality of spheres 90 spaced apart from each other. The retainer 91 and the plurality of spheres 90 constitute a planar bearing 161. The lower support surface 76S of the extension portion 76 and the upper support surface 86S of the extension portion 86 are both flat surfaces.

複数の球体９０は、延長部分７６の支持面７６Ｓと延長部分８６の支持面８６Ｓの間に配置されており、延長部分７６の支持面７６Ｓは延長部分８６の支持面８６Ｓに対して複数の球体９０を用いて支持されている。このようにして、この支持部１３では、第１部材１１の延長部分７６が、平面軸受１６１の複数の球体９０を用いて、第２部材２２の延長部分８６の支持面８６Ｓに対して支持されている。   The plurality of spheres 90 are disposed between the support surface 76S of the extension portion 76 and the support surface 86S of the extension portion 86, and the support surface 76S of the extension portion 76 is a plurality of spheres with respect to the support surface 86S of the extension portion 86. 90 is supported. In this way, in the support portion 13, the extension portion 76 of the first member 11 is supported with respect to the support surface 86 </ b> S of the extension portion 86 of the second member 22 using the plurality of spheres 90 of the planar bearing 161. ing.

また、図１の移動装置２５０の移動案内部１４は、延長部分８６と、サポート部材７９と、複数の球体１１０と、リテーナ１１１から構成されている。リテーナ１１１には、相互に離間されたこれらの球体１１０が保持されている。リテーナ１１１と複数の球体１１０は、平面軸受１６２を構成している。延長部分８６の下側の支持面８６Ｐとサポート部材７９の上側の支持面７９Ｓは、共に平坦面である。   In addition, the movement guide unit 14 of the moving device 250 of FIG. 1 includes an extension portion 86, a support member 79, a plurality of spheres 110, and a retainer 111. The retainer 111 holds these spheres 110 that are spaced apart from each other. The retainer 111 and the plurality of spheres 110 constitute a planar bearing 162. The lower support surface 86P of the extension portion 86 and the upper support surface 79S of the support member 79 are both flat surfaces.

複数の球体１１０は、延長部分８６の支持面８６Ｐとサポート部材７９の支持面７９Ｓとの間に配置されている。このようにして、この移動案内部１４では、サポート部材７９の支持面７９Ｓが、平面軸受１６２の複数の球体１１０を用いて、延長部分８６の支持面８６Ｐに対して押し付けて支持されている。
中心球体１２と第１部材１１とパネル３０と取付部２５とからなる組立体１２０は、移動装置２５０の支持部１３と移動案内部１４により、Ｘ―Ｙ平面内において任意の方向に沿って移動することができる、 The plurality of spheres 110 are disposed between the support surface 86 </ b> P of the extension portion 86 and the support surface 79 </ b> S of the support member 79. In this manner, in the movement guide portion 14, the support surface 79 </ b> S of the support member 79 is supported by being pressed against the support surface 86 </ b> P of the extension portion 86 using the plurality of spheres 110 of the planar bearing 162.
The assembly 120 including the central sphere 12, the first member 11, the panel 30, and the mounting portion 25 is moved along an arbitrary direction in the XY plane by the support portion 13 and the movement guide portion 14 of the moving device 250. can do,

この多自由度球面軸受１０では、１つの玉軸受１６０と２つの平面軸受１６１，１６２が示されているが、玉軸受１６０と平面軸受１６１，１６２の構造は図示例に限らない。例えば、球体９０，１１０は、鋼球などの材質以外に、含油焼結金属やプラスチックのような軸受材料を用いてもよい。 In this multi-degree-of-freedom spherical bearing 10, one ball bearing 160 and two planar bearings 161 and 162 are shown, but the structures of the ball bearing 160 and the planar bearings 161 and 162 are not limited to the illustrated example. For example, spherical bodies 9 0,110, in addition to materials such as steel balls, but it may also be used bearing material such as oil impregnated sintered metal or plastics.

多自由度球面軸受１０は、上記のように構成されているので、中心球体１２と第１部材１１とパネル３０と取付部２５とからなる組立体１２０は、揺動装置２００の第１部材１１内の玉軸受１６０により、Ｒ方向に沿って自由に軽い力で揺動可能である。しかも、この組立体１２０は、移動装置２５０の支持部１３と移動案内部１４により、Ｘ―Ｙ面内では、軽い力で任意の方向に移動可能となっている。
揺動装置２００は、凹状の球面２３を有する揺動装置２００によってパネル３０をＲ方向に揺動可能であり、この球面２３は、中心軸ＣＬに配置された大きな直径を有する中心球体１２を複数の球体７１で支持することで、パネル３０は軽い力で中心軸ＣＬに対して揺動できる。 Since the multi-degree-of-freedom spherical bearing 10 is configured as described above, the assembly 120 including the central sphere 12, the first member 11, the panel 30, and the mounting portion 25 is the first member 11 of the swing device 200. The inner ball bearing 160 can swing freely along the R direction with a light force. Moreover, the assembly 120 can be moved in any direction with a light force in the XY plane by the support portion 13 and the movement guide portion 14 of the moving device 250.
The oscillating device 200 can oscillate the panel 30 in the R direction by the oscillating device 200 having the concave spherical surface 23, and the spherical surface 23 includes a plurality of central spheres 12 having a large diameter arranged on the central axis CL. The panel 30 can swing with respect to the central axis CL with a light force.

＜第２の実施例＞
次に、図２と図３を参照して、第２の実施例の多自由度球面軸受１８を説明する。
図２に示す多自由度球面軸受１８の各構成要素は、移動装置２５０の移動案内部１１４の構成を除いては、図１に示す多自由度球面軸受１０の対応する各構成要素と同じであるので、同じ符号を付している。このため、図１と図２において共通する構成要素については、第１の実施例の多自由度球面軸受１０の説明を、第２の実施例の多自由度球面軸受１８の説明として援用して、その説明を省略する。 <Second embodiment>
Next, the multi-degree-of-freedom spherical bearing 18 of the second embodiment will be described with reference to FIGS.
The components of the multi-degree-of-freedom spherical bearing 18 shown in FIG. 2 are the same as the corresponding components of the multi-degree-of-freedom spherical bearing 10 shown in FIG. Since there are, the same reference numerals are given. For this reason, for the components common in FIGS. 1 and 2, the description of the multi-degree-of-freedom spherical bearing 10 of the first embodiment is used as the description of the multi-degree-of-freedom spherical bearing 18 of the second embodiment. The description is omitted.

図１に示す多自由度球面軸受１０では、揺動装置２００の中心球体１２が第１部材１１の内部の球面２３に沿って玉軸受１６０を用いて、Ｒ方向に沿って自由に揺動可能であり、しかも移動装置２５０の支持部１３と移動案内部１４は、中心球体１２と第１部材１１とパネル３０と取付部２５とからなる組立体１２０を、図１の中立状態にある中心軸ＣＬに対して直交するＸ―Ｙ面内では、任意の方向に移動可能となっている。
これに対して、図２の移動案内部１１４は、図１の移動案内部１４の場合とは異なり、中心球体１２と第１部材１１とパネル３０と取付部２５とからなる組立体１２０を、Ｘ―Ｙ面内では、Ｘ方向（図２の紙面垂直方向）のみに移動が規制されていることが特徴的である。 In the multi-degree-of-freedom spherical bearing 10 shown in FIG. 1, the central sphere 12 of the oscillating device 200 can freely oscillate along the R direction using the ball bearing 160 along the spherical surface 23 inside the first member 11. In addition, the support unit 13 and the movement guide unit 14 of the moving device 250 are configured so that the assembly 120 including the central sphere 12, the first member 11, the panel 30, and the mounting unit 25 is placed in the neutral state in FIG. In the XY plane orthogonal to CL, it can move in any direction.
On the other hand, the movement guide part 114 in FIG. 2 differs from the movement guide part 14 in FIG. 1 in that the assembly 120 including the central sphere 12, the first member 11, the panel 30, and the attachment part 25 In the XY plane, it is characteristic that the movement is restricted only in the X direction (the vertical direction in FIG. 2).

支持部１３の延長部分７６の支持面７６Ｓと延長部分８６の支持面８６Ｓは平坦面である。複数の球体９０は、延長部分７６の支持面７６Ｓと延長部分８６の支持面８６Ｓの間に配置されており、延長部分７６の支持面７６Ｓは延長部分８６の支持面８６Ｓに対して複数の球体９０を用いてＸ―Ｙ面内において移動可能に支持されている。   The support surface 76S of the extension portion 76 of the support portion 13 and the support surface 86S of the extension portion 86 are flat surfaces. The plurality of spheres 90 are disposed between the support surface 76S of the extension portion 76 and the support surface 86S of the extension portion 86, and the support surface 76S of the extension portion 76 is a plurality of spheres with respect to the support surface 86S of the extension portion 86. 90 is supported so as to be movable in the XY plane.

しかし、移動案内部１１４における延長部分８６の下側の支持面８６Ｐは、平坦面にはなってはいるが、さらにその平坦面には複数の直線溝（転動溝ともいう）１７０を有している。同様にして、サポート部材７９の支持面７９Ｓは、平坦面にはなってはいるが、さらにその平坦面には複数の直線溝（転動溝ともいう）１７１を有している。
複数の直線溝１７０は、複数の直線溝１７１に対してそれぞれ対面した位置に形成されており、各直線溝１７０，１７１の間には、複数の球体２１０が挟まれて配置されている。複数の球体２１０はリテーナ１１１により相互に離間した状態で保持されている。 However, the lower support surface 86P of the extension portion 86 in the movement guide portion 114 is a flat surface, but further has a plurality of linear grooves (also referred to as rolling grooves) 170 on the flat surface. ing. Similarly, the support surface 79S of the support member 79 is a flat surface, but further has a plurality of linear grooves (also referred to as rolling grooves) 171 on the flat surface.
The plurality of linear grooves 170 are formed at positions facing the plurality of linear grooves 171, and a plurality of spheres 210 are sandwiched between the linear grooves 170 and 171. The plurality of spheres 210 are held by the retainer 111 in a state of being separated from each other.

図３（ａ）は、支持部１３の支持面８６Ｓと球体９０を示している。図３（ａ）に示す構造は、図１の多自由度球面軸受１０においても同じである。図３（ｂ）は、移動案内部１４の球体１１０と直線溝１７０を示している。
図２に示す多自由度球面軸受１８は、上述したように図１の多自由度球面軸受１０とは一部分が異なる構造である。中心球体１２と第１部材１１とパネル３０と取付部２５とからなる組立体１２０が、揺動装置２００の第１部材１１内の玉軸受１６０により、Ｒ方向に沿って自由に軽い力で揺動可能である。そして、組立体１２０は、移動装置２５０の支持部１３と移動案内部１１４により、Ｘ―Ｙ面内おいて、直線溝１７０，１７１に沿ったＸ方向（図２の紙面垂直方向）だけに沿って、軽い力で移動可能となっている。つまり、組立体１２０のＸ―Ｙ面内における直線移動方向は、Ｘ方向だけに規制されている。 FIG. 3A shows the support surface 86 </ b> S and the sphere 90 of the support portion 13. The structure shown in FIG. 3A is the same in the multi-degree-of-freedom spherical bearing 10 shown in FIG. FIG. 3B shows the sphere 110 and the linear groove 170 of the movement guide unit 14.
The multi-degree-of-freedom spherical bearing 18 shown in FIG. 2 is partially different from the multi-degree-of-freedom spherical bearing 10 of FIG. 1 as described above. The assembly 120 composed of the central sphere 12, the first member 11, the panel 30, and the mounting portion 25 is rocked with a light force freely along the R direction by the ball bearing 160 in the first member 11 of the rocking device 200. It is possible to move. The assembly 120 is moved along only the X direction (perpendicular to the plane of FIG. 2) along the straight grooves 170 and 171 in the XY plane by the support portion 13 and the movement guide portion 114 of the moving device 250. It can move with light force. That is, the linear movement direction of the assembly 120 in the XY plane is restricted only in the X direction.

次に、図１に示す多自由度球面軸受１０、あるいは図２に示す多自由度球面軸受１８が、平板の角度調整装置に採用された場合における角度調整のための構造を、図４と図５を参照して説明する。
図４は、本発明の多自由度球面軸受の実施例が用いられている角度調整装置により角度が調整されるパネルの第１の実施例を示す平面図である。
図５は、本発明の多自由度球面軸受の実施例が用いられている角度調整装置の第１の実施例の構造を示す図４のＣ−Ｃ線における断面図である。 Next, the structure for angle adjustment in the case where the multi-degree-of-freedom spherical bearing 10 shown in FIG. 1 or the multi-degree-of-freedom spherical bearing 18 shown in FIG. This will be described with reference to FIG.
FIG. 4 is a plan view showing a first embodiment of a panel whose angle is adjusted by an angle adjusting device using the embodiment of the multi-degree-of-freedom spherical bearing of the present invention.
FIG. 5 is a cross-sectional view taken along the line CC of FIG. 4 showing the structure of the first embodiment of the angle adjusting device in which the embodiment of the multi-degree-of-freedom spherical bearing of the present invention is used.

図４と図５に示すパネルの角度調整装置３００は、例えばパラボラアンテナの反射板のようなパネル３０の向きと角度を調整するように構成されている。パネル３０は、このパネル３０の背面に設けられた３個所の調整位置３０ａ、３０ｂ、３０ｃで高さを調整して、パネル３０の向きと角度が任意に調整できる。   The panel angle adjusting device 300 shown in FIGS. 4 and 5 is configured to adjust the orientation and angle of a panel 30 such as a reflector of a parabolic antenna, for example. The panel 30 can be adjusted in any direction and angle by adjusting the height at three adjustment positions 30 a, 30 b, 30 c provided on the back surface of the panel 30.

図５に示すように、３個所の調整位置３０ａ、３０ｂ、３０ｃには、高さの調整機構３１Ａ，３１Ｂ，３１Ｃが配置されている。高さの調整機構３１Ａは、球面軸受３２ａを有している。高さの調整機構３１Ｂは、図１に示す多自由度球面軸受１８を有している。高さの調整機構３１Ｃは、図２に示す多自由度球面軸受１０を有している。
この球面軸受３２ａは通常の構造の球面軸受を採用しており、球面軸受３２ａは支持体３８Ａに固定されている。多自由度球面軸受１８は、支持体３８Ｂに固定され、多自由度球面軸受１０は、支持体３８Ｃに固定されている。 As shown in FIG. 5, height adjustment mechanisms 31A, 31B, and 31C are arranged at three adjustment positions 30a, 30b, and 30c. The height adjusting mechanism 31A has a spherical bearing 32a. The height adjusting mechanism 31B has the multi-degree-of-freedom spherical bearing 18 shown in FIG. The height adjusting mechanism 31C has the multi-degree-of-freedom spherical bearing 10 shown in FIG.
The spherical bearing 32a employs a spherical bearing having a normal structure, and the spherical bearing 32a is fixed to the support 38A. The multi-degree-of-freedom spherical bearing 18 is fixed to the support 38B, and the multi-degree-of-freedom spherical bearing 10 is fixed to the support 38C.

支持体３８Ａ、３８Ｂ、３８Ｃは、それぞれ調整ねじ３３により基板３４に対して保持されている。調整ねじ３３の下端には、調整ねじ３３を回転させるためのつまみ３５が設けられている。つまみ３５を操作して調整ねじ３３を回転することで、支持体３８Ａ、３８Ｂ、３８Ｃは昇降されて、支持体３８Ａ、３８Ｂ、３８ＣのＺ方向の高さをそれぞれ調整することができる。   The supports 38A, 38B, and 38C are held with respect to the substrate 34 by adjusting screws 33, respectively. A knob 35 for rotating the adjustment screw 33 is provided at the lower end of the adjustment screw 33. By operating the knob 35 and rotating the adjusting screw 33, the support bodies 38A, 38B, and 38C can be raised and lowered to adjust the heights of the support bodies 38A, 38B, and 38C in the Z direction, respectively.

上述したように、図４と図５に示す例では、調整位置３０ａに取り付けられる球面軸受３２ａは、従来技術の球面軸受と同様の回転して揺動するのみの球面軸受である。これに対して、図４と図５に示す調整位置３０ｂに取り付けられる球面軸受は、図２の多自由度球面軸受１８であり、図２と図３に示す多自由度球面軸受１８の直線溝１７０，１７１の形成方向が、調整位置３０ａと調整位置３０ｃとを結ぶラインＬに沿うように、多自由度球面軸受１８の固定板７７が支持体３８Ｂに取り付けられている。
図４と図５に示す調整位置３０Ｃに取り付けられる球面軸受は、図１の多自由度球面軸受１０である。 As described above, in the example shown in FIGS. 4 and 5, the spherical bearing 32a attached to the adjustment position 30a is a spherical bearing that only rotates and swings, similar to the conventional spherical bearing. On the other hand, the spherical bearing attached to the adjustment position 30b shown in FIGS. 4 and 5 is the multi-degree-of-freedom spherical bearing 18 of FIG. 2, and the linear groove of the multi-degree-of-freedom spherical bearing 18 shown in FIGS. The fixed plate 77 of the multi-degree-of-freedom spherical bearing 18 is attached to the support body 38B so that the formation directions of 170 and 171 are along a line L connecting the adjustment position 30a and the adjustment position 30c.
The spherical bearing attached to the adjustment position 30C shown in FIGS. 4 and 5 is the multi-degree-of-freedom spherical bearing 10 of FIG.

このようにそれぞれの調整位置３０ａ、３０ｂ、３０ｃに球面軸受３２ａ、１８，１０をそれぞれ配置することによって、パネル３０は次のように移動可能である。すなわち、調整位置３０ａでは、パネル３０は揺動するのみで球面軸受３２ａとパネル３０との位置関係は変わることない。しかし、調整位置３０ｂでは、図４に矢印Ｐで示すように、パネル３０は調整位置３０ａと調整位置３０ｂとを結ぶラインＬに沿って移動可能となり、調整位置３０ｃでは、図４に十字の矢印Ｐ１，Ｐ２で示すように、パネル３０は任意の方向に移動可能である。このため、パネルの角度調整装置３００は、調整位置３０ａを基準位置とした距離の差の吸収装置を構成できる。   Thus, by arranging the spherical bearings 32a, 18, 10 at the respective adjustment positions 30a, 30b, 30c, the panel 30 can be moved as follows. That is, at the adjustment position 30a, the panel 30 only swings, and the positional relationship between the spherical bearing 32a and the panel 30 does not change. However, at the adjustment position 30b, as indicated by an arrow P in FIG. 4, the panel 30 can move along a line L connecting the adjustment position 30a and the adjustment position 30b. At the adjustment position 30c, the cross arrow in FIG. As indicated by P1 and P2, the panel 30 is movable in any direction. For this reason, the panel angle adjustment device 300 can constitute a distance difference absorption device with the adjustment position 30a as a reference position.

多自由度球面軸受１８，１０は、適切なプリロードをかけることによって、滑らかに移動することができると共に、充分な剛性を得ることができるので、パネルの角度調整装置３００は、多自由度球面軸受１８，１０を採用することによって、長期間にわたって風雪にさらされても、強風に耐えることができる。しかも、パネルの角度調整装置３００は、パネル３０の角度の調整が容易であり、パネル３０における距離の差やパネルの熱膨張、収縮による調整位置の距離の差が吸収できる距離差の吸収装置として機能する。   The multi-degree-of-freedom spherical bearings 18 and 10 can move smoothly by applying an appropriate preload, and sufficient rigidity can be obtained. By adopting 18, 10, even if exposed to wind and snow for a long time, it can withstand strong winds. Moreover, the panel angle adjusting device 300 is an easy-to-adjust device for adjusting the angle of the panel 30, and is a distance difference absorbing device capable of absorbing the difference in the distance between the panels 30 and the difference in the adjustment position due to thermal expansion and contraction of the panel. Function.

図６は、パネルの角度調整パネル装置４００に対して、３つの多自由度球面軸受１８を採用したときの第２の実施例を示す平面図である。図７は本発明の多自由度球面軸受の実施例が用いられている角度調整装置の第２の実施例の構造を示す図６におけるＦ―Ｆ断面図である。
図６を参照すると、角度調整装置４００は、Ｘ―Ｙ面内において一定の方向のみに移動する３つの多自由度球面軸受１８，１８，１８を有している。多自由度球面軸受１８，１８，１８が、調整位置３０ａ、３０ｂ、３０ｃにそれぞれ配置されており、各移動方向は矢印ＰＴで示している。各多自由度球面軸受１８，１８，１８の移動方向ＰＴがパネル３０の中心位置Ｏに向かうように各多自由度球面軸受１８，１８，１８が配置されれば、３個所の調整位置３０ａ、３０ｂ、３０ｃにおいてパネル３０の高さを調整しても、パネル３０の中心位置Ｏが移動することなくパネル３０の角度の調整を行うことができる。 FIG. 6 is a plan view showing a second embodiment when three multi-degree-of-freedom spherical bearings 18 are employed for the panel angle adjustment panel device 400. FIG. FIG. 7 is a cross-sectional view taken along line FF in FIG. 6 showing the structure of the second embodiment of the angle adjusting device in which the embodiment of the multi-degree-of-freedom spherical bearing of the present invention is used.
Referring to FIG. 6, the angle adjustment device 400 includes three multi-degree-of-freedom spherical bearings 18, 18, 18 that move only in a certain direction in the XY plane. Multi-degree-of-freedom spherical bearings 18, 18, and 18 are arranged at adjustment positions 30a, 30b, and 30c, respectively, and the moving directions are indicated by arrows PT. If the multi-degree-of-freedom spherical bearings 18, 18, 18 are arranged so that the moving direction PT of the multi-degree-of-freedom spherical bearings 18, 18, 18 is directed to the center position O of the panel 30, three adjustment positions 30a, Even if the height of the panel 30 is adjusted at 30b and 30c, the angle of the panel 30 can be adjusted without the center position O of the panel 30 moving.

図６に示す角度調整装置４００は、第１の実施例と同様に、パネル３０を、背面に設けられた３個所の調整位置３０ａ、３０ｂ、３０ｃで高さを調整して、パネル３０の向きと角度を任意に調整する。３個所の調整位置３０ａ、３０ｂ、３０ｃにおける高さの調整機構３１Ａ，３１Ｂ，３１Ｃは、パネル３０に取り付けられた多自由度球面軸受１８，１８，１８をそれぞれ調整ねじ３３で昇降させて、基板３４からの高さを変えることによって、パネル３０の傾きの方向と角度を任意に調整する。調整ねじ３３の下端には、調整ねじ３３を回転させるためのつまみ３５が設けられている。   As in the first embodiment, the angle adjusting device 400 shown in FIG. 6 adjusts the height of the panel 30 at three adjustment positions 30a, 30b, and 30c provided on the back surface, and the orientation of the panel 30 is adjusted. And adjust the angle arbitrarily. The height adjustment mechanisms 31A, 31B, and 31C at the three adjustment positions 30a, 30b, and 30c move the multi-degree-of-freedom spherical bearings 18, 18, and 18 attached to the panel 30 up and down with the adjustment screws 33, respectively. By changing the height from 34, the inclination direction and angle of the panel 30 are arbitrarily adjusted. A knob 35 for rotating the adjustment screw 33 is provided at the lower end of the adjustment screw 33.

調整ねじ３３は、基板３４に固定された軸受ハウジング３６に設けられた玉軸受３７によって回転可能に支持されている。調整ねじ３３のねじ込まれた球面軸受の支持体３８は、回り止め３９によって軸受ハウジング３６に対して回転不能となっているので、調整ねじ３３の回転によって支持体３８が回転することはない。   The adjustment screw 33 is rotatably supported by a ball bearing 37 provided in a bearing housing 36 fixed to the substrate 34. Since the support 38 of the spherical bearing into which the adjusting screw 33 is screwed cannot be rotated with respect to the bearing housing 36 by the rotation stop 39, the support 38 is not rotated by the rotation of the adjusting screw 33.

このように構成することによって、パネル３０の高さを調整してもつまみ３５の位置が移動しないようにすることができ、つまみ３５を歯車に代えて、任意のモータのような駆動手段によって、パネル３０の高さを自動的に調整することも可能になる。このような、調整ねじ３３の回転によって支持体３８が回転しない構造は、図５の角度調整装置３００においても採用することができる。   By configuring in this manner, the position of the knob 35 can be prevented from moving even if the height of the panel 30 is adjusted. Instead of the knob 35 being a gear, the driving means such as an arbitrary motor can be used. It is also possible to automatically adjust the height of the panel 30. Such a structure in which the support 38 does not rotate due to the rotation of the adjusting screw 33 can also be adopted in the angle adjusting device 300 of FIG.

以上説明したように、図４と図５の角度調整装置３００においては、角度調整装置３００の調整位置３０ａに取り付けられる球面軸受３２ａは、従来技術の球面軸受と同様の球面軸受とし、調整位置３０ｂに取り付けられる球面軸受は、図２の多自由度球面軸受１８を採用し、調整位置３０ｃに取り付けられる球面軸受は、図１の多自由度球面軸受１０を採用している。図２の多自由度球面軸受１８の直線溝１７０，１７１が、調整位置３０ａと調整位置３０ｂとを結ぶラインＬに沿うように、多自由度球面軸受１８が取り付けられている。   As described above, in the angle adjustment device 300 of FIGS. 4 and 5, the spherical bearing 32a attached to the adjustment position 30a of the angle adjustment device 300 is a spherical bearing similar to the conventional spherical bearing, and the adjustment position 30b. 2 adopts the multi-degree-of-freedom spherical bearing 18 of FIG. 2, and the spherical bearing attached to the adjusting position 30c adopts the multi-degree-of-freedom spherical bearing 10 of FIG. The multi-degree-of-freedom spherical bearing 18 is attached so that the linear grooves 170 and 171 of the multi-degree-of-freedom spherical bearing 18 of FIG. 2 are along a line L connecting the adjustment position 30a and the adjustment position 30b.

これにより、調整位置３０ａ〜３０ｃに球面軸受を配置することによって、調整位置３０ａでは揺動するのみでとパネル３０との位置は変わらず、調整位置３０ｂでは調整位置３０ａと調整位置３０ｂとを結ぶラインＬに沿って移動可能となり、調整位置３０ｃでは任意の方向Ｐ１，Ｐ２に移動可能である。このため、角度調整装置３００は、調整位置３０ａを基準位置とした距離の差の吸収装置を構成することができる。   Thereby, by arranging the spherical bearings at the adjustment positions 30a to 30c, the position with respect to the panel 30 does not change just by swinging at the adjustment position 30a, and the adjustment position 30a and the adjustment position 30b are connected at the adjustment position 30b. It can move along the line L, and can move in any direction P1, P2 at the adjustment position 30c. For this reason, the angle adjusting device 300 can constitute a distance difference absorbing device with the adjustment position 30a as a reference position.

一方、図６と図７の角度調整装置４００においては、全部の調整位置３０ａ、３０ｂ、３０ｃに対して、一定の方向（Ｘ方向）のみに移動する多自由度球面軸受１８が、移動方向を矢印ＰＴで示すようにパネル３０の中心位置Ｏに向かうように配置されている。各多自由度球面軸受１８，１８，１８の移動方向がパネル３０の中心位置Ｏに向かうように配置すれば、３個所の調整位置３０ａ、３０ｂ、３０ｃでパネル３０の高さを調整しても、パネル３０の中心位置Ｏが移動することなくパネル３０の角度の調整を行うことができる。   On the other hand, in the angle adjusting device 400 of FIGS. 6 and 7, the multi-degree-of-freedom spherical bearing 18 that moves only in a certain direction (X direction) with respect to all the adjustment positions 30a, 30b, and 30c changes the moving direction. As indicated by the arrow PT, the panel 30 is arranged so as to be directed toward the center position O. If the multi-degree-of-freedom spherical bearings 18, 18, 18 are arranged so that the moving direction is directed toward the center position O of the panel 30, the height of the panel 30 can be adjusted at the three adjustment positions 30 a, 30 b, 30 c. The angle of the panel 30 can be adjusted without the center position O of the panel 30 moving.

本発明の実施例の多自由度球面軸受１０，１８は、以上に述べたように構成されているので、保持しようとする対象物として、パネル、例えば大型のパラボラアンテナのように屋外に設置され、長期間にわたって屋外で風雪にさらされるパネルの角度を調整するための角度調整装置に採用できる。多自由度球面軸受１０，１８を採用することで、調整された反射面の角度が変わることなく、多自由度球面軸受１０，１８は強風にも耐えられるように充分な剛性を有する。パネルの角度調整装置の多自由度球面軸受１０，１８は、角度の変化による距離の差及び気温の高低によるパネル自体の伸び縮みの吸収装置としても使用することができる。   Since the multi-degree-of-freedom spherical bearings 10 and 18 according to the embodiment of the present invention are configured as described above, the object to be held is installed outdoors such as a panel, for example, a large parabolic antenna. It can be used in an angle adjustment device for adjusting the angle of a panel exposed to wind and snow outdoors for a long period of time. By adopting the multi-degree-of-freedom spherical bearings 10 and 18, the multi-degree-of-freedom spherical bearings 10 and 18 have sufficient rigidity to withstand strong winds without changing the angle of the adjusted reflecting surface. The multi-degree-of-freedom spherical bearings 10 and 18 of the panel angle adjusting device can also be used as an absorbing device for the difference in distance due to the change in angle and the expansion and contraction of the panel itself due to the temperature.

本発明の実施例の多自由度球面軸受１０，１８は、保持しようとする対象物であるパネル３０を保持するための多自由度球面軸受である。この多自由度球面軸受１０，１８は、内部に凹状の球面２３が形成された第１部材１１と、第１部材１１の凹状の球面２３によって外周を揺動可能に支持されておりパネル３０を取り付けるための取付部２５に設定されるための中心球体１２とを有する揺動装置２００と、固定側の第２部材２２と、第１部材１１と第２部材２２との間に配置されて、揺動装置２００の中心軸ＣＬと交差するＸ―Ｙ面内の方向に沿って揺動装置２００を移動可能に支持する移動装置２５０と、を備える。これにより、多自由度球面軸受は、保持しようとする対象物を揺動してしかもＸ―Ｙ平面内において移動することができるので、対象物の角度の調整が可能であると共に距離の差も吸収することができ、対象物を保持する際に充分な剛性が得られる。   The multi-degree-of-freedom spherical bearings 10 and 18 according to the embodiment of the present invention are multi-degree-of-freedom spherical bearings for holding the panel 30 that is an object to be held. The multi-degree-of-freedom spherical bearings 10 and 18 are supported by the first member 11 having a concave spherical surface 23 formed therein and the concave spherical surface 23 of the first member 11 so that the outer periphery thereof can swing. Arranged between the swing device 200 having the central sphere 12 to be set to the mounting portion 25 for mounting, the second member 22 on the fixed side, the first member 11 and the second member 22, And a moving device 250 that movably supports the rocking device 200 along a direction in the XY plane that intersects the central axis CL of the rocking device 200. As a result, the multi-degree-of-freedom spherical bearing can swing the object to be held and move in the XY plane, so that the angle of the object can be adjusted and the difference in distance can be reduced. It can absorb and provides sufficient rigidity when holding the object.

本発明の実施例の多自由度球面軸受１０，１８では、揺動装置２００は、第１部材１１の凹状の球面２３と中心球体１２の外周面２４との間に、複数の球体７１を配置して玉軸受１６０としている。これにより、揺動装置２００の中心球体１２は軽い力で揺動できる。
本発明の実施例の多自由度球面軸受１０，１８は、移動装置２５０は、第１部材１１と第２部材２２との間に配置されて揺動装置２００を第２部材２２に対して支持する支持部１３を有しており、支持部１３は、第１部材１１の支持面７６Ｓと第２部材２２の支持面８６Ｓとの間に、複数の球体９０を配置して平面軸受１６１としている。これにより、中心球体１２と第１部材１１とパネル３０からなる組立体１２０は、固定側の第２部材２２に対して、複数の球体９０を用いてＸ―Ｙ平面内において移動可能に支持することができる。 In the multi-degree-of-freedom spherical bearings 10 and 18 according to the embodiment of the present invention, the oscillating device 200 has a plurality of spheres 71 disposed between the concave spherical surface 23 of the first member 11 and the outer peripheral surface 24 of the central sphere 12. Thus, a ball bearing 160 is obtained. Thereby, the central sphere 12 of the swinging device 200 can swing with a light force.
In the multi-degree-of-freedom spherical bearings 10 and 18 of the embodiment of the present invention, the moving device 250 is disposed between the first member 11 and the second member 22 to support the swing device 200 with respect to the second member 22. The support portion 13 includes a plurality of spheres 90 disposed between the support surface 76S of the first member 11 and the support surface 86S of the second member 22 to form a planar bearing 161. . Thus, the assembly 120 including the central sphere 12, the first member 11, and the panel 30 is supported by the second member 22 on the fixed side so as to be movable in the XY plane using the plurality of spheres 90. be able to.

本発明の実施例の多自由度球面軸受１０は、第１部材１１はサポート部材７９を有しており、移動装置２５０は、第１部材１１のサポート部材７９の支持面７９Ｓを第２部材２２の別の支持面８６Ｐに対して移動可能な移動案内部１４を有しており、移動案内部１４は、サポート部材７９の支持面７９Ｓを第２部材２２の別の支持面８６Ｐとの間に、複数の球体１１０を配置して平面軸受１６２としている。これにより、中心球体１２と第１部材１１とパネル３０からなる組立体１２０は、Ｘ―Ｙ平面内において軽い力で任意の方向に移動することができる。   In the multi-degree-of-freedom spherical bearing 10 of the embodiment of the present invention, the first member 11 has the support member 79, and the moving device 250 has the support surface 79 </ b> S of the support member 79 of the first member 11 as the second member 22. The movement guide unit 14 is movable with respect to another support surface 86P of the second member 22, and the movement guide unit 14 is provided between the support surface 79S of the support member 79 and another support surface 86P of the second member 22. A plurality of spheres 110 are arranged to form a planar bearing 162. As a result, the assembly 120 including the central sphere 12, the first member 11, and the panel 30 can move in an arbitrary direction with a light force in the XY plane.

本発明の実施例の多自由度球面軸受１８では、移動案内部２５０は、第１部材１１のサポート部材７９の支持面７９Ｓと第２部材２２の別の支持面８６Ｐとの間に、複数の球体１１０を配置して、第１部材１１のサポート部材７９の支持面７９Ｓと、サポート部材７９の支持面７９Ｓと対面する第２部材２２の支持面８６Ｐには、複数の球体１１０を案内するための複数の直線溝１７０，１７１がそれぞれ形成されている。これにより、中心球体１２と第１部材１１とパネル３０からなる組立体１２０は、Ｘ―Ｙ平面内において軽い力で１つの方向に規制されて移動することができる。   In the multi-degree-of-freedom spherical bearing 18 according to the embodiment of the present invention, the movement guide portion 250 includes a plurality of movement guide portions 250 between the support surface 79S of the support member 79 of the first member 11 and another support surface 86P of the second member 22. In order to guide the plurality of spheres 110 to the support surface 79S of the support member 79 of the first member 11 and the support surface 86P of the second member 22 facing the support surface 79S of the support member 79 by arranging the sphere 110. A plurality of straight grooves 170 and 171 are respectively formed. Thereby, the assembly 120 including the central sphere 12, the first member 11, and the panel 30 can be regulated and moved in one direction with a light force in the XY plane.

本発明の実施例の多自由度球面軸受１０，１８では、揺動装置２００が、球体９０，１１０に比べて大きい中心球体１２と、この中心球体１２を揺動可能に支持する球面（球面座ともいう）２３を有しており、移動装置２５０がこの揺動装置２００をＸ―Ｙ平面内で移動可能である。多自由度球面軸受１０，１８は、軽い力で揺動と移動が可能であり、中心軸ＣＬ方向の剛性が高い構造であり、対象物であるパネル３０を保持する際に充分な剛性が得られる。   In the multi-degree-of-freedom spherical bearings 10 and 18 according to the embodiment of the present invention, the oscillating device 200 has a central sphere 12 larger than the spheres 90 and 110, and a spherical surface (spherical seat) that supports the central sphere 12 so as to oscillate. 23), and the moving device 250 can move the swinging device 200 in the XY plane. The multi-degree-of-freedom spherical bearings 10 and 18 can swing and move with a light force and have a structure with high rigidity in the direction of the central axis CL, and sufficient rigidity is obtained when holding the panel 30 as an object. It is done.

ところで、本発明は、上記実施形態に限定されず種々の変形例を採用できる。
保持しようとする対象物であるパネル３０は、図４と図６に示す均一な厚みを有する板形状に限らず、他の形状、例えば長方形や円形であっても良い。保持しようとする対象物は、パネルに限らず装置や部品の水平だしを行うためのベース等厚みのある物体であってもかまわない。 By the way, this invention is not limited to the said embodiment, A various modified example is employable.
The panel 30 that is an object to be held is not limited to the plate shape having the uniform thickness shown in FIGS. 4 and 6, and may have another shape, for example, a rectangle or a circle. The object to be held is not limited to a panel, but may be a thick object such as a base for leveling an apparatus or a component.

本発明の多自由度球面軸受の第１の実施例を示す断面図である。It is sectional drawing which shows the 1st Example of the multi-degree-of-freedom spherical bearing of this invention. 本発明の多自由度球面軸受の第２の実施例を示す断面図である。It is sectional drawing which shows the 2nd Example of the multi-degree-of-freedom spherical bearing of this invention. 図３（ａ）は、第２の実施例における支持部１３の支持面８６Ｓと球体９０を示す平面図であり、図３（ｂ）は、第２の実施例における移動案内部１４の球体１１０と直線溝１７０を示す平面図である。FIG. 3A is a plan view showing the support surface 86S of the support portion 13 and the sphere 90 in the second embodiment, and FIG. 3B is a sphere 110 of the movement guide portion 14 in the second embodiment. FIG. 角度を調整されるパネルの第１の実施例を示す平面図である。It is a top view which shows the 1st Example of the panel in which an angle is adjusted. 角度調整装置の第１の実施例の構造を示す図４のＣ−Ｃ断面図である。It is CC sectional drawing of FIG. 4 which shows the structure of 1st Example of an angle adjustment apparatus. 角度を調整されるパネルの第２の実施例を示す平面図である。It is a top view which shows the 2nd Example of the panel in which an angle is adjusted. 角度調整装置の第２の実施例の構造を示す図６のＦ―Ｆ断面図である。FIG. 7 is a sectional view taken along line FF in FIG. 6 showing the structure of the second embodiment of the angle adjusting device. 従来技術を示す角度を調整されるパネルの平面図である。It is a top view of the panel in which the angle which shows a prior art is adjusted. 従来技術を示す角度調整装置の実施例の構造を示す図８のＤ−Ｄ断面図である。It is DD sectional drawing of FIG. 8 which shows the structure of the Example of the angle adjusting device which shows a prior art.

符号の説明Explanation of symbols

１０，１８ 多自由度球面軸受
１１ 第１部材（球体保持部材）
１２ 中心球体
１３ 支持部
１４ 移動案内部
２２ 第２部材（球体保持部材支持部材）
２３ 凹状の球面
２４ 中心球体の外周面
２５ 取付部
３０ パネル（保持しようとする対象物の一例）
３０ａ、３０ｂ、３０ｃ 調整位置
３１ 調整機構
３２ａ，３２ｂ，３２ｃ 球面軸受
３３ 調整ねじ
３４ 基板
３５ つまみ
３６ 軸受ハウジング
３７ 玉軸受
３８ 支持体
３９ 回り止め
７１，９０，１１０ 球体
７５ 筒状部分
７６ 延長部分
７６Ｓ 支持面
７９Ｓ 支持面
７９ サポート部材
８５ 外側部分
８６ 延長部分
８６Ｓ、８６Ｐ 支持面
１６０ 玉軸受
１６１，１６２ 平面軸受
２００ 揺動装置
２５０ 移動装置（滑動手段）
３００，４００ パネルの角度調整装置 10, 18 Multi-degree-of-freedom spherical bearing 11 First member (sphere holding member)
12 central sphere 13 support part 14 movement guide part 22 second member (sphere holding member support member)
23 concave spherical surface 24 outer peripheral surface of central sphere 25 mounting portion 30 panel (an example of an object to be held)
30a, 30b, 30c Adjustment position 31 Adjustment mechanism 32a, 32b, 32c Spherical bearing 33 Adjustment screw 34 Substrate 35 Knob 36 Bearing housing 37 Ball bearing 38 Support body 39 Anti-rotation 71, 90, 110 Spherical body 75 Cylindrical part 76 Extension part 76S Support surface 79S Support surface 79 Support member 85 Outer portion 86 Extension portion 86S, 86P Support surface 160 Ball bearing 161, 162 Planar bearing 200 Oscillating device 250 Moving device (sliding means)
300,400 Panel angle adjustment device

Claims (3)

保持しようとする対象物を保持するための多自由度球面軸受において、
内部に凹状の球面が形成された球体保持部材と、該球体保持部材の前記凹状の球面によって外周を揺動可能に支持されている前記対象物を取り付けるための中心球体、そして前記球体保持部材をその水平方向の滑動を可能にする滑動手段を介して支持する、該球体保持部材の周囲に配置された球体保持部材支持部材を備え、前記中心球体が複数の球体を介して前記球体保持部材に保持されていることを特徴とする多自由度球面軸受。 In a multi-degree-of-freedom spherical bearing for holding an object to be held,
A sphere holding member having a concave spherical surface formed therein, a central sphere for mounting the object supported by the concave spherical surface of the sphere holding member so that the outer periphery thereof is swingable, and the sphere holding member. A sphere holding member supporting member disposed around the sphere holding member, which is supported by sliding means that enables the sliding in the horizontal direction; and the central sphere is attached to the sphere holding member via a plurality of spheres. A multi-degree-of-freedom spherical bearing characterized by being held . 前記球体保持部材が球体保持部材支持部材の側に向かって延びる延長部分を有し、かつ前記球体保持部材支持部材が球体保持部材の側に向かって延びる延長部分を有していて、前記滑動手段が上記の両延長部分の間に挿入された、球体と球体保持板とから構成される滑動手段である請求項１に記載の多自由度球面軸受。The sphere holding member has an extending portion extending toward the sphere holding member supporting member, and the sphere holding member supporting member has an extending portion extending toward the sphere holding member, and the sliding means The multi-degree-of-freedom spherical bearing according to claim 1, which is a sliding means composed of a sphere and a sphere holding plate inserted between the two extended portions. 前記球体保持部材支持部材の延長部分が中央に開口部を備えるリング状の形状にあり、そして該リング状の延長部分の開口部に前記球体保持部材に支持された中心球体が配置されている請求項２に記載の多自由度球面軸受。The extended portion of the spherical body holding member support member has a ring shape with an opening at the center, and the central spherical body supported by the spherical body holding member is disposed in the opening of the ring-shaped extended portion. Item 3. The multi-degree-of-freedom spherical bearing according to Item 2.
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JP4985187B2 (en) * 2007-07-30 2012-07-25 株式会社Ｉｈｉ Linear motion device
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JP7299808B2 (en) * 2019-09-19 2023-06-28 川崎重工業株式会社 TILT ADJUSTMENT DEVICE AND ROBOT INCLUDING THE SAME
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