JPS60227050A - Displacement transmission device - Google Patents

Displacement transmission device

Info

Publication number
JPS60227050A
JPS60227050A JP8017184A JP8017184A JPS60227050A JP S60227050 A JPS60227050 A JP S60227050A JP 8017184 A JP8017184 A JP 8017184A JP 8017184 A JP8017184 A JP 8017184A JP S60227050 A JPS60227050 A JP S60227050A
Authority
JP
Japan
Prior art keywords
displacement
rope
moving body
pulley
shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP8017184A
Other languages
Japanese (ja)
Inventor
Motoo Uno
宇野　元雄
Ikuo Takeuchi
郁雄 竹内
Kazuo Honma
本間　和男
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP8017184A priority Critical patent/JPS60227050A/en
Publication of JPS60227050A publication Critical patent/JPS60227050A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • F16H—GEARING
    • F16H7/00—Gearings for conveying rotary motion by endless flexible members
    • F16H7/04—Gearings for conveying rotary motion by endless flexible members with ropes

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)

Abstract

PURPOSE:To provide a displacement transmission device which can favorably transmit displacement to rotating displacement transmission means on a motion member even if the motion member turning around a shaft produces an angle of pivotal turning by keeping the rotating displacement transmission means from being displaced by the pivotal displacement of the motion member. CONSTITUTION:A motion member 3 is rotatably mounted on a shaft 2 disposed at a fixed portion 1. A shaft 4 is fixed to the side of the forward end of the motion member 3. A displacement generator 6 is fixed to a pulley 5 rotatably mounted on the shaft 4. Both ends of a rope 13 are connected to direct-acting actuators 11 and 12, and the rope is wrapped through pulleys 9, 5 round a pulley 10. When the motion member 3 is pivoted counter-clockwise in an angle theta1, the distance from the point A to the point B increases up to L1, and the angle of winding changes from beta0 to beta1, so that changes in the length of a rope 13 between the points A and B1 and between the points B1 and C1 is cancelled, and the length of the rope 13 between the points A, C little changes.

Description

【発明の詳細な説明】 〔発明の利用分野〕 本発明は変位伝達装置に係り、特に揺動する運動体上に
変位を伝達するに好適な変位伝達装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a displacement transmission device, and particularly to a displacement transmission device suitable for transmitting displacement onto a swinging moving body.

〔発明の背景） 従来、回転軸を中心に揺動する運動体上に変位を伝達す
る変位伝達装置としては、種々の形式のものがあるが、
その一つとして揺動する運動体上に、プーリとこれに掛
けられたロープとからなる回転変位伝達手段を設け、こ
の回転変位伝達手段をアクチュエータによって駆動する
ものがある。[Background of the Invention] Conventionally, there are various types of displacement transmission devices that transmit displacement onto a moving body that swings around a rotating shaft.
One of these is a system in which a rotational displacement transmission means consisting of a pulley and a rope hooked to the pulley is provided on a swinging moving body, and this rotational displacement transmission means is driven by an actuator.

その具体的な例として、例えば１１ｔｈＩｎｔｅｒｎａ
ｔｉｏｎａｌ　Ｓｙｍｐｏｓｉｕｍ　ｏｎ　Ｉｎｄｕｓ
ｔｒｉａｌ　Ｒｏｂｏｔｓ（１９８１）におけるＧｒｅ
ｇｏｒｉ　Ｃｈｅｌｉｄｚｅ他によるｒＡｕｔｏｍａｔ
ｉｚｅｄ　Ｃｏｍｐｌｅｘ　ｏｆ　＋ｍｅｔａｌｖｏｒ
ｋｉｎｇ　ｗｉｔｈＩｎｄｕｓｔｒｉａｌ　Ｒｏｂｏｉ
ｓ　Ｊと題する文献に開示されている。この装置はアク
チュエータの駆動力を回転変位伝達部により、複数個の
運動体に伝達し、その変位および回転トルクを生七゛シ
めるものであるが、運動体相互の回転角度変化に応じて
、運動体の相互に伝達される駆動力が変化するので、特
定６１−％ の運動体の変位を精度よく制御することができ６もので
あった。As a specific example, for example, 11thInterna
tional Symposium on Indus
Gre in trial Robots (1981)
rAutomat by gori Chelidze et al.
ized Complex of +metalvor
king with industrial roboi
s J. This device transmits the driving force of the actuator to multiple moving bodies through a rotational displacement transmission section, and changes the displacement and rotational torque of the moving bodies. Since the driving force transmitted between the moving bodies changes, it was possible to precisely control the displacement of a specific 61% of the moving bodies.

〔発明の目的〕[Purpose of the invention]

本発明の目的は、上述の事柄にもとづいてなされたもの
で、軸回りに揺動する運動体が揺動回転角を生じた場合
でもこの運動体上の回転変位伝達手段に良好な変位伝達
を行うことができる変位伝達装置を提供することにある
。The object of the present invention has been made based on the above-mentioned matters, and is to provide good displacement transmission to a rotational displacement transmission means on a moving body even when a moving body swinging around an axis generates a swinging rotation angle. The object of the present invention is to provide a displacement transmission device that can perform the following steps.

〔発明の概要〕[Summary of the invention]

本発明は上記の目的を達成するために、回転軸を中心に
揺動する運動体上に、固定側のアクチュエータによって
回転変位する回転変位伝達手段を備えた変位伝達装置に
おいて、前記回転変位伝達手段は、前記運動体の回転軸
から距離をもって配置した少なくとも２つのプーリと、
このプーリに掛は渡され、かつアクチュエータに連結す
るロープとを備え、運動体の揺動変位により、回転変位
伝達手段が変位しないようにしたものである。In order to achieve the above-mentioned object, the present invention provides a displacement transmitting device including a rotary displacement transmitting means rotatably displaced by a fixed actuator on a moving body that swings around a rotating shaft. at least two pulleys arranged at a distance from the rotation axis of the moving body;
A rope is provided that extends over the pulley and is connected to the actuator, so that the rotational displacement transmitting means is not displaced by the swinging displacement of the moving body.

〔発明の実施例〕[Embodiments of the invention]

以下本発明の実施例を図面を参照して説明する。 Embodiments of the present invention will be described below with reference to the drawings.

第１図は本発明の装置の一実施例を示すもので、この図
において、１は固定部、２は固定部１に配置した軸、３
は軸２の回りに回転可能に設けた運動体で、この運動体
３は例えばモータまたはプーリとロープにより回転変位
する。４は運動体３の先端がわの側面に固定された軸、
５は軸４の回りに回転可能に設けたプーリ、６はプーリ
５に固定された変位発生器、７および８は、運動体３の
側面に軸２からそれぞれ一定の距離をもって固定された
軸、９，１０は軸７，８にぞれぞれ自由に回転できるよ
う取付けられたプーリ１１および１２は直動アクチュエ
ータ、１３はロープで、このロープ１３の両端は直動ア
クチュエータ１１および１２に接続され、プーリ９およ
び５を経てプーリ１０に掛けられている。FIG. 1 shows an embodiment of the device of the present invention. In this figure, 1 is a fixed part, 2 is a shaft disposed in the fixed part 1, and 3 is a fixed part.
is a moving body rotatably provided around a shaft 2, and this moving body 3 is rotationally displaced by, for example, a motor or a pulley and a rope. 4 is a shaft fixed to the side of the tip of the moving body 3;
5 is a pulley rotatable around the shaft 4; 6 is a displacement generator fixed to the pulley 5; 7 and 8 are shafts fixed to the sides of the moving body 3 at a fixed distance from the shaft 2; Pulleys 9 and 10 are attached to the shafts 7 and 8 so as to be freely rotatable, respectively. Pulleys 11 and 12 are linear actuators, and 13 is a rope. Both ends of the rope 13 are connected to the linear actuators 11 and 12. , and is hung on pulley 10 via pulleys 9 and 5.

次に上述した本発明の装置の一実施例の動作を説明する
。Next, the operation of one embodiment of the above-described apparatus of the present invention will be described.

第２図は運動体３の軸線がＸ軸線に一致した中立位置の
状態を示したものである。この図において、Ｒはプーリ
９の半径を、Ｓは軸２と軸７どの間の距離を、またり。FIG. 2 shows a neutral position where the axis of the moving body 3 coincides with the X-axis. In this figure, R is the radius of pulley 9, and S is the distance between shaft 2 and shaft 7.

は軸２からアクチュエータ１１側に向って取った任意の
点Ａからロープ１３がプーリ９に接する点Ｂまでの長さ
を、さらに角度β。はロープ１３がプーリ９へ巻き付く
ＢからＣに至る接触角度を示す。is the length from an arbitrary point A taken from the shaft 2 toward the actuator 11 side to a point B where the rope 13 touches the pulley 9, and the angle β. shows the contact angle from B to C when the rope 13 wraps around the pulley 9.

今、運動体３が第２図に示す状態から第３図に示すよう
に軸２を中心として反時計方向に角度θ１揺動した場合
、ロープ１３がプーリ９に接するまでの長さ、すなわち
点Ａから点Ｂ１までの距離はり、と増加し、一方ロープ
１３のプーリ９への巻き付き角はβ。からβ嘆に減少す
る。その結果、点Ａ、８４問および点Ｂｌ　、Ｃ１間の
ロープ１３の長さの変化は相殺して第２図に示す点Ａ。Now, when the moving body 3 swings counterclockwise by an angle θ1 from the state shown in FIG. 2 to the state shown in FIG. The distance from A to point B1 increases, and on the other hand, the angle at which the rope 13 wraps around the pulley 9 is β. It decreases from β to lament. As a result, the changes in the length of the rope 13 between point A, question 84, and points Bl and C1 are canceled out, resulting in point A shown in FIG.

０間のロープ１３の長さはほとんど変化しない。The length of the rope 13 between 0 and 0 hardly changes.

次に上述とは逆に第４図に示すように運動体３が軸２を
中心に時計方向に角度θ２揺動じた場合、ロープ１３が
プーリ９に接するまでの長さ、すなわち点Ａから点Ｂ２
までの距離はＬｏからＬ２に減少し、またロープ１３の
プーリ９への巻き付き角はβ。からβ。に増加する。そ
の結果、点Ａ。Next, contrary to the above, when the moving body 3 swings clockwise around the shaft 2 by an angle θ2 as shown in FIG. B2
The distance from Lo to L2 decreases from Lo to L2, and the angle at which the rope 13 wraps around the pulley 9 is β. From β. increases to As a result, point A.

０２間のロープ１３の長さは第２図に示す点Ａ。The length of the rope 13 between 02 and 02 is point A shown in FIG.

０間の長さと同様になり、はとんど変化しない。It will be the same as the length between 0, and will hardly change.

このため、運動体３が揺動しても、この運動体３に設け
た変位発生器はこれにより変位を生じることなく、運動
体３上に設定された位置に維持される。Therefore, even if the moving body 3 swings, the displacement generator provided on the moving body 3 is maintained at the position set on the moving body 3 without causing any displacement.

なお１点Ａ、Ｃ間のロープ１３の長さは次の式％式％ ）） すなわち、点Ａ、Ｃ間のロープ長の変化量は次の式（２
）に示すように。The length of the rope 13 between points A and C is calculated using the following formula (%)) In other words, the amount of change in rope length between points A and C is calculated using the following formula (2
) as shown.

５ｓｉｎａ−Ｒθ　−（２） であり、厳密には零ではないが、プーリ９の半径Ｒおよ
び軸２と軸７との距離Ｓの比を適当に選ぶことにより実
用上問題のない程度に小さくできる。5sina-Rθ-(2), which is not strictly zero, but can be made small enough to cause no practical problems by appropriately selecting the ratio of the radius R of the pulley 9 and the distance S between the shafts 2 and 7. .

推奨できる値は、Ｓ／Ｒ＝１．０〜１．５である。The recommended value is S/R=1.0 to 1.5.

また、運動体３に対する変位変換器６の変位はアクチュ
エータ１１．１２の駆動によって得られる。Further, the displacement of the displacement transducer 6 with respect to the moving body 3 is obtained by driving the actuators 11, 12.

第５図は、本発明の装置の他の実施例を示すもので、こ
の図において、第１図と同一符号のものは同一部分を示
す。この実施例において、第１図に示す実施例と異なる
ところは、揺動する運動体３の側面上に軸１４を設け、
この軸１４にこれを中心として自由に回転するプーリ１
５および１６を設けるとともに、固定部１の軸１７にプ
ーリ１８および１９を回転可能に取付け、アクチュエー
タ１１．１２に連結したロープ１３をプーリ１５．１．
６とプーリ１８，１９間でたすき掛けてプーリ５に掛は
渡したものである。FIG. 5 shows another embodiment of the apparatus of the present invention, in which the same reference numerals as in FIG. 1 indicate the same parts. This embodiment differs from the embodiment shown in FIG. 1 in that a shaft 14 is provided on the side surface of the swinging motion body 3
A pulley 1 that rotates freely around this shaft 14
5 and 16 are provided, pulleys 18 and 19 are rotatably attached to the shaft 17 of the fixed part 1, and the rope 13 connected to the actuator 11.12 is connected to the pulley 15.1.
6 and pulleys 18 and 19, and the hook is passed to pulley 5.

次に上述した本発明の装置の他の実施例の動作を説明す
る。Next, the operation of another embodiment of the apparatus of the present invention described above will be explained.

第６図は運動体３の軸線がＸ軸に一致にいる中立位置の
状態を示すもので、この図において、プーリ１５および
１８の半径をそれぞれＲおよびＴ軸２から軸１４までお
よび軸２から軸１８までの距離をそれぞれＳおよびＵと
する。またロープ１３がプーリ１８に巻き付くＥ点から
Ｆ点に至る角度をα。、プーリ１８のＦ点からプーリ１
５のＧ点に接するまでのロープ１３の長さをり。、ロー
プ１３がプーリ１５に巻き付くＧ点からＨ点に至る角度
をβ３とする。今、運動体３が第６図に示す状態から第
７図に示すように軸２を中心に反時計方向に角度θ３揺
動じた場合、ロープ１３がブーＩＪ　１８に巻き付く角
度はα。からα１に増加し、プーリ１５に巻き付く角度
はβ３からβ４に減少し、プーリ１８から１５に至る長
さはＬ３からＬ４に減少するが１点Ｅ１から点Ｈ１まで
のロープ１３の長さは第６図における点Ｅから点Ｈまで
のロープ１３の長さにほとんど等しくなる。同様に第８
図に示すように運動体３が時計方向に角度θ４揺動した
場合、点Ｅ２と点Ｈ２との間のロープ１３の長さは第６
図に示す点Ｅ、Ｈ間のロープ１３の長さとほぼ等しくな
る。Figure 6 shows the state of the neutral position where the axis of the moving body 3 coincides with the Let the distances to the axis 18 be S and U, respectively. Also, α is the angle from point E to point F where the rope 13 wraps around the pulley 18. , from point F of pulley 18 to pulley 1
Measure the length of rope 13 until it touches point G in 5. , the angle at which the rope 13 wraps around the pulley 15 from point G to point H is β3. Now, when the moving body 3 swings counterclockwise around the shaft 2 by an angle θ3 from the state shown in FIG. 6 to the state shown in FIG. 7, the angle at which the rope 13 wraps around the boot IJ 18 is α. The angle at which the rope wraps around pulley 15 decreases from β3 to β4, and the length from pulley 18 to 15 decreases from L3 to L4, but the length of rope 13 from point E1 to point H1 is It is almost equal to the length of the rope 13 from point E to point H in FIG. Similarly, the 8th
As shown in the figure, when the moving body 3 swings clockwise by an angle θ4, the length of the rope 13 between the point E2 and the point H2 is the 6th
The length is approximately equal to the length of the rope 13 between points E and H shown in the figure.

その結果、運動体３の変位に対して、変位発生器６は運
動体３に対して何等変位を生じない。なお、点Ｅ、Ｈ間
のロープ１３の長さを表わす式は複雑なので省鵬するが
、プーリ１５の半径Ｒに対するプーリ１８の半径Ｔなら
びに距離ＳおよびＵの比率を選定することにより、変位
発生器６の変位を小さくすることができる。その推奨で
きる値は、 Ｓ／Ｒ＝１．０〜２．０ Ｕ／Ｒ＝１．０〜３．０ Ｔ／Ｒ＝１．０〜２．０ である。As a result, with respect to the displacement of the moving body 3, the displacement generator 6 does not produce any displacement with respect to the moving body 3. The formula expressing the length of the rope 13 between points E and H is complicated and will not be omitted here, but by selecting the ratio of the radius T of the pulley 18 to the radius R of the pulley 15 and the distances S and U, the displacement can be calculated. The displacement of the container 6 can be reduced. The recommended values are: S/R=1.0-2.0 U/R=1.0-3.0 T/R=1.0-2.0.

第９図は本発明の装置のさらに他の実施例を示すもので
、この実施例は第１図に示す実施例の変形例であり、こ
の実施例における軸４に対応する軸４Ａを、軸２に対し
て直交するように運動体３に装設し、これにプーリ５お
よび変位発生器６を配設して構成したものである。この
ように構成しても、前述した実施例と同様に動作するこ
とができる。FIG. 9 shows still another embodiment of the device of the present invention. This embodiment is a modification of the embodiment shown in FIG. 1, and the shaft 4A corresponding to the shaft 4 in this embodiment is 2 is installed on a moving body 3, and a pulley 5 and a displacement generator 6 are disposed thereon. Even with this configuration, it is possible to operate in the same manner as in the embodiment described above.

第１０図は本発明の装置の他の実施例を示すもので、こ
の実施例は第５図に示す実施例の変形例であり、この実
施例における軸４に対応する軸４Ｂを、軸２に対して直
交するように運動体３に装設し、これにプーリ５および
変位発生器６を回転可能に設けて構成したものである。FIG. 10 shows another embodiment of the device of the present invention, and this embodiment is a modification of the embodiment shown in FIG. It is installed on a moving body 3 so as to be orthogonal to the moving body 3, and a pulley 5 and a displacement generator 6 are rotatably provided thereon.

この実施例においても、前述した実施例と同様に運動体
３が変位しても、変位発生器６は運動体３に対して変位
を生じないものである。In this embodiment as well, the displacement generator 6 does not cause any displacement with respect to the moving body 3 even if the moving body 3 is displaced, as in the previously described embodiment.

〔発明の効果〕〔Effect of the invention〕

以上述べたように、本発明によれば揺動する運動体が揺
動回転角を生じる場合でも、運動体上に設けた変位発生
器はこれに影響されないので、この変位発生器を良好に
変位作動させることができる。As described above, according to the present invention, even when a swinging moving body generates a swinging rotation angle, the displacement generator provided on the moving body is not affected by this, so that the displacement generator can be smoothly controlled. It can be activated.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の装置の一実施例の構成を示す斜視図、
第２〜第４図は第１図に示す本発明の装置の一実施例の
動作説明図、第５図は本発明の装置の他の実施例の構成
を示す斜視図、第６図〜第８図は第５図に示す本発明の
装置の他の実施例の動作説明図、第９図および第１０図
はそれぞれ本発明の装置のさらに他の実施例を示す斜視
図である。１・・・固定部、２・・・軸、３・・・運動
体、４・・・軸、訃・・プーリ、６・・・変位発生器、
７，８・・・軸、９゜１０・・・プーリ、１１，１２・
・・アクチュエータ。 代理人　弁理士　高橋明夫、− ｌバ一 りニ 一二 茅ｌ固 瑳２凶 穿３囚 茅５凶FIG. 1 is a perspective view showing the configuration of an embodiment of the device of the present invention;
2 to 4 are operational explanatory diagrams of one embodiment of the device of the present invention shown in FIG. 1, FIG. 5 is a perspective view showing the configuration of another embodiment of the device of the present invention, and FIGS. 8 is an explanatory diagram of the operation of another embodiment of the apparatus of the present invention shown in FIG. 5, and FIGS. 9 and 10 are perspective views showing still other embodiments of the apparatus of the present invention, respectively. DESCRIPTION OF SYMBOLS 1... Fixed part, 2... Axis, 3... Moving body, 4... Axis, butt... Pulley, 6... Displacement generator,
7, 8...Axle, 9°10...Pulley, 11,12...
...actuator. Agent: Patent Attorney Akio Takahashi, - 1, 2, 2, 1, 2, 2, 3, 3, 5, 5

Claims (1)

【特許請求の範囲】 １０回転軸を中心に揺動する運動体上に、固定側のアク
チュエータによって回転変位する回転変位伝達手段を備
えた変位伝達装置において。 前記回転変位伝達手段は前記運動体の回転軸から距離を
もって配置した少くとも２つのプーリと、このプーリに
掛は渡され、かつアクチュエータに連結するロープとを
備えたことを特徴とする変位伝達装置。 ２、特許請求の範囲第１項記載の変位伝達装置において
、前記少なくとも２つのプーリは、運動体上に回転可能
に設けたことを特徴とする変位伝達装置。 ３、特許請求の範囲第１項記載の変位伝達装置において
、前記少なくとも２つのプーリのうちの１つは運動体上
に、またもう１つは固定部にそれぞれ回転可能に設けた
ことを特徴とする変位伝達装置。Claims: 10. A displacement transmission device comprising a rotational displacement transmission means rotatably displaced by a stationary actuator on a moving body that swings about a rotation axis. A displacement transmitting device characterized in that the rotational displacement transmitting means includes at least two pulleys arranged at a distance from the rotation axis of the moving body, and a rope that is passed through the pulleys and connected to an actuator. . 2. The displacement transmitting device according to claim 1, wherein the at least two pulleys are rotatably provided on a moving body. 3. The displacement transmission device according to claim 1, wherein one of the at least two pulleys is rotatably provided on the moving body and the other is rotatably provided on the fixed portion. Displacement transmission device.
JP8017184A 1984-04-23 1984-04-23 Displacement transmission device Pending JPS60227050A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8017184A JPS60227050A (en) 1984-04-23 1984-04-23 Displacement transmission device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8017184A JPS60227050A (en) 1984-04-23 1984-04-23 Displacement transmission device

Publications (1)

Publication Number Publication Date
JPS60227050A true JPS60227050A (en) 1985-11-12

Family

ID=13710882

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8017184A Pending JPS60227050A (en) 1984-04-23 1984-04-23 Displacement transmission device

Country Status (1)

Country Link
JP (1) JPS60227050A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7281447B2 (en) * 2001-11-19 2007-10-16 Commissariat A L'energie Atomique Articulated mechanism comprising a cable reduction gear for use in a robot arm

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7281447B2 (en) * 2001-11-19 2007-10-16 Commissariat A L'energie Atomique Articulated mechanism comprising a cable reduction gear for use in a robot arm

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