TW202300422A

TW202300422A - Pitch changer

Info

Publication number: TW202300422A
Application number: TW111122529A
Authority: TW
Inventors: 下吉拓明; 高嶋大介
Original assignee: 日商日本東晟股份有限公司
Priority date: 2021-06-28
Filing date: 2022-06-17
Publication date: 2023-01-01
Also published as: WO2023276336A1; KR20240004932A; JP2023004534A; CN117355688A

Abstract

This pitch changer comprises a base member, a support member disposed above the base member, an expansion/contraction member that is fixed to the base member by the support member and is capable of expanding/contracting along a first axis, and a drive unit that causes the expansion/contraction member to expand/contract along the first axis. The drive unit comprises a screw shaft that extends along the first axis and has an axis of rotation, a power unit that causes the screw shaft to rotate around the axis of rotation, and a movement unit that is provided on the screw shaft, is made to move along the first axis by the rotation of the screw shaft around the axis of rotation, and is fixed in relation to a part of the expansion/contraction member.

Description

變距裝置 pitch change device

本揭示係關於變距裝置。本申請案基於西元2021年6月28日申請的日本專利申請第2021-106280號案主張優先權，且上述日本申請案的全部內容以參考資料包含於本說明書中。 This disclosure relates to distance changing devices. This application claims priority based on Japanese Patent Application No. 2021-106280 filed on June 28, 2021, and the entire content of the above-mentioned Japanese application is incorporated in this specification by reference.

先前，在保持工件的機械手臂等，有使用可改變保持部的間隔的變距裝置(參照例如，專利文獻1)。 Conventionally, a pitch variable device capable of changing the interval between holding parts has been used in a robot arm or the like for holding a workpiece (see, for example, Patent Document 1).

在專利文獻1，記載藉由縮放儀式的伸縮裝置，改變設在機械手臂的複數保持部的間隔。該伸縮裝置，係藉由汽缸驅動伸縮。 In Patent Document 1, it is described that the distance between a plurality of holding parts provided on a robot arm is changed by a telescoping device of a zooming ceremony. The expansion device is driven by a cylinder to expand and contract.

[先行技術文獻] [Prior Art Literature]

[專利文獻] [Patent Document]

[專利文獻1]日本特開2015-86073號公報 [Patent Document 1] Japanese Patent Laid-Open No. 2015-86073

專利文獻1的以汽缸的驅動模式，係藉由空氣等的流體的壓力使桿直線移動使縮放儀伸縮。此時，由於係以構件的物理接觸決定停止位置，故難以使變距裝置在任意位置停止。因此，以先前的變距裝置，有難以高精度在任意節距停止的課題。 In the cylinder driving mode of Patent Document 1, the pressure of fluid such as air moves the rod linearly to expand and contract the pantograph. At this time, since the stop position is determined by the physical contact of the members, it is difficult to stop the pitch changing device at an arbitrary position. Therefore, with the conventional pitch changing device, there is a problem that it is difficult to stop at an arbitrary pitch with high precision.

本揭示以提供能以高精度在任意節距停止的變距裝置。 The purpose of this disclosure is to provide a pitch changing device capable of stopping at any pitch with high precision.

遵照本揭示的變距裝置，其具備：基礎構件；支持構件，其配置在上述基礎構件上；伸縮構件，其係藉由上述支持構件對上述基礎構件固定，可沿著第1軸伸縮；及驅動部，其係使上述伸縮構件，沿著第1軸伸縮，上述伸縮構件，包含：複數第1連接構件，其係向與上述第1軸交叉的第2方向延伸，在上述第1軸上以等間隔排列的複數第1點，與上述第1軸交叉的方式以等間隔配置；複數第2連接構件，其係向與上述第1軸延伸的方向及上述第2方向交叉的第3方向延伸，在上述複數第1點，以與上述第1軸交的方式以等間隔配置，上述複數第1連接構件的各個，包含：第1部分；第2部分，其係在上述第2方向位在離開上述第1部分的位置；及第3部分，其係在上述第2方向位在與上述第2部分的相反側與上述第1部分離開等距離的位置；上述複數第2連接構件的各個，包含：第4部分；第5部分，其係在上述第3方向位在離開上述第4部分的位置；及第6部分，其係在上述第3方向位在與上述第5部分的相反側與上述第4部分離開等距離的位置，上述第1連接構件，在相同的上述第1點，以可互相轉動地連接與上述第1軸交叉的上述第2連接構件的上述第4部分與上述第1部分，在一方相鄰的上述第1點，以可互相轉動地連接與上述第1軸交叉的上述第2連接構件的上述第5部分與上述第3部分，在上述一方的相反側的另一方相鄰的上述第1點，以可互相轉動地連接與上述第1軸交叉的上述第2連接構件的上述第6部分與上述第2部分，上述驅動部，包含：螺絲軸，其係沿著上述第1軸延伸，具有旋轉軸；動力部，其係使上述螺絲軸在上述旋轉軸周圍旋轉；及移動部，其係設置在上述螺絲軸，藉由上述螺絲軸的上述旋轉軸周圍的轉動而沿著上述第1軸移動的同時，對上述伸縮構件的一部分固定。 According to the distance changing device of the present disclosure, it comprises: a base member; a support member disposed on the base member; a telescopic member fixed to the base member by the support member and capable of expanding and contracting along a first axis; and The drive unit is configured to expand and contract the telescopic member along a first axis, and the telescopic member includes: a plurality of first connecting members extending in a second direction intersecting the first axis, on the first axis A plurality of first points arranged at equal intervals are arranged at equal intervals so as to intersect the first axis; a plurality of second connecting members are arranged in a third direction intersecting the direction in which the first axis extends and the second direction Extending, at the plurality of first points, arranged at equal intervals in a manner intersecting with the first axis, each of the plurality of first connecting members includes: a first part; a second part, which is located in the second direction At a position away from the above-mentioned first part; and a third part, which is located at a position equidistant from the above-mentioned first part on the opposite side of the above-mentioned second part in the above-mentioned second direction; each of the above-mentioned plurality of second connecting members , including: part 4; part 5, which is located at a position away from the above-mentioned part 4 in the above-mentioned third direction; and part 6, which is located on the opposite side of the above-mentioned part 5 in the above-mentioned third direction At a position equidistant from the fourth portion, the first connecting member, at the same first point, rotatably connects the fourth portion of the second connecting member intersecting the first axis with the above-mentioned In the first part, at the first point adjacent to one side, the fifth part and the third part of the second connection member intersecting the first axis are rotatably connected to each other, and on the opposite side of the one side The other side adjacent to the above-mentioned first point is mutually rotatably connected to the above-mentioned sixth part and the above-mentioned second part of the above-mentioned second connecting member intersecting with the above-mentioned first shaft, and the above-mentioned drive part includes: a screw shaft, its system Extending along the above-mentioned first axis, there is a rotating shaft; a power part, which rotates the above-mentioned screw shaft around the above-mentioned rotating shaft; While moving along the above-mentioned first axis through rotation, a part of the above-mentioned telescopic member is fixed.

根據本揭示，可提供能以高精度在任意節距停止的變距裝置。 According to the present disclosure, it is possible to provide a pitch variable device capable of stopping at an arbitrary pitch with high precision.

1,2:變距裝置 1,2: pitch change device

10:基體構件 10: Base component

10A:基體面 10A: Base surface

11:第1端板 11: 1st end plate

11A:貫通孔 11A: Through hole

12:第2端板 12: 2nd end plate

13:第1固定具 13: The first fixture

14:第2固定具 14: The second fixture

20,20A:支持構件 20,20A: Support member

20A1:第1支持部 20A1: 1st Support Division

20A2:第2支持部 20A2: 2nd Support Division

21:軌道 21: track

22:第1滑塊 22: 1st slider

22A:第1軸孔 22A: 1st shaft hole

23:第2滑塊 23: 2nd slider

23A:第2軸孔 23A: 2nd shaft hole

24:基體部 24: base part

25:軌道本體部 25: Rail body part

26:第1滑塊本體部 26: 1st slider body part

27:第1軸支持部 27: 1st axis support part

28:第2滑塊本體部 28: The second slider body

29:第2軸支持部 29: Second axis support part

30:伸縮構件 30: telescopic member

31:伸縮部 31: telescopic part

32:載台 32: Carrier

32A:貫通孔 32A: Through hole

32B:載台軸孔 32B: carrier shaft hole

32C:延在部 32C: extension in the Ministry

40:驅動部 40: Drive Department

41:動力部 41: Power department

41A:輸出軸 41A: output shaft

42:托架 42: Bracket

43:螺桿軸 43: screw shaft

43A:第1端部 43A: 1st end

43B:第2端部 43B: 2nd end

44:移動部 44: Mobile Department

45:螺帽 45:Nut

45A:貫通孔 45A: Through hole

46:載台固定部 46: Stage fixing part

46A:貫通孔 46A: Through hole

51:第1載台導桿 51: The first stage guide rod

52:第2載台導桿 52: Guide rod for the second stage

61:第1連桿構件 61: 1st connecting rod member

62:第2連桿構件 62: The second link member

71:第1連結軸 71: The first connecting shaft

72:第2連結軸 72: Second connecting shaft

73:第3連結軸 73: The third connecting shaft

80:聯軸器 80:Coupling

100:第1的點 100: 1st point

B1,B2:螺栓 B1, B2: bolts

C1:第1軸 C1: the first axis

D2:第2方向 D2: 2nd direction

D3:第3方向 D3: 3rd direction

P1:第1部分 P1: Part 1

P2:第2部分 P2: Part 2

P3:第3部分 P3: Part 3

P4:第4部分 P4: Part 4

P5:第5部分 P5: Part 5

P6:第6部分 P6: Part 6

圖1係表示關於實施的形態1的變距裝置的斜視圖。 Fig. 1 is a perspective view showing a pitch variable device according to Embodiment 1 of the embodiment.

圖2係沿著圖1中的線段II-II的剖面圖。 Fig. 2 is a sectional view along line II-II in Fig. 1 .

圖3係沿著圖1中的線段III-III的剖面圖。 Fig. 3 is a sectional view along line III-III in Fig. 1 .

圖4係表示伸縮部的平面圖。 Fig. 4 is a plan view showing the telescopic part.

圖5係表示支持構件的平面圖。 Fig. 5 is a plan view showing a support member.

圖6係表示關於實施的形態2的變距裝置的斜視圖。 Fig. 6 is a perspective view showing a pitch changing device according to Embodiment 2 of the embodiment.

圖7係沿著圖6中的線段VII-VII的剖面圖。 FIG. 7 is a cross-sectional view along line VII-VII in FIG. 6 .

[實施形態的概要] [summary of embodiment]

遵照本揭示的變距裝置，其具備：基礎構件；支持構件，其配置在上述基礎構件上；伸縮構件，其係藉由上述支持構件對上述基礎構件固定，可沿著第1軸伸縮；及驅動部，其係使上述伸縮構件，沿著第1軸伸縮，上述伸縮構件，包含：複數第1連接構件，其係向與上述第1軸交叉的第2方向延伸，在上述第1軸上以等間隔排列的複數第1點，與上述第1軸交叉的方式以等間隔配置；複數第2連接構件，其係向與上述第1軸延伸的方向及上述第2方向交叉的第3方向延伸，在上述複數第1點，以與上述第1軸交的方式以等間隔配置，上述複數第1連接構件的各個，包含：第1部分；第2部分，其係在上述第2方向位在離開上述第1部分的位置；及第3部分，其係在上述第2方向位在與上述第2部分的相反側與上述第1部分離開等距離的位置；上述複數第2連接構件的各個，包含：第4部分；第5部分，其係在上述第3方向位在離開上述第4部分的位置；及第6部分，其係在上述第3方向位在與上述第5部分的相反側與上述第4部分離開等距離的位置，上述第1連接構件，在相同的上述第1點，以可互相轉動地連接與上述第1軸交叉的上述第2連接構件的上述第4部分與上述第1部分，在一方相鄰的上述第1點，以可互相轉動地連接與上述第1軸交叉的上述第2連接構件的上述第5部分與上述第3部分，在上述一方的相反側的另一方相鄰的上述第1點，以可互相轉動地連接與上述第1軸交叉的上述第2連接構件的上述第6部分與上述第2部分，上述驅動部，包含：螺絲軸，其係沿著上述第1軸延伸，具有旋轉軸；動力部，其係使上述螺絲軸在上述旋轉軸周圍旋轉；及移動部，其係設置在上述螺絲軸，藉由上述螺絲軸的上述旋轉軸周圍的轉動而沿著上述第1軸移動的同時，對上述伸縮構件的一部分固定。 According to the distance changing device of the present disclosure, it comprises: a base member; a support member disposed on the base member; a telescopic member fixed to the base member by the support member and capable of expanding and contracting along a first axis; and The drive unit is configured to expand and contract the telescopic member along a first axis, and the telescopic member includes: a plurality of first connecting members extending in a second direction intersecting the first axis, on the first axis A plurality of first points arranged at equal intervals are arranged at equal intervals so as to intersect the first axis; a plurality of second connecting members are arranged in a third direction intersecting the direction in which the first axis extends and the second direction Extending, at the plurality of first points, arranged at equal intervals in a manner intersecting with the first axis, each of the plurality of first connecting members includes: a first part; a second part, which is located in the second direction At a position away from the above-mentioned first part; and a third part, which is located at a position equidistant from the above-mentioned first part on the opposite side of the above-mentioned second part in the above-mentioned second direction; each of the above-mentioned plurality of second connecting members , including: part 4; part 5, which is located at a position away from the above-mentioned part 4 in the above-mentioned third direction; and part 6, which is located on the opposite side of the above-mentioned part 5 in the above-mentioned third direction At a position equidistant from the fourth portion, the first connecting member, at the same first point, rotatably connects the fourth portion of the second connecting member intersecting the first axis with the above-mentioned Part 1, in The above-mentioned first point adjacent to one side is mutually rotatably connected to the above-mentioned fifth part and the above-mentioned third part of the above-mentioned second connecting member intersecting with the above-mentioned first axis, and the other side adjacent to the other side on the opposite side of the above-mentioned one In the above-mentioned first point, the above-mentioned sixth part and the above-mentioned second part of the above-mentioned second connecting member intersecting with the above-mentioned first shaft are mutually rotatably connected, and the above-mentioned driving part includes: a screw shaft, which is along the above-mentioned first axis. The shaft is extended and has a rotating shaft; a power part that rotates the above-mentioned screw shaft around the above-mentioned rotating shaft; and a moving part that is provided on the above-mentioned screw shaft and moves along the The first shaft is fixed to a part of the telescopic member while moving.

根據上述變距裝置，藉由動力部使螺絲軸在旋轉軸周圍旋轉，使移動部沿著第1軸移動，使第1連桿構件與第2連桿構件在連結部互相轉動，使伸縮構件沿著第1軸伸縮。藉由此構成，由於係藉由螺絲軸的旋轉量精密控制移動部的移動量，故可精密控制伸縮構件的伸縮量。因此，相對於採用汽缸驅動模式的先前的變距裝置難以在任意位置停止，根據上述變距裝置，可在任意位置以高精度決定位置，而能以任意間距以高的位置精度停止。 According to the above pitch variable device, the screw shaft is rotated around the rotating shaft by the power part, the moving part is moved along the first axis, the first link member and the second link member are mutually rotated at the connecting part, and the telescopic member Scale along the 1st axis. With this configuration, since the amount of movement of the moving portion is precisely controlled by the amount of rotation of the screw shaft, the amount of expansion and contraction of the telescopic member can be precisely controlled. Therefore, it is difficult to stop at an arbitrary position in the conventional pitch changing device using the cylinder drive mode. According to the above pitch changing device, the position can be determined at an arbitrary position with high precision, and can be stopped at an arbitrary pitch with high positional accuracy.

在上述變距裝置，其中支持構件，亦可包含：軌道，其係配置在上述基礎構件上，與上述第1軸直交；及滑塊，其可沿著上述軌道移動。第1連桿構件的第2部分與第2連桿構件的第6部分的連結部及第1連桿構件的第3部分與第2連接構件的第5部分的連結部之中的至少一方亦可固定在滑塊。藉由此構成，可抑制伸縮構件之中向與第1軸直交的方向移動的連結部，沿著第1軸移動。 In the pitch changing device, the supporting member may further include: a rail disposed on the base member and perpendicular to the first axis; and a slider movable along the rail. At least one of the connecting portion between the second portion of the first link member and the sixth portion of the second link member and the connecting portion between the third portion of the first link member and the fifth portion of the second connecting member is also Can be fixed on the slider. With this configuration, it is possible to suppress movement of the connecting portion of the telescopic member in a direction perpendicular to the first axis from moving along the first axis.

在上述變距裝置，其中支持構件，亦可將伸縮構件之中向第1軸延伸的方向的中央部，對基礎構件支持。移動部，亦可固定在伸縮構件之中向第1軸延伸的方向的端部。藉由此構成，可使伸縮構件，以在向第1軸延伸的方向的中央部為中心沿著第1軸伸縮。此時，伸縮構件之中，與在第1軸的延伸方向的端部以基礎構件支持時相比，由於可使移動部的移動距離變短，故可更加縮短移動部在變更間距時的移動時間。 In the above pitch changing device, the support member may support the base member at the central portion of the telescopic member in a direction extending toward the first axis. The moving portion may be fixed to an end portion of the telescopic member in a direction extending toward the first axis. With this configuration, the telescopic member can be expanded and contracted along the first axis around the central portion in the direction extending toward the first axis. At this time, among the telescopic members, the extension in the first axis Compared with the case where the end of the direction is supported by the base member, since the moving distance of the moving part can be shortened, the moving time of the moving part when changing the pitch can be further shortened.

在上述變距裝置，伸縮構件，亦可包含：複數載台，其係在第1連桿構件及第2連桿構件上沿著第1軸排列配置。藉由此構成，可藉由螺絲軸的轉動使第1連桿構件與第2連桿構件互相轉動，而能精密控制鄰接的載台間的間距。 In the above-mentioned distance changing device, the telescopic member may include a plurality of stages arranged along the first axis on the first link member and the second link member. With this configuration, the first link member and the second link member can be mutually rotated by the rotation of the screw shaft, and the distance between adjacent stages can be precisely controlled.

在上述變距裝置，亦可在複數載台，形成在第1軸的延伸的方向貫通載台的貫通孔。上述變距裝置，亦可進一步具備：載台導軸，其係向第1軸延伸的方向延在，而***貫通孔。藉由此構成，與載台沒有設導軸時相比，可使載台的位置更穩定。 In the above pitch changing device, a through hole penetrating the stage in the direction in which the first axis extends may be formed on the plurality of stages. The aforementioned distance changing device may further include: a stage guide shaft extending in a direction in which the first axis extends, and inserted into the through hole. With this configuration, the position of the stage can be stabilized more than when the stage is not provided with a guide shaft.

[實施形態的具體例] [Concrete example of embodiment]

接著，邊參照圖面說明本揭示的變距裝置的實施形態。在以下的圖面，對相同或相當的部分賦予相同的參照編號，不重複其說明。 Next, an embodiment of the pitch changing device of the present disclosure will be described with reference to the drawings. In the following drawings, the same reference numerals are assigned to the same or corresponding parts, and description thereof will not be repeated.

(實施形態1) (Embodiment 1)

首先，以圖1~圖5說明關於實施形態1的變距裝置1的構成。圖1係表示變距裝置1的全體構成的斜視圖。圖2係沿著圖1中的線段II-II的變距裝置1的剖面圖。圖3係沿著圖1中的線段III-III的變距裝置1的剖面圖。圖4係表示作為變距裝置1的構成要素的伸縮部31的平面圖。圖5係表示作為變距裝置1的構成要素的支持構件20的平面圖。如圖1所示，變距裝置1，主要具有：基體構件10；支持構件20；伸縮構件30；及驅動部40。以下分別詳細說明該等構成要素。再者，以下的說明，依照圖1~圖5所表示的XYZ的各方向。 First, the configuration of the pitch changing device 1 according to Embodiment 1 will be described with reference to FIGS. 1 to 5 . FIG. 1 is a perspective view showing the overall configuration of a pitch changing device 1 . FIG. 2 is a cross-sectional view of the distance changing device 1 along line II-II in FIG. 1 . FIG. 3 is a cross-sectional view of the distance changing device 1 along line III-III in FIG. 1 . FIG. 4 is a plan view showing the telescoping portion 31 as a constituent element of the pitch changing device 1 . FIG. 5 is a plan view showing a support member 20 as a constituent element of the pitch changing device 1 . As shown in FIG. 1 , the pitch changing device 1 mainly includes: a base member 10 ; a support member 20 ; a telescopic member 30 ; and a drive unit 40 . Each of these constituent elements will be described in detail below. In addition, the following description follows the XYZ directions shown in FIGS. 1 to 5 .

基體構件10，在向Z方向觀看的平面視，係在X方向較長的長方形板構件。基體構件10，包含：長方形基體面10A，其朝向Z方向(與XY平面平行)。如圖1所示，在基體構件10之中，在X方向的兩端，分別固定第1 端板11及第2端板12。第1端板11及第2端板12，Y方向的寬度大致與基體構件10相同，對基體構件10(基體面10A)垂直配置。第1端板11，係以第1固定具13及螺栓，固定在基體構件10之中X方向的一方的端。第2端板12，係以第2固定具14及螺栓，固定在基體構件10之中X方向的另一方的端。第1固定具13及第2固定具14，在向Y方向觀看的正面視，具有L字形狀。第1固定具13及第2固定具14，在Y方向隔著間隔複數(在本實施形態為兩個)設置。再者，在本揭示的變距裝置，基體構件的形狀、大小並無特別限定。 The base member 10 is a rectangular plate member long in the X direction when viewed in the Z direction. The base member 10 includes: a rectangular base surface 10A facing the Z direction (parallel to the XY plane). As shown in Figure 1, in the base member 10, at both ends in the X direction, the first An end plate 11 and a second end plate 12 . The first end plate 11 and the second end plate 12 have substantially the same width in the Y direction as the base member 10 and are arranged perpendicular to the base member 10 (base surface 10A). The first end plate 11 is fixed to one end of the base member 10 in the X direction by the first fixture 13 and bolts. The second end plate 12 is fixed to the other end of the base member 10 in the X direction with a second fixture 14 and bolts. The first fixture 13 and the second fixture 14 have an L-shape when viewed from the front in the Y direction. The first fixture 13 and the second fixture 14 are provided in plural (two in this embodiment) at intervals in the Y direction. In addition, in the pitch variable device of the present disclosure, the shape and size of the base member are not particularly limited.

支持構件20，係用於將伸縮構件30對基體構件10支持的構件，而配置在基體構件10上(基體面10A上)。在本實施形態的支持構件20，係向Y方向滑動的直動引導單元。支持構件20，包含：向Y方向延伸的軌道21；可沿著軌道21向Y方向移動的第1滑塊22及第2滑塊23(圖5)。如圖5所示，第1滑塊22及第2滑塊23，係在軌道21向Y方向排列配置。第1滑塊22，可從軌道21之中在Y方向的中央部向第1端部(圖5中的下側的端部)直線移動的同時，可向其逆向(從第1端部向中央部)直線移動。另一方面，第2滑塊23，可從軌道21之中在Y方向的中央部向與第1端部的相反側的第2端部直線移動的同時，可向其逆向(從第2端部向中央部)直線移動。 The support member 20 is a member for supporting the base member 10 with the telescopic member 30, and is arranged on the base member 10 (on the base surface 10A). The support member 20 of this embodiment is a linear guide unit that slides in the Y direction. The supporting member 20 includes: a rail 21 extending in the Y direction; and a first slider 22 and a second slider 23 that can move in the Y direction along the rail 21 ( FIG. 5 ). As shown in FIG. 5 , the first slider 22 and the second slider 23 are arranged side by side in the Y direction on the rail 21 . The first slider 22 can move linearly from the central portion in the Y direction to the first end portion (the lower end portion in FIG. center) to move in a straight line. On the other hand, the second slider 23 can move linearly from the center portion in the Y direction to the second end portion on the opposite side to the first end portion in the rail 21, and can move in the opposite direction (from the second end portion). part toward the central part) in a straight line.

如圖2所示，軌道21：包含：基礎部24，其係配置在基體面10A上；及軌道本體部25，其係配置在基礎部24。基礎部24，具有長方體形狀，Y方向(圖2的紙面進深方向)的寬度大致與基體構件10相同。如圖3所示，基礎部24藉由在Y方向隔著間隔排列的複數螺栓B1，固定在基體構件10(基體面10A)。軌道本體部25，在X方向及Y方向的寬度均與基礎部24大致相同。如圖2所示，軌道本體部25之中，寬幅方向(X方向)的兩側面，橫跨長度方向(Y方向)的全體形成有在寬幅方向的向內凹陷的溝。如圖3所示，軌道本體部25，係載置在基礎部24的上面，藉由在Y方向隔著間隔排列的複數螺栓B2對基礎部24固定。 As shown in FIG. 2 , the rail 21 includes: a base portion 24 disposed on the base surface 10A; and a rail body portion 25 disposed on the base portion 24 . The base portion 24 has a rectangular parallelepiped shape, and its width in the Y direction (the depth direction in FIG. 2 ) is substantially the same as that of the base member 10 . As shown in FIG. 3 , the base portion 24 is fixed to the base member 10 (base surface 10A) by a plurality of bolts B1 arranged at intervals in the Y direction. The rail body portion 25 has substantially the same width as the base portion 24 in both the X direction and the Y direction. As shown in FIG. 2 , on both side surfaces in the width direction (X direction) of the rail body portion 25 , grooves recessed inward in the width direction are formed across the entire length direction (Y direction). As shown in Figure 3, the track body part 25, It is placed on the upper surface of the base part 24 and fixed to the base part 24 by a plurality of bolts B2 arranged at intervals in the Y direction.

如圖2所示，第1滑塊22，包含：第1滑塊本體部26，其係從寬幅方向的兩側包夾軌道本體部25；及第1軸支持部27，其係配置在第1滑塊本體部26上面。第1滑塊本體部26，包含：向X方向延伸的本體部；及從該本體部的兩端向基體面10A延伸的一對袖部。在該袖部之中朝向軌道本體部25側的內面，橫跨寬幅方向(X方向)的全體形成有向外凹陷的溝。軌道本體部25的寬幅方向的側面與上述袖部的內面之間，配置複數球(轉動體)。藉此，第1滑塊本體部26，可對軌道本體部25在Y方向相對移動。第1軸支持部27，藉由螺栓固定在第1滑塊本體部26上。第1軸支持部27之中X方向的中央部，向伸縮構件30側突出，在該突出部形成第1軸孔22A(圖5)。 As shown in Figure 2, the first slider 22 includes: the first slider body part 26, which clamps the rail body part 25 from both sides in the width direction; and the first shaft support part 27, which is arranged on the The upper surface of the first slider body part 26 . The first slider body portion 26 includes: a body portion extending in the X direction; and a pair of sleeve portions extending from both ends of the body portion toward the base surface 10A. Outwardly recessed grooves are formed across the entire width direction (X direction) on the inner surface of the sleeve portion toward the side of the rail main body portion 25 . A plurality of balls (rotating bodies) are disposed between the side surfaces in the width direction of the rail main body 25 and the inner surface of the sleeve. Thereby, the first slider body part 26 can move relative to the rail body part 25 in the Y direction. The first shaft support portion 27 is fixed to the first slider main body portion 26 by bolts. A central portion in the X direction of the first shaft supporting portion 27 protrudes toward the telescopic member 30 , and a first shaft hole 22A ( FIG. 5 ) is formed in the protruding portion.

第2滑塊23與第1滑塊22具有同樣的構成。即，第2滑塊23(圖3)，包含：第2滑塊本體部28，其係從寬幅方向的兩側包夾軌道本體部25；及第2軸支持部29，其係配置在第2滑塊本體部28上。如圖5所示，在第2軸支持部29之中的X方向的中央部(突出部)，形成有第2軸孔23A。 The second slider 23 has the same configuration as the first slider 22 . That is, the second slider 23 ( FIG. 3 ) includes: a second slider body portion 28 that sandwiches the rail body portion 25 from both sides in the width direction; and a second shaft support portion 29 that is disposed on On the second slider body part 28. As shown in FIG. 5 , a second shaft hole 23A is formed at a central portion (protruding portion) in the X direction of the second shaft supporting portion 29 .

參照圖1，伸縮構件30，係以支持構件20對基體構件10固定，可沿著向X方向延伸的第1軸伸縮。在本實施形態的伸縮構件30，包含縮放儀式的伸縮部31。圖4係表示伸縮部31的構成的平面圖。伸縮部31，延在於第1軸C1的延伸方向，包含：複數第1連桿構件61；及複數第2連桿構件62。如圖4所示，複數第1的點100以等間隔排列在第1軸C1上。 Referring to FIG. 1 , the telescopic member 30 is fixed to the base member 10 by the support member 20 and can expand and contract along the first axis extending in the X direction. The telescopic member 30 of this embodiment includes the telescopic part 31 of a zoom-style. FIG. 4 is a plan view showing the configuration of the telescoping portion 31 . The telescopic part 31 extends in the direction in which the first axis C1 extends, and includes a plurality of first link members 61 and a plurality of second link members 62 . As shown in FIG. 4 , plural first points 100 are arranged at equal intervals on the first axis C1.

在第1連桿構件61，在與第1軸C1交叉的第2方向D2延伸，在複數第1的點100，以與第1軸C1交叉的方式等間隔排列配置。複數第1連桿構件61的各個，包含：第1部分P1；第2部分P2，其係位在第2方向D2的與第1部分P1分離的位置；第3部分P3，其係位在第2方向D2的與第2部分 P2為相反側而與第1部分P1以等距離分離的位置。如圖4所示，在本實施形態，第1部分P1相當於第1連桿構件61之中的長度方向的中央部，第2部分P2及第3部分P3分別相當於第1連桿構件61之中的長度方向的端部。第1連桿構件61，配置成第1部分P1與第1的點100一致。 The first link member 61 extends in the second direction D2 intersecting the first axis C1, and is arranged at equal intervals at a plurality of first points 100 so as to intersect the first axis C1. Each of the plurality of first link members 61 includes: the first part P1; the second part P2, which is located at a position separated from the first part P1 in the second direction D2; the third part P3, which is located at 2 directions D2 with part 2 P2 is a position separated from the first portion P1 by an equal distance on the opposite side. As shown in FIG. 4 , in this embodiment, the first portion P1 corresponds to the central portion of the first link member 61 in the longitudinal direction, and the second portion P2 and the third portion P3 correspond to the first link member 61 respectively. The ends in the lengthwise direction. The first link member 61 is arranged such that the first portion P1 coincides with the first point 100 .

第2連桿構件62，係向第1軸C1延伸的方向與第2方向D2交叉的第3方向D3延伸，在複數第1的點100與第1軸C1交叉的方式以等間隔配置。複數第2連桿構件62的各個，包含：第4部分P4；第5部分P5，其係位在第3方向D3的與第4部分P4分離的位置；及第6部分P6，其係位在第3方向D3的與第5部分P5為相反側而與第4部分P4以等距離分離的位置。如圖4所示，在本實施形態，第4部分P4相當於第2連桿構件62之中的長度方向的中央部，第5部分P5及第6部分P6分別相當於第2連桿構件62之中的長度方向的端部。第2連桿構件62，配置成第4部分P4與第1的點100一致。 The second link members 62 extend in a third direction D3 in which the direction in which the first axis C1 extends intersects with the second direction D2, and are arranged at equal intervals at a plurality of first points 100 to intersect the first axis C1. Each of the plurality of second link members 62 includes: a fourth part P4; a fifth part P5, which is located at a position separated from the fourth part P4 in the third direction D3; and a sixth part P6, which is located at The third direction D3 is a position opposite to the fifth portion P5 and separated from the fourth portion P4 by an equal distance. As shown in FIG. 4 , in this embodiment, the fourth portion P4 corresponds to the central portion of the second link member 62 in the longitudinal direction, and the fifth portion P5 and the sixth portion P6 correspond to the second link member 62 respectively. The ends in the lengthwise direction. The second link member 62 is arranged such that the fourth portion P4 coincides with the first point 100 .

第1連桿構件61，在同一第1的點100與第1軸C1交叉的第2連桿構件62的第4部分P4，在第1部分P1可互相轉動地連結。具體而言，第1部分P1及第4部分P4，形成有貫通第1連桿構件61及第2連桿構件62的板厚方向的貫通孔，在該貫通孔***第1連結軸71(第1連結銷釘)。在該貫通孔的內圓周與第1連結軸71的外周面之間，配置例如滑動軸承或滾珠軸承等軸承(無圖示)。藉此，第1連桿構件61及第2連桿構件62，能以第1連結軸71為中心互相轉動。再者，在第1連桿構件61的第1部分P1與第2連桿構件62的第4部分P4之間，配置複數片墊圈，在該墊圈的中央孔***第1連結軸71。再者，墊圈的片數並無特別限定，亦可為1片。 The first link member 61 and the fourth portion P4 of the second link member 62 intersecting the first axis C1 at the same first point 100 are rotatably connected to each other at the first portion P1. Specifically, in the first portion P1 and the fourth portion P4, a through hole penetrating the first link member 61 and the second link member 62 in the plate thickness direction is formed, and the first connecting shaft 71 (the second connecting shaft 71 ) is inserted into the through hole. 1 connecting pin). Bearings (not shown) such as sliding bearings or ball bearings are disposed between the inner circumference of the through hole and the outer circumference of the first connecting shaft 71 . Thereby, the first link member 61 and the second link member 62 can mutually rotate around the first connecting shaft 71 . Furthermore, a plurality of washers are arranged between the first portion P1 of the first link member 61 and the fourth portion P4 of the second link member 62 , and the first connecting shaft 71 is inserted into the center hole of the washers. In addition, the number of sheets of the gasket is not particularly limited, and may be one sheet.

第1連桿構件61，將在X方向的一方相鄰的第1的點100與第1軸C1交叉的第2連桿構件62的第5部分P5，與第3部分P3，以可互相轉動地連結。具體而言，第3部分P3及第5部分P5，係在第1連桿構件61及第2連桿構件62形成有貫通板厚方向的貫通孔，在該貫通孔***第2連結軸72(第2連結銷釘)。在該貫通孔的內周面與第2連結軸72的外周面之間，配置例如滑動軸承、滾珠軸承等軸承(無圖示)。藉此，使第1連桿構件61及第2連桿構件62，能以第2連結軸72為中心互相轉動。再者，在第1連桿構件61的第3部分P3與第2連桿構件62的第5部分P5之間，配置複數墊圈，在該墊圈的中央孔***第2連結軸72。再者，墊圈的片數並無特別限定，以1片亦可。 In the first link member 61, the fifth part P5 of the second link member 62 intersecting the first axis C1 at the first point 100 adjacent to one side in the X direction and the third part P3 are mutually rotatable. connected. Specifically, the third part P3 and the fifth part P5 are connected between the first link member 61 and the second link member 61. The rod member 62 has a through hole penetrating in the plate thickness direction, and the second connection shaft 72 (second connection pin) is inserted into the through hole. Between the inner peripheral surface of this through hole and the outer peripheral surface of the 2nd connection shaft 72, bearings (not shown), such as a slide bearing and a ball bearing, are arrange|positioned, for example. Thereby, the first link member 61 and the second link member 62 can mutually rotate around the second connecting shaft 72 . Furthermore, a plurality of washers are disposed between the third portion P3 of the first link member 61 and the fifth portion P5 of the second link member 62 , and the second connecting shaft 72 is inserted into the central hole of the washers. In addition, the number of gaskets is not particularly limited, and may be one.

第1連桿構件61，在X方向與上述一方為相反側的另一方相鄰的第1的點100與第1軸C1交叉的第2連桿構件62的第6部分P6，與第2部分P2，以可互相轉動地連結。具體而言，第2部分P2及第6部分P6，係在第1連桿構件61及第2連桿構件62形成有貫通板厚方向的貫通孔，在該貫通孔***第3連結軸73(第3連結銷釘)。在該貫通孔的內周面與第3連結軸73的外周面之間，配置例如滑動軸承、滾珠軸承等軸承(無圖示)。藉此，使第1連桿構件61及第2連桿構件62，能以第3連結軸73為中心互相轉動。再者，在第1連桿構件61的第2部分P2與第2連桿構件62的第6部分P6之間，配置複數墊圈，在該墊圈的中央孔***第3連結軸73。 The first link member 61, the sixth part P6 of the second link member 62 intersecting the first axis C1 at the first point 100 adjacent to the other side opposite to the above-mentioned one in the X direction, and the second part P2 is connected rotatably to each other. Specifically, in the second portion P2 and the sixth portion P6, a through hole penetrating through the plate thickness direction is formed in the first link member 61 and the second link member 62, and the third connecting shaft 73 ( 3rd connecting pin). Between the inner peripheral surface of this through hole and the outer peripheral surface of the 3rd connection shaft 73, bearings (not shown), such as a slide bearing and a ball bearing, are arrange|positioned, for example. Thereby, the first link member 61 and the second link member 62 can mutually rotate around the third connecting shaft 73 . Furthermore, a plurality of washers are disposed between the second portion P2 of the first link member 61 and the sixth portion P6 of the second link member 62 , and the third connection shaft 73 is inserted into the central hole of the washers.

在本實施形態，第1連桿構件61的第2部分P2與第2連桿構件62的第6部分P6的連結部(第3連結軸73)及第1連桿構件61的第3部分P3及第2連桿構件62的第5部分P5的連結部(第2連結軸72)固定在滑塊上。具體而言，第2連結軸72的下端部***第1軸孔22A(圖5)，第3連結軸73的下端部***第2軸孔23A(圖5)。如圖3所示，第1連桿構件61的下面(朝向第1滑塊22側的面)，與第1軸支持部27的上面(朝向第1連桿構件61側的面)之間，配置墊圈。在該墊圈的中央孔，***第2連結軸72。同樣，第1連桿構件61的下面(朝向第2滑塊23側的面)與第2軸支持部29的上面(朝向第1連桿構件61側的面)之間，配置墊圈。在該墊圈的中央孔，***第3連結軸73。再者，並非限定於上述兩連結部固定在滑塊上的情形，亦可只有任一方的連結部固定在滑塊上。此時，能省略第1滑塊22及第2滑塊23之中的任一方。 In this embodiment, the connecting portion (third connecting shaft 73 ) between the second portion P2 of the first link member 61 and the sixth portion P6 of the second link member 62 and the third portion P3 of the first link member 61 The connecting portion (second connecting shaft 72 ) of the second link member 62 and the fifth portion P5 is fixed to the slider. Specifically, the lower end portion of the second connecting shaft 72 is inserted into the first shaft hole 22A ( FIG. 5 ), and the lower end portion of the third connecting shaft 73 is inserted into the second shaft hole 23A ( FIG. 5 ). As shown in FIG. 3 , between the lower surface (the surface facing the first slider 22 side) of the first link member 61 and the upper surface (the surface facing the first link member 61 side) of the first shaft support portion 27 , Configure the gasket. The second connecting shaft 72 is inserted into the center hole of the washer. Similarly, a washer is arranged between the lower surface (the surface facing the second slider 23 side) of the first link member 61 and the upper surface (the surface facing the first link member 61 side) of the second shaft support portion 29 . The third connecting shaft 73 is inserted into the center hole of the washer. Furthermore, it is not limited to In the case where the above-mentioned two connecting parts are fixed on the slider, only one of the connecting parts may be fixed on the slider. In this case, either one of the first slider 22 and the second slider 23 can be omitted.

在本實施形態，支持構件20，係將伸縮構件30之中在第1軸C1的延伸方向(X方向)的中央部，支持在基體構件10。即，圖4中的一點虛線A的四角形內側的第2連結軸72及第3連結軸73的各個下端部，分別***滑塊的第1軸孔22A及第2軸孔23A。 In the present embodiment, the support member 20 supports the base member 10 at the center of the telescopic member 30 in the extending direction (X direction) of the first axis C1. That is, the respective lower ends of the second connecting shaft 72 and the third connecting shaft 73 inside the quadrangular shape indicated by the dotted line A in FIG. 4 are respectively inserted into the first shaft hole 22A and the second shaft hole 23A of the slider.

如上所述，藉由連結第1連桿構件61與第2連桿構件62，形成在X方向排列的複數菱形(圖4)。如圖4所示，第1部分P1及第4部分P4，相當於菱形的X方向的頂點。另一方面，第2部分P2、第3部分P3、第5部分P5及第6部分P6，相當於該菱形的Y方向的頂點。 As mentioned above, by connecting the 1st link member 61 and the 2nd link member 62, the plural rhombuses lined up in the X direction are formed (FIG. 4). As shown in FIG. 4 , the first portion P1 and the fourth portion P4 correspond to vertices of the rhombus in the X direction. On the other hand, the second portion P2, the third portion P3, the fifth portion P5, and the sixth portion P6 correspond to vertices in the Y direction of the rhombus.

如圖1所示，伸縮構件30，包含：在伸縮部31(第1連桿構件61及第2連桿構件62)上沿著第1軸排列配置的複數(在本實施形態為8個)載台32。載台32，在Y方向延伸，且在X方向隔著等間隔配置。載台32，在第1連桿構件61的第1部分P1與第2連桿構件62的第4部分P4的連結部(圖4)固定在伸縮部31。具體而言，如圖2所示，在載台32之中朝向伸縮部31側的下面，形成有在該伸縮部31側開口的有底載台軸孔32B。在該載台軸孔32B，***第1連結軸71的上端部。在載台32的下面(朝向伸縮部31側的面)與第2連桿構件62的上面(朝向載台32側的面)之間，配置墊圈。在該墊圈的中央孔，***第1連結軸71。在載台32上，安裝例如分配器或工件保持部(無圖示)。 As shown in FIG. 1 , the telescopic member 30 includes a plurality (eight in this embodiment) arranged along the first axis on the telescopic portion 31 (the first link member 61 and the second link member 62 ). Stage 32. The stages 32 extend in the Y direction and are arranged at regular intervals in the X direction. The stage 32 is fixed to the telescopic part 31 at the connecting part ( FIG. 4 ) between the first part P1 of the first link member 61 and the fourth part P4 of the second link member 62 . Specifically, as shown in FIG. 2 , a bottomed stage shaft hole 32B that opens toward the telescopic portion 31 side is formed on the lower surface of the stage 32 toward the telescopic portion 31 side. The upper end portion of the first connection shaft 71 is inserted into the stage shaft hole 32B. A gasket is disposed between the lower surface of the stage 32 (the surface facing the telescopic portion 31 side) and the upper surface (the surface facing the stage 32 side) of the second link member 62 . The first connecting shaft 71 is inserted into the center hole of the washer. On the stage 32, for example, a dispenser or a workpiece holding unit (not shown) is attached.

如圖1所示，在複數載台32上，在Y方向的兩端形成有向第1軸延伸的方向(X方向)貫通該載台32的貫通孔32A。變距裝置1，具備複數延在於X方向的圓柱狀的載台導桿(第1載台導桿51及第2載台導桿52)。如圖1所示，第1載台導桿51，***形成在載台32的一方的貫通孔32A(位於圖1中的近側貫通孔32A)。另一方面，第2載台導桿52，***形成在載台32的另一方的貫通孔32A(位於圖1中的遠側貫通孔32A)。第1載台導桿51及第2載台導桿52，一方的端固定在第1端板11，另一方的端固定在第2端板12。再者，在該等載台導桿的外周面與貫通孔32A的內周面之間，配置摩擦係數小的環狀滑動構件(無圖示)。 As shown in FIG. 1 , on both ends of the plurality of stages 32 in the Y direction, through-holes 32A penetrating the stages 32 in the direction extending in the first axis (X direction) are formed. The pitch changing device 1 includes a plurality of columnar stage guides (first stage guide 51 and second stage guide 52 ) extending in the X direction. As shown in FIG. 1 , the first stage guide rod 51 is inserted into one through-hole 32A formed in the stage 32 (the through-hole 32A on the proximal side in FIG. 1 ). On the other hand, the second stage guide 52 is inserted into the other side of the stage 32. The through hole 32A (distal through hole 32A located in FIG. 1 ). One end of the first stage guide 51 and the second stage guide 52 is fixed to the first end plate 11 , and the other end is fixed to the second end plate 12 . Furthermore, an annular sliding member (not shown) having a small coefficient of friction is arranged between the outer peripheral surface of the stage guide rods and the inner peripheral surface of the through-hole 32A.

驅動部40，使伸縮構件30沿著第1軸C1伸縮。如圖1所示，驅動部40，包含：動力部41；托架42；螺桿軸43；及移動部44。 The driving unit 40 expands and contracts the telescopic member 30 along the first axis C1. As shown in FIG. 1 , the driving part 40 includes: a power part 41 ; a bracket 42 ; a screw shaft 43 ; and a moving part 44 .

動力部41，係用於使螺桿軸43在旋轉軸的周向旋轉，例如馬達。如圖1所示，動力部41，經由托架42連接第1端板11的外面。如圖2所示，動力部41，具有延伸至托架42內的輸出軸41A。 The power unit 41 is used to rotate the screw shaft 43 in the circumferential direction of the rotating shaft, such as a motor. As shown in FIG. 1 , the power unit 41 is connected to the outer surface of the first end plate 11 via a bracket 42 . As shown in FIG. 2 , the power unit 41 has an output shaft 41A extending into the bracket 42 .

螺桿軸43，係沿著第1軸C1延伸，具有旋轉軸。如圖2所示，螺桿軸43，具有第1端部43A及與第1端部43A為相反側的第2端部43B，***形成在第1端板11上的貫通孔11A。第1端部43A，位於軌道21附近的位置。另一方面，第2端部43B，位於托架42內，藉由聯軸器80連接輸出軸41A。藉此，輸出軸41A的轉動，藉由聯軸器80傳達螺桿軸43。 The screw shaft 43 extends along the first axis C1 and has a rotation axis. As shown in FIG. 2 , the screw shaft 43 has a first end portion 43A and a second end portion 43B opposite to the first end portion 43A, and is inserted into a through hole 11A formed in the first end plate 11 . The first end portion 43A is located near the rail 21 . On the other hand, the second end portion 43B is located inside the bracket 42 and is connected to the output shaft 41A via the coupling 80 . Thereby, the rotation of the output shaft 41A is transmitted to the screw shaft 43 via the coupling 80 .

移動部44，係設置在螺桿軸43。移動部44，係藉由螺桿軸43在旋轉軸周向的轉動而沿著第1軸C1移動的同時，固定在伸縮構件30的一部分。如圖2所示，移動部44，包含：螺帽45及載台固定部46。 The moving part 44 is provided on the screw shaft 43 . The moving part 44 is fixed to a part of the telescopic member 30 while being moved along the first axis C1 by the rotation of the screw shaft 43 in the circumferential direction of the rotating shaft. As shown in FIG. 2 , the moving part 44 includes: a nut 45 and a stage fixing part 46 .

螺帽45與螺桿軸43一起構成滾珠螺桿。即，如圖2所示，螺桿軸43***形成在螺帽45的貫通孔45A，在螺桿軸43的外周面與螺帽45的內周面之間配置複數滾珠(無圖示)。在載台固定部46，形成有***螺帽45的貫通孔46A。載台固定部46，固定在複數載台32之中最接近第1端板11的1個載台32的側面。即，載台固定部46，固定在伸縮構件30之中第1軸C1延伸的方向(X方向)的端部。 The nut 45 constitutes a ball screw together with the screw shaft 43 . That is, as shown in FIG. 2 , the screw shaft 43 is inserted into the through hole 45A formed in the nut 45 , and a plurality of balls (not shown) are arranged between the outer peripheral surface of the screw shaft 43 and the inner peripheral surface of the nut 45 . A through hole 46A into which the nut 45 is inserted is formed in the stage fixing portion 46 . The stage fixing portion 46 is fixed to a side surface of one stage 32 closest to the first end plate 11 among the plurality of stages 32 . That is, the stage fixing portion 46 is fixed to an end portion of the telescopic member 30 in the direction in which the first axis C1 extends (X direction).

接著，說明關於上述變距裝置1的動作。首先，驅動動力部41，則輸出軸41A會旋轉，螺桿軸43在旋轉軸周向往第1方向旋轉。藉此，螺帽45及載台固定部46在X方向，向接近支持構件20的方向直線移動。藉此，複數載台32的之中最接近第1端板11的載台32，會在X方向上被推向支持構件20側。 Next, the operation of the aforementioned pitch changing device 1 will be described. First, when the power unit 41 is driven, the output shaft 41A rotates, and the screw shaft 43 rotates in the first direction around the rotation axis. Thereby, the nut 45 and the stage fixing part 46 linearly move to the direction which approaches the support member 20 in the X direction. Thereby, among the plurality of stages 32, the stage 32 closest to the first end plate 11 is pushed toward the supporting member 20 side in the X direction.

結果，固定在載台32上的伸縮部31(縮放儀)，會在X方向收縮。具體而言，第1連桿構件61及第2連桿構件62在各連結部互相轉動，以藉由支持構件20支持的部分(圖4中的點劃線A的部分)為中心伸縮部31在X方向收縮，該伸縮部31的各菱形向Y方向延伸變形。藉此，在X方向鄰接的載台32的相互間隔會縮短。 As a result, the telescopic part 31 (pantograph) fixed to the stage 32 contracts in the X direction. Specifically, the first link member 61 and the second link member 62 mutually rotate at each connecting portion, and the telescopic portion 31 is centered on a portion supported by the supporting member 20 (the portion indicated by the dotted line A in FIG. 4 ). Shrinking in the X direction, each rhombus of the stretchable part 31 is extended and deformed in the Y direction. Thereby, the distance between the stages 32 adjacent to each other in the X direction is shortened.

另一方面，使動力部41的輸出軸41A向逆方向旋轉，則螺桿軸43在旋轉軸周向往第2方向(與第1方向相反的方向)旋轉。藉此，在螺帽45及載台固定部46在X方向，向離開支持構件20的方向直線移動。結果，伸縮部31向X方向延伸，該伸縮部31的各菱形向X方向延伸變形。藉此，在X方向鄰接的載台32的相互間隔會會擴大。如此，藉由螺桿軸43的轉動，使螺帽45及載台固定部46在X方向進退移動，改變鄰接的載台32間的節距。 On the other hand, when the output shaft 41A of the power unit 41 is rotated in the reverse direction, the screw shaft 43 rotates in the second direction (direction opposite to the first direction) around the rotation axis. Thereby, the nut 45 and the stage fixing part 46 linearly move in the direction which separates from the support member 20 in the X direction. As a result, the stretchable portion 31 is extended in the X direction, and each rhombus of the stretchable portion 31 is stretched and deformed in the X direction. Thereby, the distance between the stages 32 adjacent to each other in the X direction is increased. In this way, by the rotation of the screw shaft 43 , the nut 45 and the stage fixing portion 46 are moved forward and backward in the X direction, and the pitch between the adjacent stages 32 is changed.

如以上，根據關於本實施形態的變距裝置1，藉由動力部41使螺桿軸43在旋轉軸周向旋轉，藉由使移動部44(螺帽45及載台固定部46)沿著第1軸C1移動，第1連桿構件61與第2連桿構件62在連結部互相轉動，使伸縮構件30沿著第1軸C1伸縮。根據此構成，由於可藉由螺桿軸43的旋轉量，精密控制移動部44在X方向的移動量，而可精密控制伸縮構件30的伸縮量。因此，相對於採用以汽缸驅動的模式的先前的變距裝置難以正確地變更任意節距，根據此變距裝置1，可在任意位置以高精度定位，而可以高的精度變更為任意節距。 As described above, according to the pitch variable device 1 of the present embodiment, the screw shaft 43 is rotated in the circumferential direction of the rotation axis by the power unit 41, and by moving the moving unit 44 (the nut 45 and the stage fixing unit 46) along the first The first axis C1 moves, and the first link member 61 and the second link member 62 mutually rotate at the connecting portion, so that the telescopic member 30 expands and contracts along the first axis C1. According to this configuration, since the amount of movement of the moving portion 44 in the X direction can be precisely controlled by the amount of rotation of the screw shaft 43 , the amount of expansion and contraction of the telescopic member 30 can be precisely controlled. Therefore, it is difficult to accurately change an arbitrary pitch compared to the conventional pitch changing device using a cylinder-driven mode. According to this pitch changing device 1, it is possible to position at an arbitrary position with high precision, and to change to an arbitrary pitch with high accuracy. .

(實施形態2) (Embodiment 2)

接著，根據圖6及圖7說明關於實施形態2的變距裝置2的構成。關於實施形態2的變距裝置2，基本上具備與關於上述實施形態1的變距裝置1同樣的構成及可發揮同樣的效果，但在支持構件的構成不同。以下，僅說明與上述實施形態1的變距裝置1不同的點。 Next, the configuration of the pitch changing device 2 according to Embodiment 2 will be described with reference to FIGS. 6 and 7 . The pitch changing device 2 of the second embodiment basically has the same structure as the pitch changing device 1 of the first embodiment described above and can exhibit the same effect, but differs in the configuration of the supporting member. Hereinafter, only points different from the pitch changing device 1 of the first embodiment described above will be described.

圖6係表示關於實施形態2的變距裝置2的全體構成的斜視圖。如圖6所示，變距裝置2，具備奇數(在本實施形態為九個)個載台32。在本實施形態的支持構件20A，並沒有連接在伸縮部31，將複數載台32之中位於X方向的中央的位置的1個載台32對基體構件10固定。 Fig. 6 is a perspective view showing the overall configuration of the pitch changing device 2 according to the second embodiment. As shown in FIG. 6 , the pitch changing device 2 includes an odd number (nine in this embodiment) of stages 32 . In the supporting member 20A of the present embodiment, the expansion and contraction portion 31 is not connected, and one stage 32 located in the center in the X direction among the plurality of stages 32 is fixed to the base member 10 .

具體而言，支持構件20A，包含：長方體形狀的第1支持部20A1；及長方體形狀的第2支持部20A2，其係配置在對第1支持部20A1在X方向隔著間隔配置。第1支持部20A1及第2支持部20A2，均配置在基體面10A上，Y方向的寬度大致與基體構件10。 Specifically, the supporting member 20A includes: a rectangular parallelepiped first supporting portion 20A1; and a rectangular parallelepiped second supporting portion 20A2 arranged at a distance from the first supporting portion 20A1 in the X direction. Both the first support portion 20A1 and the second support portion 20A2 are arranged on the base surface 10A, and have a width in the Y direction approximately equal to that of the base member 10 .

圖7係沿著圖6中的線段VII-VII的剖面圖。如圖7所示位於複數載台32之中，位在X方向的中央的位置的載台32，Y方向的兩端較Y方向的中央部更向基體面10A延伸(延在部32C)。該延在部32C，藉由以第1支持部20A1及第2支持部20A2(圖6)在X方向包夾，使伸縮構件30藉由支持構件20A對基體構件10固定。 FIG. 7 is a cross-sectional view along line VII-VII in FIG. 6 . As shown in FIG. 7, among the plurality of stages 32, the stage 32 located at the center in the X direction has both ends in the Y direction extending toward the base surface 10A (extended portion 32C) than the center portion in the Y direction. The extended portion 32C is sandwiched in the X direction by the first support portion 20A1 and the second support portion 20A2 ( FIG. 6 ), so that the telescopic member 30 is fixed to the base member 10 via the support member 20A.

根據關於本實施形態的變距裝置2，與上述實施形態1不同，無需設置直動引導單元的支持構件20。因此，與上述實施形態1相比，可更精簡地構成變距裝置。 According to the pitch variable device 2 of this embodiment, unlike the first embodiment described above, it is not necessary to provide the support member 20 of the linear motion guide unit. Therefore, compared with the first embodiment described above, the pitch changing device can be configured more simply.

(其他的實施形態) (other embodiments)

在此，說明關於其他的實施形態。在上述實施形態1，以在驅動部採用滾珠螺桿的情形作為一例進行說明，惟並非限定於此。例如，亦可取代滾珠螺桿而採用滑動螺桿。 Here, other embodiments will be described. In the above-mentioned first embodiment, the ball screw is used in the driving part. The case of the rod will be described as an example, but it is not limited thereto. For example, a slide screw may be used instead of a ball screw.

在上述實施形態1，以第1連桿構件61及第2連桿構件62均為板構件的情形作為一例進行說明，惟並非限定於此。例如第1連桿構件及第2連桿構件，亦可係在Z方向具有高度的矩形的框形構件。此外，第2部分P2及第3部分P3並非限定在第1連桿構件61的端部的情形，亦可為位在長度方向的中央部與端部之間的部分。同樣地，第5部分P5及第6部分P6，並非限定在第2連桿構件62的端部的情形，亦可為位在在長度方向的中央部與端部之間的部分。 In said Embodiment 1, the case where both the 1st link member 61 and the 2nd link member 62 are plate members was demonstrated as an example, However, It is not limited to this. For example, the first link member and the second link member may be rectangular frame members having a height in the Z direction. In addition, the 2nd part P2 and the 3rd part P3 are not limited to the end part of the 1st link member 61, The part located between the center part and an end part in the longitudinal direction may be sufficient. Similarly, the fifth portion P5 and the sixth portion P6 are not limited to the end portions of the second link member 62, and may be portions located between the center portion and the end portions in the longitudinal direction.

在上述實施形態1，以支持構件20，將伸縮構件30之中在X方向的中央部支持基體構件10的情形作為一例進行說明，惟並非限定於此。即，支持構件，亦能以伸縮構件30之中在X方向的任意部分支持基體構件10。 In the above-mentioned first embodiment, a case where the support member 20 supports the base member 10 at the central portion in the X direction among the telescopic members 30 has been described as an example, but the present invention is not limited thereto. That is, the support member can also support the base member 10 at any part of the telescopic member 30 in the X direction.

第1載台導桿51及第2載台導桿52，並非本揭示的變距裝置的必要的構成要素，故亦可省略。此時，亦可省略在載台32上的貫通孔32A。 Since the first stage guide rod 51 and the second stage guide rod 52 are not essential components of the distance changing device of the present disclosure, they may also be omitted. In this case, the through-hole 32A on the stage 32 may be omitted.

本次揭示的實施形態在所有的點為例示，應該理解成並非從任何面有所限制。在本發明的範圍並非上述說明，而係以申請範圍規定，意指與申請範圍均等的意思及範圍內的所有變更均被包含。 The embodiment disclosed this time is an illustration in all points, and it should be understood that it is not restrictive in any respect. The scope of the present invention is defined not by the above description but by the scope of application, and it is intended that all changes within the meaning and range equivalent to the scope of application are included.

1,2:變距裝置 1,2: pitch change device

10:基體構件 10: Base member

10A:基體面 10A: Base surface

11:第1端板 11: 1st end plate

11A:貫通孔 11A: Through hole

12:第2端板 12: 2nd end plate

13:第1固定具 13: The first fixture

14:第2固定具 14: The second fixture

20:支持構件 20: Support components

21:軌道 21: track

22:第1滑塊 22: 1st slider

30:伸縮構件 30: telescopic member

31:伸縮部 31: telescopic part

32:載台 32: Carrier

32A:貫通孔 32A: Through hole

40:驅動部 40: Drive Department

41:動力部 41: Power department

42:托架 42: Bracket

43:螺桿軸 43: screw shaft

44:移動部 44: Mobile Department

51:第1載台導桿 51: The first stage guide rod

52:第2載台導桿 52: Guide rod for the second stage

Claims

一種變距裝置，其具備： A distance changing device, which has:

基礎構件； basic components;

支持構件，其配置在上述基礎構件上； Supporting components, which are configured on the above-mentioned basic components;

伸縮構件，其係藉由上述支持構件對上述基礎構件固定，可沿著第1軸伸縮；及 a telescopic member, which is fixed to the above-mentioned base member by the above-mentioned support member, and can expand and contract along the first axis; and

驅動部，其係使上述伸縮構件，沿著第1軸伸縮， The drive unit is used to make the above-mentioned telescopic member expand and contract along the first axis,

上述伸縮構件，包含： The telescopic components mentioned above include:

複數第1連接構件，其係向與上述第1軸交叉的第2方向延伸，在上述第1軸上以等間隔排列的複數第1點，與上述第1軸交叉的方式以等間隔配置； A plurality of first connecting members extending in a second direction intersecting the first axis, and a plurality of first points arranged at equal intervals on the first axis are arranged at equal intervals in a manner intersecting the first axis;

複數第2連接構件，其係向與上述第1軸延伸的方向及上述第2方向交叉的第3方向延伸，在上述複數第1點，以與上述第1軸交的方式以等間隔配置， A plurality of second connecting members extending in a third direction intersecting with the direction in which the first axis extends and the second direction, arranged at equal intervals at the plurality of first points so as to intersect with the first axis,

上述複數第1連接構件的各個，包含： Each of the plurality of first connecting members includes:

第1部分； part 1;

第2部分，其係在上述第2方向位在離開上述第1部分的位置；及 Part 2, which is located in said second direction away from said Part 1; and

第3部分，其係在上述第2方向位在與上述第2部分的相反側與上述第1部分離開等距離的位置； A third part, which is located equidistantly from the first part on the opposite side of the second part in the second direction;

上述複數第2連接構件的各個，包含： Each of the plurality of second connecting members includes:

第4部分； Part 4;

第5部分，其係在上述第3方向位在離開上述第4部分的位置；及 Part 5, which is located away from Part 4 above in the 3rd direction above; and

第6部分，其係在上述第3方向位在與上述第5部分的相反側與上述第4部分離開等距離的位置， a sixth part, which is at a position equidistant from the fourth part on the opposite side to the fifth part in the above-mentioned third direction,

上述第1連接構件， The above-mentioned first connecting member,

在相同的上述第1點，以可互相轉動地連接與上述第1軸交叉的上述第2連接構件的上述第4部分與上述第1部分， In the same above-mentioned first point, the above-mentioned fourth part and the above-mentioned first part of the above-mentioned second connecting member intersecting the above-mentioned first axis are rotatably connected to each other,

在一方相鄰的上述第1點，以可互相轉動地連接與上述第1軸交叉的上述第2連接構件的上述第5部分與上述第3部分， At the first point adjacent to one side, the fifth part and the third part of the second connecting member intersecting the first axis are rotatably connected to each other,

在上述一方的相反側的另一方相鄰的上述第1點，以可互相轉動地連接與上述第1軸交叉的上述第2連接構件的上述第6部分與上述第2部分， At the first point adjacent to the other side on the opposite side of the one, the sixth part and the second part of the second connecting member intersecting the first axis are rotatably connected to each other,

上述驅動部，包含： The above drive unit includes:

螺絲軸，其係沿著上述第1軸延伸，具有旋轉軸； a screw shaft extending along the first axis and having a rotation axis;

動力部，其係使上述螺絲軸在上述旋轉軸周圍旋轉；及 a power unit that rotates the above-mentioned screw shaft around the above-mentioned rotating shaft; and

移動部，其係設置在上述螺絲軸，藉由上述螺絲軸的上述旋轉軸周圍的轉動而沿著上述第1軸移動的同時，對上述伸縮構件的一部分固定。 The moving part is provided on the screw shaft, and fixes a part of the telescopic member while moving along the first axis by the rotation of the screw shaft around the rotation shaft.

如請求項1之變距裝置，其中上述支持構件，包含： The distance changing device according to claim 1, wherein the above-mentioned supporting member includes:

軌道，其係配置在上述基礎構件上，與上述第1軸直交；及 a track, which is arranged on the above-mentioned foundation member, and is perpendicular to the above-mentioned first axis; and

滑塊，其可沿著上述軌道移動， sliders, which can move along the aforementioned rails,

上述第1連桿構件的上述第2部分與上述第2連桿構件的上述第6部分的連結部及上述第1連桿構件的上述第3部分與上述第2連接構件的上述第5部分的連結部之中的至少一方固定在上述滑塊。 The connection portion between the second portion of the first link member and the sixth portion of the second link member and the third portion of the first link member and the fifth portion of the second connection member At least one of the connecting parts is fixed to the slider.

如請求項1或2之變距裝置，其中上述支持構件，將上述伸縮構件之中向上述第1軸延伸的方向的中央部，對上述基礎構件支持， The distance changing device according to claim 1 or 2, wherein the support member supports the base member at the center of the telescopic member in a direction extending toward the first axis,

上述移動部，固定在上述伸縮構件之中向上述第1軸延伸的方向的端部。 The moving portion is fixed to an end portion of the telescopic member in a direction extending toward the first axis.

如請求項1之變距裝置，其中上述伸縮構件，包含：複數載台，其係在上述第1連桿構件及上述第2連桿構件上沿著上述第1軸排列配置。 The distance changing device according to claim 1, wherein the telescopic member includes: a plurality of stages arranged in a row on the first link member and the second link member along the first axis.

如請求項4之變距裝置，其中在上述複數載台，形成在上述第1軸的延伸的方向貫通上述載台的貫通孔， The distance changing device according to claim 4, wherein a through hole penetrating the stage in the direction in which the first axis extends is formed on the plurality of stages,

進一步具備：載台導軸，其係向上述第1軸延伸的方向延在，而***上述貫通孔。 It further includes: a stage guide shaft extending in a direction in which the first axis extends and inserted into the through hole.