JP2004223635A - Wiring and piping structure of parallel link mechanism - Google Patents

Abstract

An object of the present invention is to provide a wiring structure in a parallel link mechanism in which wiring and piping are reasonably wired in accordance with the movement of a moving body to improve the durability of the wiring and piping.
A wiring pipe is fixed to a support plate provided upright at a position slightly away from the center of the upper surface of a ceiling portion, and then the universal joint swings to a position where the universal joint swings. Is guided with some play so that it does not become an obstacle to change. After the wiring and piping 11 guided to the universal joint 5 are fixed to the side surface of the inner ring of the universal joint 5 by a clamp member and guided into the machine, the ball screw 11 has a certain amount of play so as not to hinder the expansion and contraction of the ball screw 4. 4 is fixed on the connecting sleeve 18 by a clamp member 19. The wiring and piping 11 is connected to the spindle head 2 with a joint 20 with a certain amount of play so as not to hinder the ball screw 4 from swinging and changing its position.
[Selection diagram] Fig. 1

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a wiring and piping structure for moving a parallel link mechanism used in an industrial robot, a deburring device, a machine tool, and the like.
[0002]
[Prior art]
Conventionally, as a working machine of the parallel link mechanism, as shown in FIG. 11, a machine tool equipped with a spindle head 2 that freely moves around a machining space in six axial directions is known. In this machine tool, six universal joints 5 are arranged on a ceiling 7 serving as a base. Each universal joint 5 supports, as a link member, an upper end portion of a ball screw 4 that is a telescopic actuator, and a servo motor 6 that drives the ball screw 4 is installed.
[0003]
A spindle head 2 as a moving body is supported at the lower ends of the six ball screws 4 via a universal joint 3, and a spindle 8 is rotatably provided on the spindle head 2. Then, by changing the length of the ball screw 4 between the universal joint 3 and the universal joint 5, the spindle head 2 is positioned in an arbitrary position in the machining space, and the work on the table 1 is fixed with a tool attached to the spindle 8. It is designed to be processed.
[0004]
The spindle head 2 is provided with electric wiring such as a power supply line of a spindle drive motor and a control signal line, and a pipe for supplying fluid such as pressurized oil for tool clamping, lubricating oil for bearings, cooling water or cutting water. It is connected. Conventionally, these electric wires and pipes (hereinafter referred to as “wiring and pipes”) are provided between a joint 51 provided on the ceiling portion 7 and a joint 52 provided on the spindle head 2 as shown in FIGS. The flexible pipe 53 is provided with a margin, and the flexible pipe 53 is passed through wiring piping.
Similarly, as in Patent Document 1, there is also known an invention in which a wiring member and the like are suspended by being clamped to a clamp member provided substantially at the center of a ceiling portion, a predetermined play is provided, and the wiring is routed to a spindle head.
[0005]
[Patent Document 1]
JP 2000-126954 A
[Problems to be solved by the invention]
However, according to the conventional wiring and piping guide device, a long flexible tube 53 or a cable (hereinafter, referred to as a “flexible tube or the like”) is hung inside the machine. Or the like may come into contact with the ball screw 4 and be worn, the connection between the flexible tube 53 or the like and the joints 51 and 52 or the clamp member may be damaged by the inertia due to the deflection of the flexible tube 53 or the like. As the number of wiring pipes passing therethrough increases, the density occupying the inside of the pipes increases, and there is a problem in the durability of the apparatus, such as mutual rubbing and disconnection. In addition to these, the moving area of the spindle head 2 is limited by the bending radius of the flexible tube or the like. In the machine tool, the movement accuracy of the spindle head 2 is regarded as important, but there is a possibility that the inertial force of the flexible tube 53 or the like acts on the spindle head and affects the movement accuracy.
[0007]
Therefore, an object of the present invention is to provide a wiring and piping structure that secures a moving area while improving durability and motion accuracy by making wiring and piping follow the movement of a moving body of a parallel link mechanism without difficulty. Things.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the invention according to claim 1 moves a wiring pipe and the like at a predetermined position on an arbitrary link member with play so as not to hinder the movement thereof. It is characterized by being connected to the body.
According to the second aspect of the present invention, in addition to the object of the first aspect, in order to improve the durability of the wiring and piping, the support position of the wiring and piping on the link member is set relative to the moving body with respect to the base. The position is lower than the speed, that is, a position closer to the base.
According to the third aspect of the present invention, in addition to the object of the first or second aspect, in order to improve durability and motion accuracy of the wiring and piping, the wiring and piping are dispersed and supported by a plurality of link members. It is a thing.
According to a fourth aspect of the present invention, in addition to the object of any one of the first to third aspects, the wiring and piping are supported by an elastic body from a base in order to enlarge a moving area of the spindle head.
According to a fifth aspect of the present invention, in addition to the object of any one of the first to fourth aspects, in order to further improve the durability of the wiring and piping, the supporting position of the wiring and piping on the link member is adjusted. It is made rotatable about the center.
The invention according to claim 6 provides, in addition to the object of any one of claims 1 to 5, a further improvement in durability when a plurality of wiring pipes are bundled and wired in one wiring pipe route. In order to achieve this, a sliding reduction mechanism is provided so that each wiring and piping do not come into direct contact.
[0009]
Note that the wiring piping means the wiring member or the piping member alone, or a bundle of the wiring member and the piping member, or a bundle of these in one tube, and the wiring member or the piping member itself is also a single member. A configuration in which a plurality of cables are bundled can be employed.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 3 show a first embodiment of the present invention. The machine tool of the parallel link mechanism is the same as that shown in FIG. 11 except for the flexible tube 53, and supports the upper end portions of the six ball screws 4 on the ceiling 7 via the six universal joints 5. Is supported at the lower end thereof via a universal joint 3.
[0011]
FIG. 1 is an explanatory diagram showing a wiring and piping structure of the present invention. First, the wiring and piping 11 are fixed to a support plate 9 erected at a position slightly away from the center on the upper surface of the ceiling portion 7. Thereafter, the wiring and piping 11 are connected to the nearest universal joint 5 and the universal joint 5. It is guided with a certain amount of play so that it does not become an obstacle to swing and change its position. In addition, the wiring piping 11 in the ceiling part 7 is not limited to the one using such a support plate 9, but may be directly fixed to the upper surface of the ceiling part 7 or may be provided at any position of the machine body other than the ceiling part 7. It may be fixed.
[0012]
As shown in FIG. 3, the universal joint 5 has an intermediate ring 13 and an inner ring 14 coaxially arranged in an outer ring 12 fixed to the ceiling portion 7. , The intermediate ring 13 and the inner ring 14 have a gimbal structure in which both ends are supported by a pair of pins 15 arranged at right angles to the axis, and the inner ring 14 and the intermediate ring 13 are orthogonal to each other. The directions supported by the pins 15 and 15 are orthogonal to each other so as to rotate in the direction of rotation. The servomotor 6 is provided above the inner ring 14, and the ball screw 4 which is screw-fed by the drive of the servomotor 6 passes through the inner ring 14 coaxially.
[0013]
Therefore, the wiring piping 11 guided to the universal joint 5 is fixed to the side surface of the inner ring 14 in the universal joint 5 by the clamp member 16. That is, it is guided into the machine through the space between the intermediate ring 13 and the inner ring 14. The clamp member 16 is composed of two members, one of which is attached to the inner ring 14, and the other of which is attached to one side with the wiring and piping 11 therebetween.
[0014]
The wiring piping 11 guided into the machine is supported on the ball screw 4 with a certain amount of play so as not to hinder the expansion and contraction of the ball screw 4. Since the ball screw 4 here has a lower end connected to a rod 17 connected to the universal joint 3 via a connecting sleeve 18 on the coaxial extension thereof, the wiring piping 11 is clamped on the connecting sleeve 18. It is fixed by the member 19. The clamp member 19 is composed of two members, one is attached to the connection sleeve 18, and the other is attached to one side with the wiring piping 11 sandwiched therebetween. The wiring and piping 11 is connected to the spindle head 2 with a joint 20 with a certain amount of play so as not to hinder the ball screw 4 from swinging and changing its position.
[0015]
As described above, according to the wiring and piping structure of the above-described embodiment, the wiring and piping 11 is supported at a predetermined position on any one of the ball screws 4 with play so as not to hinder the movement thereof. 2, the wiring and piping 11 do not constantly come into contact with other things and are not forcibly pulled, so that no disconnection occurs. In addition, since the ball screw 4 expands and contracts, the wiring pipes 11 between the clamp members 16 and 19 mainly perform only the bending motion of the ball screw 4 in the axial direction. Further, the parallel link mechanism differs from the serial link mechanism in that the combined speed of expansion and contraction of each ball screw 4 is the speed of the spindle head 2, so that the expansion and contraction speed of each ball screw 4 does not exceed the speed of the spindle head 2. For this reason, the inertial force acting on the wiring pipes 11 is less than when the wiring pipes 11 are directly connected to the spindle head 2, and the durability is improved. In addition, the moving area of the moving body can be sufficiently secured.
[0016]
4 and 5 are explanatory views showing a second embodiment of the present invention. Here, the wiring piping 11 is fixed to the ceiling 7 by the clamp member 31 penetrating the ceiling 7 without being supported by the universal joint 5. Thereafter, the wiring pipes 11 are provided with a certain amount of play on the coupling sleeve 18 so as not to hinder the movement of the ball screw 4 whose length changes by swinging together with the universal joint 3 due to a change in the position and orientation of the spindle head 2 from the clamp member 31. Are supported by a clamp member 32. The clamp member 32 is composed of two members, one is attached to the connection sleeve 18, and the other is attached to one side with the wiring and piping 11 interposed therebetween. The wiring piping 11 is connected to the spindle head 2 with a joint 33 with play so that the ball screw 4 does not oscillate and change the position.
[0017]
Also in this embodiment, the same operation and effects as those of the previous embodiment can be obtained, such that the wiring and piping 11 do not constantly come into contact with other things and are not forcibly pulled, so that no disconnection occurs. In particular, according to the wiring and piping structure, the required length of the wiring and piping 11 can be reduced by reducing the number of support points on the ball screw 4. If the length of the wiring and piping 11 is reduced, the area used for routing the wiring and piping 11 is reduced, so that the movement area of the spindle head 2 can be increased.
[0018]
FIG. 6 is a diagram in which the third to fifth embodiments of the present invention are simultaneously realized, and the third to fifth embodiments will be described with reference to FIG. In the first and second embodiments, the integrated wiring and piping 11 are routed via one ball screw 4. However, in the third embodiment, the wiring and piping 11 are dispersed into a plurality of parts and each wiring The pipes 11, 11,... Are routed via separate ball screws 4, 4,. By dispersing in this way, it is possible to reduce the weight per set and reduce the inertial force acting thereon, and balance the force acting on the spindle head 2, leading to an improvement in durability and motion accuracy.
[0019]
According to the fourth embodiment, the wiring pipes 11 penetrating through the clamp member 41 of the ceiling 7 are provided on the ceiling 7 by an elastic body 43 (here, a tension coil spring) via an externally provided locking ring 42. The elastic pipe 43 supports the wiring and piping 11 in a direction in which the wiring and piping 11 do not come into contact with the ball screw 4 or the spindle head 2, as shown in FIGS. Thus, it is possible to enlarge the moving area of the spindle head 2. In FIG. 6, the number of the elastic body 43 supporting one ball screw 4 is one, but a plurality may be used.
[0020]
In the fifth embodiment, the clamp member 45 for fixing the wiring pipes 11 with two members on the connecting sleeve 18 serving as a transit point in the same manner as in the previous embodiment is rotated around an axis perpendicular to the attachment of the clamp member 45 ( (Indicated by an arrow in FIG. 6). The purpose is to improve the durability by dispersing the force received by the wiring pipes 11 as a rotational motion. 46 is a joint to the spindle head 2.
[0021]
9 and 10 are explanatory diagrams showing a sixth embodiment. When a plurality of wiring pipes are bundled, a slide reduction mechanism is provided to avoid contact so that the wiring pipes do not directly rub against each other. In the embodiment shown in FIG. 9, half of the protective members 52 and 53 serving as a sliding reduction mechanism are attached to the portions of each wiring and piping 51 that are easily contacted, and these protective members 52 and 53 have sufficient flexibility. As a result, the movement of the wiring piping 51 is not obstructed. When the protection members 52 and 53 are rubbed against each other and damaged, only the protection members 52 and 53 need to be replaced while the wiring and piping 51 remain unchanged.
In the embodiment of FIG. 10, a clamp member 55 is attached to each of the wiring pipes 54, and the clamp members 55 are connected to each other by an elastic body 56 (here, a coil spring) to constitute a sliding reduction mechanism. The gradual connection of the elastic body 56 alleviates the sharp bending of the clamp portion, and prevents the friction between the clamp portions, thereby improving the durability.
In addition, as the sliding reduction mechanism, the specific structure can be appropriately changed as long as direct contact of the wiring piping can be prevented, for example, by winding a spiral tube around the wiring piping. is there.
[0022]
The first to sixth embodiments can be arbitrarily combined and implemented. For example, the clamp member 16 of the universal joint 5 of the first embodiment can also be rotated around the mounting shaft as in the fifth embodiment, It is possible to change the design such that a part of the dispersed wiring and piping 11 is clamped to the universal joint 5 as in the first embodiment, and the other is penetrated through the ceiling 7 and suspended and supported by the elastic body 43. As long as the wiring pipes of the first to fifth modes are bundled together, the sliding reduction mechanism of the sixth mode can be adopted.
Further, the support positions and the number of the wiring pipes on the link member such as the ball screw 4 and the specific support structure can be appropriately changed without being limited to the above embodiment. For example, the support positions on the link member can be changed to three positions. The above can also be provided.
[0023]
However, it is desirable that the support position of the wiring piping on the link member is provided at a position lower than the relative speed of the moving body with respect to the base. For example, in the above embodiment, when the wiring piping 11 is supported at n places on the ball screw 4, the relative speed of the spindle head 2 to the ceiling 7 is approximately a / (n + 1), where a is 1 to n. What is necessary is just to select the support position with the ball screw 4 in order from the ceiling part 7 side so as to be an integer｝. Therefore, for example, when supporting at two places, the first support position is on the ball screw 4 where the relative speed of the spindle head 2 to the ceiling 7 is about 1/3, and the second support position is 2/3 of the relative speed. On the ball screw 4, the wiring piping led to the ceiling 7 is connected to the spindle head 2 via the first support position and the second support position in this order. By taking the support position into consideration in this way, it is possible to improve the durability of the wiring and piping by avoiding a sudden change in speed before and after the transit position.
[0024]
【The invention's effect】
According to the first aspect of the present invention, the wiring and piping do not constantly come into contact with other things and are not forcibly pulled, so that no disconnection occurs. Further, even if the link member expands and contracts, the wiring and piping are mainly subjected to only the bending motion of the link member in the axial direction, so that twisting hardly occurs and the life is improved. Further, unlike the serial link mechanism, the parallel link mechanism has the combined speed of the link members as the speed of the moving body, so that the moving speed of each link member does not exceed the speed of the moving body. For this reason, the inertial force acting on the wiring pipes is less than when the wiring pipes are directly connected to the moving body, which leads to an improvement in durability. In addition, the moving area of the moving body can be sufficiently secured.
[0025]
According to the second aspect of the present invention, in addition to the effect of the first aspect, the supporting position of the wiring piping on the link member is set to a position lower than the relative speed of the moving body with respect to the base. In addition, the durability of the wiring and piping can be improved.
According to the third aspect of the present invention, in addition to the effects of the first or second aspect, the wiring and piping are dispersed and supported by the plurality of link members, so that the durability and the motion accuracy of the wiring and piping are improved. Improvement can be achieved.
According to the fourth aspect of the invention, in addition to the effects of any one of the first to third aspects, the moving area of the spindle head can be enlarged by supporting the wiring and piping from the base with the elastic body. it can.
According to the fifth aspect of the present invention, in addition to the effects of any one of the first to fourth aspects, the wiring and piping are rotatable about a support position on the link member, thereby reducing the wiring and piping. The durability can be further improved.
According to the invention set forth in claim 6, in addition to the effects of any of claims 1 to 5, the durability of the wiring and piping can be maintained when a plurality of wiring and piping are bundled.
[Brief description of the drawings]
FIG. 1 is a front view of a parallel link mechanism to which a first embodiment of the present invention is applied.
FIG. 2 is an operation explanatory diagram of FIG. 1;
FIG. 3 is an explanatory view of a universal joint.
FIG. 4 is a front view of a parallel link mechanism to which a second embodiment of the present invention is applied.
FIG. 5 is an operation explanatory diagram of FIG. 4;
FIG. 6 is a perspective view of a parallel link mechanism to which the third to fifth embodiments of the present invention are applied.
FIG. 7 is an operation explanatory diagram of FIG. 6;
FIG. 8 is an operation explanatory diagram of FIG. 6;
FIG. 9 is an explanatory view of a sliding reduction mechanism according to a sixth embodiment of the present invention.
FIG. 10 is an explanatory view of a modified example of the sliding reduction mechanism.
FIG. 11 is a perspective view of a machine tool having a parallel link mechanism.
FIG. 12 is a front view showing a wiring piping structure in a conventional parallel link mechanism.
FIG. 13 is an operation explanatory diagram of FIG.
[Explanation of symbols]
1, table, 2, spindle head, 3, 5, universal joint, 4, ball screw, 6, servo motor, 7, ceiling, 8, spindle, 11 ... wiring and piping, 16 , 19, 31, 32, 41, 45 ··· Clamping member, 18 ··· Connection sleeve, 43 ··· Elastic body.

Claims (6)

A moving body having a base and a moving body, connecting the two in parallel with a plurality of link members, guiding wiring piping to the moving body through the base, and driving the link members; Wiring structure of a parallel link mechanism that freely changes the position and posture of the
A wiring pipe for a parallel link mechanism, wherein the wiring pipes are supported at a predetermined position on an arbitrary link member with play so as not to hinder the movement thereof, and then connected to the moving body. Construction. 2. The wiring and piping structure of the parallel link mechanism according to claim 1, wherein a supporting position of the wiring and piping on the link member is a position lower than a relative speed of the moving body with respect to the base. The wiring and piping structure of a parallel link mechanism according to claim 1 or 2, wherein the wiring and piping are distributed and supported by a plurality of link members. The wiring and piping structure of a parallel link mechanism according to any one of claims 1 to 3, wherein the wiring and piping are supported by an elastic body from a base. The wiring and piping structure of a parallel link mechanism according to any one of claims 1 to 4, wherein the wiring and piping are rotatable about a support position on the link member. The wiring and piping structure of a parallel link mechanism according to any one of claims 1 to 5, wherein in a structure in which a plurality of wiring and piping are bundled, a sliding reduction mechanism is provided so that each of the wiring and piping does not directly contact.

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