Differential motion device

Abstract

A differential motion device has: an endless component forming an endless path, wherein the endless component has: a first path segment located inside; a second path segment located outside; and a connecting path segment connecting the first path segment and the second path segment; a first drive roller engaging with the first path segment; a second drive roller engaging with the second path segment; a first drive motor rotating the first drive roller; a second drive motor rotating the second drive roller; a control unit controlling the first drive motor and the second drive motor; and a movable pulley unit comprising: a movable pulley engaging with the connecting path segment and moving linearly along a first axial direction and / or rotating with a movement of the first path segment and the second path segment;a first moving component that moves along the first axial direction with a linear movement of the movable pulley; and a second moving component that is held by the first moving component and moves with a rotation of the movable pulley.

Description

TECHNICAL AREA

[0001] The present disclosure relates to a differential motion device. TECHNICAL BACKGROUND

[0002] Traditionally, a differential motion device is one that uses an H-shaped frame as a frame for holding a belt or roller (see, for example, patent document 1). DOCUMENT OF THE STATE OF TECHNOLOGY PATENT DOCUMENT

[0003] Patent Document 1: JP-A-S58-59777 SUMMARY OF THE INVENTION PROBLEMS TO BE SOLVED BY THE INVENTION

[0004] However, because the H-shaped frame is used, there is a problem that the size of the moving device tends to be large.

[0005] Therefore, it is a task of the present disclosure to solve the above problem and to provide a differential motion device capable of achieving a reduction in size. SOLUTIONS TO THE PROBLEMS

[0006] To achieve the aforementioned objective, a differential motion device according to the present disclosure comprises: an endless component forming an endless path, wherein the endless component has: a first path segment arranged internally; a second path segment arranged externally; and a connecting path segment connecting the first path segment and the second path segment; a first drive roller engaging with the first path segment; a second drive roller engaging with the second path segment; a first drive motor rotating the first drive roller; a second drive motor rotating the second drive roller; a control unit controlling the first drive motor and the second drive motor; and a movable pulley unit engaging with the connecting path segment, wherein the movable pulley unit has: a movable pulley moving linearly ora first motion component that moves and / or rotates along a first axial direction with a movement of the first path segment and the second path segment; a first motion component that moves along the first axial direction with a linear movement of the movable pulley; and a second motion component that is held by the first motion component and moves with a rotation of the movable pulley. EFFECTS OF THE INVENTION

[0007] According to the present disclosure, a reduction in size can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a perspective view of a differential motion device according to a first embodiment. Fig. Figure 2 is the perspective view of the differential motion device according to the first embodiment. Fig. Figure 3 is a perspective view of the differential motion device according to the first embodiment (a first motion block is shown by a dashed line). Fig. Figure 4 is a front view of the differential motion device according to the first embodiment (the first motion block is shown by a dashed line). Fig. Figure 5 is a perspective view of the first motion block according to the first embodiment. Fig. Figure 6 is a perspective view of the first motion block according to the first embodiment. Fig. Figure 7 is a side view of the first motion block according to the first embodiment. Fig. Figure 8 is a side view of the first motion block according to the first embodiment. Fig. Figure 9A is a schematic front view to describe the operation of the differential motion device according to the first embodiment. Fig. Figure 9B is a schematic front view to describe the operation of the differential motion device according to the first embodiment. Fig. Figure 9C is a schematic front view to describe the operation of the differential motion device according to the first embodiment. Fig. Figure 9D is a schematic front view to describe the operation of the differential motion device according to the first embodiment. Fig. Figure 10 is a rough front view of the differential motion device according to the first embodiment. Fig. Figure 11 is a rough front view of a differential motion device according to a first modification. Fig. Figure 12 is a rough front view of a differential motion device according to a second modification. Fig. Figure 13 is a rough front view of a differential motion device according to a third modification. Fig. Figure 14 is a rough front view of a differential motion device according to a fourth modification. Fig. Figure 15 is a rough underside view of the differential motion device, which is located in Fig. 14 is shown. Fig. Figure 16 is a rough front view of a differential motion device according to a fifth modification. Fig. Figure 17 is a rough underside view of the differential motion device, which is located in Fig. 16 is shown. Fig. Figure 18 is a rough front view of a differential motion device according to a sixth modification. Fig. Figure 19 is a front view of a differential motion device according to a second embodiment. Fig. Figure 20 is the perspective view of the differential motion device according to the second embodiment. Fig. Figure 21 is the perspective view of a differential motion device according to a third embodiment. Fig. Figure 22 is the perspective view of a differential motion device according to a fourth embodiment. Fig. Figure 23 is the perspective view of the differential motion device according to the fourth embodiment. Fig. 24 is a perspective view obtained by performing a crop at the differential motion device of Fig. 22 is obtained along a II cross-section. DETAILED DESCRIPTION

[0008] According to a first aspect of the present disclosure, a differential motion device is provided, comprising: an endless component forming an endless path, the endless component comprising: a first path segment arranged internally; a second path segment arranged externally; and a connecting path segment connecting the first path segment and the second path segment; a first drive roller engaging with the first path segment; a second drive roller engaging with the second path segment; a first drive motor rotating the first drive roller; a second drive motor rotating the second drive roller; and a control unit controlling the first drive motor and the second drive motor.and a movable pulley unit comprising: a movable pulley that engages with the connecting path segment and moves linearly along a first axial direction and / or rotates with a movement of the first path segment and the second path segment; a first motion component that moves along the first axial direction with a linear movement of the movable pulley; and a second motion component that is held by the first motion component and moves with a rotation of the movable pulley.

[0009] According to a second aspect of the present disclosure, the differential motion device according to the first aspect is provided in which the second motion component moves linearly along a second axial direction with the rotation of the movable pulley.

[0010] According to a third aspect of the present disclosure, the differential motion device according to the second aspect is provided in which the first axial direction and the second axial direction extend in directions that intersect each other.

[0011] According to a fourth aspect of the present disclosure, the differential motion device according to the second aspect is provided in which the first axial direction and the second axial direction extend in directions that are parallel to each other.

[0012] According to a fifth aspect of the present disclosure, the differential motion device according to the first aspect is provided in which the second motion component rotates with the rotation of the movable pulley.

[0013] According to a sixth aspect of the present disclosure, the differential motion device according to the fifth aspect is provided, wherein the second motion component is a conveyor belt or belt conveyor having a belt that rotates with the rotation of the movable pulley.

[0014] According to a seventh aspect of the present disclosure, the differential motion device is provided according to one of the first to sixth aspects, wherein (i) the connecting path segment has: a first connecting path segment connecting a first end of the first path segment and a first end of the second path segment; and a second connecting path segment connecting a second end of the first path segment and a second end of the second path segment, (ii) the movable pulley has: a first movable pulley engaging with the first connecting path segment; and a second movable pulley engaging with the second connecting path segment, and (iii) the first movable pulley and the second movable pulley move integrally along the first axial direction.

[0015] According to an eighth aspect of the present disclosure, the differential motion device according to the seventh aspect is provided in which the second motion component engages with a pulley movable by the first and the second movable pulley.

[0016] According to a ninth aspect of the present disclosure, the differential motion device is provided according to one of the first to eighth aspects, and the differential motion device further has a support component which supports the first drive roller and the second drive roller each in a rotatable state.

[0017] According to a tenth aspect of the present disclosure, the differential motion device according to the ninth aspect is provided in which the support component has a first guide section that guides the movement of the first motion component along the first axial direction.

[0018] According to an eleventh aspect of the present disclosure, the differential motion device according to the tenth aspect is provided in which the first motion component has a second guide section that guides the movement of the second motion component along the second axial direction.

[0019] According to a twelfth aspect of the present disclosure, the differential motion device is provided according to one of the first to eleventh aspects, wherein the first drive roller is arranged inside the first path segment, and the second drive roller is arranged inside the second path segment.

[0020] According to a thirteenth aspect of the present disclosure, the differential motion device is provided according to one of the first to twelfth aspects, wherein the endless component has: a first main surface with which the first drive roller engages; and a second main surface with which the second drive roller engages.

[0021] According to a fourteenth aspect of the present disclosure, the differential motion device is provided according to one of the first to thirteenth aspects, wherein the first drive roller and the second drive roller are arranged on a first side with reference to the movable pulley unit.

[0022] According to a fifteenth aspect of the present disclosure, the differential motion device is provided according to one of the first to fourteenth aspects, wherein the first drive roller is arranged on a first side with reference to the movable pulley unit and the second drive roller is arranged on a second side with reference to the movable pulley unit.

[0023] According to a sixteenth aspect of the present disclosure, the differential motion device is provided according to one of the first to fifteenth aspects and the differential motion device further comprises: a first output roller engaging with the first path segment; and a second output roller engaging with the second path segment.

[0024] According to a seventeenth aspect of the present disclosure, the differential motion device is provided according to the sixteenth aspect, wherein the first drive roller and the first driven roller are arranged inside the first path segment and the second drive roller and the second driven roller are arranged inside the second path segment.

[0025] According to an eighteenth aspect of the present disclosure, the differential motion device is provided according to one of the first to seventeenth aspects, wherein the endless component is at least one component of the components belt, chain, wire, cable, rope and thread.

[0026] Exemplary embodiments of a differential motion device according to the present disclosure are described below with reference to the accompanying drawings. The present disclosure is not limited to the specific designs of the following embodiments, and designs based on similar technical ideas are included in the present disclosure. (First embodiment)

[0027] First, a differential motion device according to a first embodiment of the present disclosure is described with reference to Fig. 1 to 10 described.

[0028] Fig. 1 and Fig. Figures 2 are each a perspective view of a differential motion device 2 according to the first embodiment.

[0029] The differential motion device 2, which is in Fig. 1 and Fig. The differential motion device 2, as shown in Figure 2, is a motion device for a differential (differential device) and functions as a two-axis differential robot when a movable pulley unit 18, which will be described later, moves along two axes. The differential motion device 2 of the first embodiment is a two-axis orthogonal robot that is movable in an X-direction and a Y-direction that are perpendicular to each other and has no function of moving in a Z-direction that is perpendicular to both the X-direction and the Y-direction.

[0030] The differential motion device 2 can be used not only for a two-axis orthogonal robot but also for various other applications. For example, the differential motion device 2 can be applied to a three-dimensional warehouse, an elevator, a load handling device, industrial equipment, construction machinery, port equipment, agricultural machinery, processing machinery, a plotter, aerospace equipment, radiation-resistant equipment, low-temperature-resistant equipment, and medical equipment.

[0031] The differential motion device 2, which is in Fig. 1 and Fig. Figure 2 shows an endless component 4 as a drive cable, a first drive roller 6, a second drive roller 8, a first driven roller 10, a second driven roller 12, a first drive motor 14, a second drive motor 16, a support block 17, a movable pulley unit 18 and a control unit 70.

[0032] The continuous component 4 is a component that forms a continuous path (a circulating path) and is a drive cable driven by the drive rollers 6 and 8. Any component type can be used as the continuous component 4 as long as the drive rollers 6 and 8 engage in a driveable manner; for example, a belt, chain, wire, cable, rope, or thread can be used.

[0033] The continuous component 4 of the first embodiment is a component (for example, a double-sided belt, a chain, or the like) whose two main surfaces can engage with the drive rollers. The first drive roller 6 engages with a first main surface of the continuous component 4, and the second drive roller 8 engages with a second main surface of the continuous component 4.

[0034] The continuous component 4 has a first path segment 20 and a second path segment 22. The first path segment 20 is a section located inside the second path segment 22, and the second path segment 22 is a section located on the outside of the first path segment 20. The first path segment 20 can be referred to as an "inner loop," and the second path segment 22 can be referred to as an "outer loop."

[0035] The first drive roller 6 and the second drive roller 8 are each rollers for rotating the endless component 4. The first drive roller 6 engages with the first path segment 20 of the endless component 4, and the second drive roller 8 engages with the second path segment 22 of the endless component 4.

[0036] The first drive roller 6 is driven by the first drive motor 14 to rotate around a first axis of rotation Ax1 ( Fig. 1) The second drive roller 8 is driven by the second drive motor 16 to rotate around a second axis of rotation Ax2.

[0037] In the first embodiment 1, the drive motors 14 and 16 are each directly connected to the drive rollers 6 and 8, without an indirect component such as a belt being arranged between them.

[0038] The first output roller 10 and the second output roller 12 are each rollers that rotate as a result of the movement of the endless component 4. The first output roller 10 engages with the first path segment 20, and the second output roller 12 engages with the second path segment 22.

[0039] The support block 17 is a block-shaped support component that supports components of the differential motion device 2. The support block 17 supports the first drive roller 6, the second drive roller 8, the first driven roller 10, the second driven roller 12, the first drive motor 14, and the second drive motor 16, each in an operational state. The endless component 4 and the movable pulley assembly 18 are indirectly supported by the support block 17.

[0040] The support block 17 further has a first guide section 40 for guiding a sliding movement of the movable pulley unit 18. The first guide section 40 extends along a first axial direction X1 and guides the sliding movement of the movable pulley unit 18 along the first axial direction X1.

[0041] The movable pulley unit 18 is a unit that has a movable pulley which moves linearly and / or rotates with the movement of the endless component 4. The movable pulley unit 18 is also referred to as a "moving carriage".

[0042] The movable pulley unit 18 has a first motion block 24 and a second motion block 26.

[0043] The first motion block 24 is a block-shaped motion component that is relatively movable with respect to the support block 17, that engages with the first guide section 40 described above, and that moves in a sliding manner along the first axial direction X1, which extends in the X direction.

[0044] The second movement block 26 is a block-shaped movement component that is relatively movable with respect to the first movement block 24 and is held by the first movement block 24 in order to be movable in a sliding manner along a second axial direction Y1, which extends in the Y direction.

[0045] In the first embodiment, the first axial direction X1 and the second axial direction Y1 are perpendicular to each other.

[0046] Fig. 3 and Fig. Figure 4 is a perspective view or a front view, showing the first movement block 24 of the movable pulley unit 18 with dashed lines. Fig. 5 and Fig. Figure 6 is each a perspective view of the first movement block 24, and Fig. 7 and Fig. Figure 8 is a side view of the first movement block 24. In Fig. 7 and Fig. 8 Some components are not shown, so that an internal structure of the first movement block 24 can be visually recognized.

[0047] As in Fig. 3 and Fig. As shown in Figure 4, the movable pulley unit 18 has a first movable pulley 28 and a second movable pulley 30 as movable pulleys that engage with the endless component 4.

[0048] The first movable pulley 28 is a movable pulley that engages with a first connecting path segment 32, which connects a first end of the first path segment 20 and a first end of the second path segment 22. The second movable pulley 30 is a movable pulley that engages with a second connecting path segment 34, which connects a second end of the first path segment 20 and a second end of the second path segment 22.

[0049] In the continuous component 4, the first path segment 20, the second path segment 22, the first connecting path segment 32 and the second connecting path segment 34 form an endless circulating path.

[0050] The first movable pulley 28 and the second movable pulley 30 are held in a rotatable state in one piece by the first motion block 24.

[0051] As in Fig. 3, Fig. 4 and Fig. As shown in Figure 6, the first motion block 24 has first sliding pieces 36. The first sliding pieces 36 are sections that engage with the first guide section 40 of the support block 17 described above, and the first sliding pieces 36 move along the guide section 40, so that the first motion block 24 moves in a sliding manner along the first axial direction X1.

[0052] The first motion block 24 further has second guide sections 41. The second guide sections 41 are sections for guiding a sliding movement in the second axial direction Y1 through the second motion block 26. A second sliding piece 42 of the second motion block 26 engages with the second guide sections 41, and the second sliding piece 42 moves along the second guide sections 41, so that the second motion block 26 moves in a sliding manner along the second axial direction Y1.

[0053] As in Fig. 5 and Fig. As shown in Figure 6, the first movement block 24 has a first component 43 and a second component 44.

[0054] The first component 43 is a block section that forms part of the first movement block 24, is arranged, for example, above the second component 44 and accommodates the first movable pulley 28 and the second movable pulley 30, each in a rotatable state.

[0055] The first component 43 is provided with a large number of openings. In particular, openings 46 and 48 ( Fig. 6) and openings 50 and 52 ( Fig. 5) are provided as openings through which the continuous component 4 passes. Furthermore, an opening 53 is provided as an opening through which the second movement block 26 passes.

[0056] Openings 46 and 48, which are in Fig. Figure 6 shows openings through which path segments 20 and 22 pass. The first end of the first path segment 20, which passes through opening 46, and the first end of the second path segment 22, which passes through opening 48, are connected by the first connecting path segment 32 ( Fig. 3 and Fig. 4) connected inside the first movement block 24.

[0057] Openings 50 and 52, which are in Fig. The openings shown in Figure 5 are those through which path segments 20 and 22 pass. The second end of the first path segment 20, which passes through opening 50, and the second end of the second path segment 22, which passes through opening 52, are connected by the second connecting path segment 34 ( Fig. 3 and Fig. 4) connected inside the first movement block 24.

[0058] The second motion component 44 is a block section that forms part of the first motion block 24, is arranged, for example, below the first component 43 and has the first sliding section sections 36 and second guide section sections 41, as shown in Fig. Figure 6 shows the first sliding pieces 36 each have a recess extending in the X-direction, and the second guide sections 41 each have a recess extending in the Y-direction. In the first embodiment, the two first sliding piece sections 36 and the two second guide sections 41 are each spaced apart, but the number and shapes are not limited thereto.

[0059] As in Fig. As shown in Figure 7, the first movable pulley 28, which is included in the first component 43, has at least two gears 54 and 56. The gears 54 and 56 are gears designed to rotate integrally about a third axis Ax3 and are spaced apart in the direction in which the third axis of rotation Ax3 extends.

[0060] The gear 54 engages with the first connecting path segment 32 ( Fig. 3 and Fig. 4) one that connects the path segments 20 and 22, and rotates with the movement of the endless component 4. The gear 56 is designed to rotate in one piece according to the rotation of the gear 54 and engages with the second motion component 26 (not shown).

[0061] When gear 54 and gear 56 rotate simultaneously according to the movement of the endless component 4, the second motion block 26, which engages with gear 56, moves in a sliding manner along the second axial direction Y1. The second motion block 26 and gear 56 of the first embodiment are designed in a rack and pinion arrangement.

[0062] As in Fig. As shown in Figure 8, the second movable pulley 30 has a gear 58. The gear 58 is designed to rotate about a fourth axis of rotation Ax4. The gear 58 engages with the second connecting path segment 34, which connects the path segments 20 and 22, and rotates with the movement of the endless component 4.

[0063] The second motion block 26 does not engage with the second movable pulley 30 and engages only with the first movable pulley 28, moving in a sliding manner along the second axial direction Y1 according to the rotation of the first movable pulley 28. As a consequence, the rotations of the first movable pulley 28 and the second movable pulley 30 do not engage with or interfere with each other, so that the second motion block 26 can be moved in a sliding manner in a desired direction.

[0064] With further reference to Fig. 1 and Fig. The control unit 70 is a control device that controls the differential motion device 2. The control unit 70 is electrically connected to each of the components of the differential motion device 2 and controls the operation of each component. The control unit 70 controls the first drive motor 14, the second drive motor 16, and so on. The control unit 70 has a general-purpose processor such as a CPU, MPU, FPGA, DSP, or ASIC, which implements a predetermined function by executing a program. The control unit 70 can implement various controls in the differential motion device 2 by calling and executing a control program stored in memory.The control unit 70 is not limited to those that realize a predetermined function through the interaction of hardware and software, and can be a hardware circuit designed exclusively to realize a predetermined function.

[0065] The operation of the differential motion device 2, which has the above design, is described with reference to Fig. Sections 9A to 9D are described.

[0066] Fig. Figures 9A to 9D are schematic front views illustrating the operation of the differential motion device 2 according to the first embodiment and represent different states. Fig. To distinguish between the drive and driven rollers, rollers 9A to 9D are hatched, while driven rollers 10 and 12 are outlined. The same applies to Fig. 10 and following drawings.

[0067] Fig. 9A represents a state in which the first drive roller 6 and the second drive roller 8 are driven in the same first direction of rotation R1.

[0068] As in Fig. As shown in Figure 9A, due to the rotation of the first drive roller 6 and the second drive roller 8, the path segments 20 and 22 of the endless component 4 move in the direction indicated by the straight arrows, and the output rollers 10 and 12 each rotate in the direction indicated by the curved arrows.

[0069] Fig. 9A represents a state in which the speed of movement of the first path segment 20 and the speed of movement of the second path segment 22 are equal.

[0070] In the first movable pulley 28, the first end of the first path segment 20 and the first end of the second path segment 22 move in the same direction (left side in the drawing) along the first axial direction X1; therefore, a force acts that moves the first movable pulley 28 in this direction. In the second movable pulley 30, the second end of the first path segment 20 and the second end of the second path segment 22 move in the same direction (left side in the drawing) along the first axial direction X1; therefore, a force acts that moves the second movable pulley 30 in this direction. Since both movable pulleys 28 and 30 move in this direction, the movable pulley unit 18, which has the first movement block 24 and the second movement block 26, moves to the left side in the drawing along the first axial direction X1 (arrow X2).

[0071] Fig. 9B represents a state in which the first drive roller 6 and the second drive roller 8 are driven in the same second direction of rotation R2. The second direction of rotation R2 is opposite to the first direction of rotation R1, which is in Fig. 9A is shown.

[0072] As in Fig. As shown in Figure 9B, due to the rotation of the first drive roller 6 and the second drive roller 8, the path segments 20 and 22 of the endless component 4 move in the direction indicated by the straight arrows, and the output rollers 10 and 12 each rotate in the direction indicated by the curved arrows. Similarly, Fig. 9B represents a case in which the speed of movement of the first path segment 20 and the speed of movement of the second path segment 22 are equal.

[0073] In the first movable pulley 28, the first end of the first path segment 20 and the first end of the second path segment 22 move in the same direction (towards the right side in the drawing) along the first axial direction X1; therefore, a force acts that moves the first movable pulley 28 in such a direction, and a force in such a direction also acts in the second movable pulley 30. As a consequence, the movable pulley unit 18, which has the first movement block 24 and the second movement block 26, moves in a single motion to the right side in the drawing along the first axial direction X1 (arrow X3).

[0074] As described above, by rotating the drive rollers 6 and 8 in the same direction of rotation and moving the path segments 20 and 22 at the same speed, the movable pulley unit 18 can be moved in a sliding manner along the first axial direction X1 (pull mode).

[0075] Fig. 9C represents a state in which the first drive roller 6 is driven in the first direction of rotation R1, and the second drive roller 8 is driven in the second direction of rotation R2, which is opposite to the first direction of rotation R1. Similarly, Fig. 9C represents a case in which the speed of movement of the first path segment 20 and the speed of movement of the second path segment 22 are equal.

[0076] In the first movable pulley 28, the first end of the first path segment 20 moves to the left side of the drawing, while the first end of the second path segment 22 moves to the right side. Therefore, a force acts that rotates the first movable pulley 28 in the second direction of rotation R2. In the second movable pulley 30, the second end of the first path segment 20 moves to the left side of the drawing, while the second end of the second path segment 22 moves to the right side. Therefore, a force acts that rotates the second movable pulley 30 in the second direction of rotation R2. As a consequence, the second motion block 26, which engages with the first movable pulley 28, moves downwards in the drawing along the second axial direction Y1 with the rotation of the first movable pulley 28 (arrow Y2).

[0077] Fig. 9D represents a state in which the first drive roller 6 is driven in the second direction of rotation R2 and the second drive roller 8 is driven in the first direction of rotation R1, which is opposite to the second direction of rotation R2. Similarly, Fig. 9D represents a case in which the speed of movement of the first path segment 20 and the speed of movement of the second path segment 22 are equal.

[0078] In the first movable pulley 28, the first end of the first path segment 20 moves to the right side of the drawing, but the first end of the second path segment 22 moves to the left side of the drawing. Therefore, a force acts that rotates the first movable pulley 28 in the first direction of rotation R1, and a force rotating in this direction also acts on the second movable pulley 30. As a consequence, the second motion block 26, which engages with the first movable pulley 28, moves upwards in the drawing along the second axial direction Y1 with the rotation of the first movable pulley 28 (arrow Y3).

[0079] As described above, by rotating the drive rollers 6 and 8 in opposite directions of rotation and moving the path segments 20 and 22 at the same speed, the second motion block 26 of the movable pulley unit 18 can be moved in a sliding manner along the second axial direction Y1 (circulation mode).

[0080] Fig. Figures 9A to 9D illustrate the case where the movement speed of each of the path segments 20 and 22 is the same, but the movement speeds of path segments 20 and 22 can differ. As a consequence, the second motion block 26 of the movable pulley unit 18 can be moved two-dimensionally in the XY directions. By combining the pull mode, which in Fig. 9A and Fig. 9B is shown, and the circulation mode, which is shown in Fig. 9C and Fig. As shown in 9D, the sliding motion of the first motion block 24 and the sliding motion of the second motion block 26 can be generated simultaneously.

[0081] In the train mode that is in Fig. 9A and Fig. As shown in Figure 9B, by differentiating the movement speeds of the path segments 20 and 22, the movable pulleys 28 and 30 are moved in a sliding manner and, additionally, rotation of the movable pulleys 28 and 30 can be effected. As a consequence, the first movement block 24 is moved in the first axial direction X1 and, additionally, the second movement block 26 can be moved in the second axial direction Y1.

[0082] In the circulation mode that is in Fig. 9C and Fig. As shown in Figure 9D, by differentiating the movement speeds of the path segments 20 and 22, the movable pulleys 28 and 30 are rotated, and additionally, the movable pulleys 28 and 30 can be moved in a sliding manner. As a consequence, the second movement block 26 is moved in the second axial direction Y1, and additionally, the first movement block 24 can be moved in the first axial direction X1.

[0083] The control unit 70, which is in Fig. 1 and Fig. As shown in Figure 2, the movable pulley unit 18 can be controlled along the X and Y directions with any desired velocity components by controlling the direction of rotation and the rotational speed (the movement speeds of the path segments 20 and 22) of each of the drive rollers 6 and 8. As a consequence, it is possible to move a workpiece (not shown) to any position in an XY plane and to perform a desired operation in a state where the workpiece is attached to a tip end of the second motion block 26.

[0084] Since the second movement block 26 of the first embodiment has a cantilevered structure, the degree of freedom of an installation design is high compared to a structure that uses parallel beams, such as an H-shaped frame.

[0085] In the differential motion device 2 of the first embodiment, particularly since no motor is mounted on the movable pulley unit 18, which is a moving section, the weight of the peripheral design comprising the movable pulley unit 18 can be reduced, and the peripheral design can be simplified, thereby contributing to an increase in the speed of the moving section and a reduction in the capacity of the drive motors 14 and 16. As a consequence, this contributes to a reduction in size and weight of the support block 17.

[0086] Fig. Figure 10 is a front view that roughly represents a main part of the differential motion device 2 of the first embodiment.

[0087] As in Fig. As shown in Figure 10, in the continuous component 4, the first path segment 20, which is located inside, forms a first loop L1 (inner loop), and the second path segment 22, which is located outside, forms a second loop L2. Since the continuous component 4 forms the first loop L1 inside and the second loop L2 outside, it is possible to reduce the dimensions of the differential motion device 2 in the XY directions and achieve a reduction in size compared to, for example, a setup that uses an H-shaped frame.

[0088] In this configuration, the first drive roller 6 and the first driven roller 10 are arranged inside the first loop L1, and the second drive roller 8 and the second driven roller 12 are arranged inside the second loop L2. As a result, the dimensions in the XY directions of the differential motion device 2 can be further reduced, and a further miniaturization can be achieved.

[0089] In this configuration, the drive rollers 6 and 8 are arranged on a first side with respect to the movable pulley unit 18 (arrow X4), and the driven rollers 10 and 12 are arranged on a second side with respect to the movable pulley unit 18 (arrow X5). In particular, by arranging the drive rollers 6 and 8 on the same side (arrow X4), it is possible to provide a structure in which the drive motors 14 and 16, which are heavy and which are located in Fig. 1 and Fig. The motors shown in the diagram are grouped together on one side. With such an arrangement, it is possible to position the motors in a concentrated manner, and, for example, in a case where the device is rotated 90° clockwise from the angle shown in the diagram, the motors can be arranged in a more compact way. Fig. As shown in Figure 10, the device is rotated so that the drive rollers 6 and 8 are located on the underside. This lowers the center of gravity of the entire device and stabilizes it as a single structure. In this configuration, the device is suitable for a self-propelled robotic lawnmower or similar vehicle that is prone to tipping over, and can also be used in elevators or automated warehouses. Furthermore, by arranging the drive motors 14 and 16 in a more compact manner, it is possible to concentrate the wires connected to them, thereby improving handling.

[0090] Furthermore, in the circulation mode that is in Fig. 9C and Fig. As shown in Figure 9D, by using the second motion block 26 as a path, the components of the differential motion device 2, with the exception of the second motion block 26 (such as the first motion block 24 and the support block 17), are also used as a driving device that has a position setting function in a direction perpendicular to the path (for example, the X direction). (Operation and effect)

[0091] As described above, the differential motion device 2 according to the first embodiment has the following: the continuous component 4, which forms a continuous path, wherein the continuous component 4 has the following: the first path segment 20, which is arranged inside; the second path segment 22, which is arranged outside; and the connecting path segment 32, 34, which connects the first path segment 20 and the second path segment 22; the first drive roller 6, which engages with the first path segment 20; the second drive roller 8, which engages with the second path segment 22; the first drive motor 14, which rotates the first drive roller 6; the second drive motor 16, which rotates the second drive roller 8; the control unit 70, which controls the first drive motor 14 and the second drive motor 16;and the movable pulley unit 18, which engages with the connecting path segment 32, 34, wherein the movable pulley unit 18 comprises: the movable pulleys 28 and 30, which move linearly along the first axial direction X1 and / or rotate with a movement of the first path segment 20 and the second path segment 22; the first motion block 24 (first motion component), which moves along the first axial direction X1 with a linear movement of the movable pulleys 28 and 30; and the second motion block (second motion component), which is held by the first motion block 24 and moves with a rotation of the movable pulleys 28.

[0092] With such a design, the sizes of the continuous component 4 and the support block 17 in the differential motion device 2 can be reduced, thereby achieving a reduction in size.

[0093] Furthermore, in the differential motion device 2 of the first embodiment, the second motion block 26 (second motion component) moves linearly along the second axial direction Y1 with the rotation of the movable pulley 28. Such a design can be achieved by a differential motion device 2 that has a two-axis motion function.

[0094] Furthermore, in the differential motion device 2 of the first embodiment, the first axial direction X1 and the second axial direction Y1 extend in directions that intersect (are perpendicular to each other). This design allows the first motion block 24 and the second motion block 26 to move in different directions. The first axial direction and the second axial direction do not have to be perpendicular to each other and can intersect at an angle other than 90 degrees.

[0095] Furthermore, in the differential device 2 of the first embodiment (i) the connecting path segments 32 and 34 have the following: the first connecting path segment 32, which connects the first end of the first path segment 20 and the first end of the second path segment 22; and the second connecting path segment 34, which connects the second end of the first path segment 20 and the second end of the second path segment 22, (ii) the movable pulleys 28 and 30 have the following: the first movable pulley 28, which engages with the first connecting path segment 32; and the second movable pulley 30, which engages with the second connecting path segment 34, and (iii) the first movable pulley 28 and the second movable pulley 30 move integrally along the first axial direction X1.With such a design, by providing the two movable pulleys 28 and 30, it is easy to achieve the desired operation of the differential motion device 2.

[0096] Furthermore, in the differential motion device 2 of the first embodiment, the second motion block 26 engages with only the first movable pulley 28 of the first movable pulley 28 and the second movable pulley 30. With such a design, if the first movable pulley 28 and the second movable pulley 30 rotate in the same direction, the movements of the first movable pulley 28 and the second movable pulley 30 do not interfere with each other, so that the second motion block 26 can be moved along the second axial direction Y1.

[0097] It should be noted that the present invention is not limited to the case in which the second motion block 26 engages only with the first movable pulley 28, but it can also include a case in which the second motion block 26 engages only with the second movable pulley 30. In this case, the gear 56, which is in Fig. As shown in Figure 7, the second movable pulley 30 is provided. That is, the second motion block 26 can engage with both the first movable pulley 28 and the second movable pulley 30.

[0098] Furthermore, the differential motion device 2 of the first embodiment also has the support block 17, which supports the first drive roller 6 and the second drive roller 8 in a rotatable state. This design makes it possible to stabilize the operation of the drive rollers 6 and 8 and to design the support block 17 to be small in size.

[0099] Furthermore, in the differential motion device 2 of the first embodiment, the support block 17 has the first guide section 40, which guides the movement of the first motion block 24 along the first axial direction X1. Such a design can stabilize the operation of the first motion block 24.

[0100] In the differential motion device 2 of the first embodiment, the first motion block 24 has the second guide section 41, which guides the movement of the second motion block 26 along the second axial direction Y1. Such a design can stabilize the operation of the second motion block 26.

[0101] In the differential motion device 2 of the first embodiment, the first drive roller 6 is arranged inside the first path segment 20 and the second drive roller 8 is arranged inside the second path segment 22. Such a design makes it easy to further reduce the size of the continuous component 4.

[0102] Furthermore, in the differential motion device 2 of the first embodiment, the continuous component 4 has the following: the first main surface with which the first drive roller 6 engages; and the second main surface with which the second drive roller 8 engages. Such a design improves the degree of freedom for installing the drive rollers 6 and 8, which engage with the continuous component 4, so that further miniaturization is easy.

[0103] Furthermore, in the differential motion device 2 of the first embodiment, the first drive roller 6 and the second drive roller 8 are located on a first side (arrow X4 in Fig. 10) arranged with reference to the movable pulley unit 18. Such a design makes it possible to concentrate the weights of the drive rollers 6 and 8, the drive motors 14 and 16, and the like.

[0104] Furthermore, the differential motion device 2 of the first embodiment has the following: the first output roller 10, which engages with the first path segment 20; and the second output roller 12, which engages with the second path segment 22. Such a design can more strongly stabilize the operation of the endless component 4.

[0105] Furthermore, in the differential motion device 2 of the first embodiment, the first drive roller 6 and the first driven roller 10 are arranged inside the first path segment 20, and the second drive roller 8 and the second driven roller 12 are arranged inside the second path segment 22. Such a design makes it easy to further reduce the size of the continuous component 4.

[0106] Furthermore, in the differential motion device 2 of the first embodiment, the continuous component 4 is at least one of the components belt, chain, wire, cable, rope, and thread. Such a design makes it possible to use different continuous components 4. (Various variations)

[0107] Various modifications of the first embodiment are described below. Designs that are the same as or similar to those in the first embodiment are described using the same designations and reference numerals, and descriptions that are redundant to those in the first embodiment are omitted as appropriate. (First to third variation)

[0108] In the first embodiment, the case has been described in which the drive rollers 6 and 8 and the driven rollers 10 and 12 are arranged in the arrangement shown in Fig. Figure 10 illustrates this. However, such an arrangement is not restrictive, and any arrangement can be used as long as an inner loop L1 and an outer loop L2 are formed and at least one drive roller engages with each of the loops L1 and L2. Such a modification is described with reference to Fig. Described in sections 11 to 13.

[0109] Fig. Figure 11 is a front view, roughly representing a main part of a differential motion device 102 according to a first modification.

[0110] In the differential motion device 102, which is in Fig. As shown in Figure 11, the second drive roller 8 and the second driven roller 12, which form the outer loop L2, are arranged in the same way as in the first embodiment, however, a first drive roller 106 and a first driven roller 110, which form the inner loop L1, are arranged differently than those in the first embodiment.

[0111] In the example that is in Fig. As shown in Figure 11, the positions of the first drive roller 6 and the first driven roller 10 are exchanged, a first driven roller 106 is arranged on the same side (arrow X5) as the second driven roller 12, and a first driven roller 110 is arranged on the same side (arrow X4) as the second drive roller 8.

[0112] Even in such an arrangement and design, the control unit 70 controls directions of rotation and speeds of the drive rollers 8 and 106, so that the same operation as that of the differential motion device 2 of the first embodiment can be carried out.

[0113] With the differential motion device 102 according to the first modification, the first drive roller 106 and a first drive motor (not shown) connected to the first drive roller are arranged on a first side (arrow X5) with respect to the movable pulley unit 8, and the second drive roller 8 and a second drive motor (not shown) connected to the second drive roller 8 are arranged on a second side (arrow X4) with respect to the movable pulley unit 18. As a result, the weights of the plurality of drive rollers and the plurality of drive motors can be distributed.

[0114] Fig. Figure 12 is a front view that roughly represents a main part of a differential motion device 202 according to a second modification.

[0115] The differential motion direction 202, which in Fig. Figure 12 shows an endless component 204, and the endless component 204 has the following: a first path segment 220 that forms the inner loop L1; and a second path segment 222 that forms the outer loop L2.

[0116] A first drive roller 206 and a plurality of first driven rollers 210 engage with the inner loop L1. A second drive roller 208 and a plurality of second driven rollers 212 engage with the outer loop L2.

[0117] In the example that is in Fig. As shown in Figure 12, the second drive roller 208 is arranged on a first side (arrow X4), and the first drive roller 206 is arranged on a second side (arrow X5).

[0118] Even with such an arrangement and design, the control unit 70 controls directions of rotation and speeds of the drive rollers 206 and 208, so that the same operation as that of the differential motion device 2 of the first embodiment can be carried out.

[0119] In the differential direction of motion 202 according to the second modification, the first drive roller 206 and the second drive roller 208 engage with the same main surface of the two main surfaces of the endless component 204. Since it is not necessary for both of the two main surfaces of the endless component 204 to engage with the drive roller, it is possible to use an endless component in which only one main surface can engage with the drive roller; for example, a single-sided toothed belt can be used. As a consequence, the endless component 204 can be used in a wider range.

[0120] Fig. Figure 13 is a front view that roughly represents a main part of a differential motion device 302 according to a third modification.

[0121] The differential motion device 302, which is in Fig. Figure 13 shows an endless component 304, and the endless component 304 has the following: a first path segment 320, which forms the inner loop L1; and a second path segment 322, which forms the outer loop L2.

[0122] A first drive roller 306 and a plurality of first driven rollers 310 engage with the inner loop L1. A second drive roller 308 and a plurality of second driven rollers 312 engage with the outer loop L2.

[0123] In the example that is in Fig. As shown in Figure 13, both the first drive roller 306 and the second drive roller 308 are arranged on a first side (arrow X4).

[0124] Even in such an arrangement and design, the control unit 70 controls directions of rotation and speeds of the drive rollers 306 and 308, so that the same operation as that of the differential motion device 2 of the first embodiment can be carried out.

[0125] Similarly, in the differential motion device 302 according to the third modification, since the drive rollers 306 and 308 engage with the same main surface of the two main surfaces of the endless component 304, a single-sided toothed belt or the like can be used.

[0126] As described above, with the design in which the continuous component 4 has the inner loop L1 and the outer loop L2, the drive rollers and the drive motors can be arranged in a concentrated manner, as in the first embodiment and the third modification, or they can be arranged in a distributed manner, as in the first and second modifications. As described above, it is possible to implement a design with regard to a so-called mass distribution.When the H-shaped frame is used, as in patent document 1, it is necessary to arrange a drive motor at each of the four end sections of the H-shaped frame, and there is a major limitation regarding the arrangement of the motor; therefore, it is difficult to realize a design taking into account a mass distribution, and this fact distinguishes the case of using an H-shaped frame from the invention of the present disclosure. (Fourth and fifth variations)

[0127] As in Fig. As illustrated in Figure 10 and the like, the first embodiment describes the case in which a rack and pinion are used, wherein the first movable pulley 28 of the movable pulley unit 18 is a pinion and the second movement block 26 is a rack; however, the present invention need not have such a configuration. Such a modification is described with reference to Fig. Described in sections 14 to 17.

[0128] Fig. Figure 14 is a front view, roughly representing a major part of a differential motion direction 402 according to a fourth modification, and Fig. Figure 15 is a bottom view of a main part of the differential motion device 402, which is located in Fig. Figure 14 shows the view from below.

[0129] The differential motion device 402, which is in Fig. 14 and Fig. Figure 15 shows an endless component 404, and the endless component 404 has a first path segment 420, a second path segment 422, a first connecting path segment 432 and a second connecting path segment 434.

[0130] A movable pulley assembly 418 has a first movable pulley 428, a second movable pulley 430, and a third movable pulley 450. The first movable pulley 428 engages with the first connecting path segment 432, and the second movable pulley 430 engages with the second connecting path segment 434. The third movable pulley 450 is arranged between the first movable pulley 428 and the second movable pulley 430.

[0131] The movable pulley unit 418 also has a coupling plate 456 for rotatably coupling the three movable pulleys 428, 430 and 450.

[0132] As in Fig. As shown in Figure 15, the first movable pulley 428 has a rotating shaft 440, a gear 442, and a roller 444. The rotating shaft 440 pivots the gear 442 and the roller 444 as a single unit and rotates them simultaneously. The gear 442 engages with the first connecting path segment 432 and rotates according to the movement of the endless component 404. The roller 444 engages with a second motion block 426.

[0133] The second movable pulley 430 has a rotating shaft 446 and a gear 448. The rotating shaft 446 pivotally supports the gear 448. The gear 448 engages with the second connecting path segment 434 and rotates according to the movement of the endless component 404.

[0134] The third movable pulley 450 has a rotating shaft 452 and a roller 454. The rotating shaft 452 pivotably supports a roller 454, and the roller 454 engages with the second motion block 426.

[0135] The second motion block 426 is sandwiched between the roller 444 of the first movable pulley 428 and the roller 454 of the third movable pulley 450. When the movable pulleys 428 and 430 rotate with the movement of the endless component 4, the rollers 444 of the first movable pulley 428 rotate, causing the second motion block 426 to slide along the second axial direction Y1, as shown in Fig. Figure 14 shows that the roller 454 rotates as a result of the movement of the second movement block 426.

[0136] With the above design, the second motion block 426 is movable in a sliding manner along the second axial direction Y1, while it is arranged sandwich-like between the two rollers 444 and 454 and does not fall off due to friction with the two rollers 444 and 454.

[0137] With the above design, the second motion block 426 can be moved in a sliding manner by using a structure different from a rack and pinion and can be used as a structure for conveying any type of wire rod.

[0138] Fig. Figure 16 is a front view, roughly representing a main part of a differential motion device 502 according to a fifth modification, and Fig. Figure 17 is a bottom view of a main part of the differential motion device 502, which is located in Fig. Figure 16 is shown from the perspective of below.

[0139] The differential motion device 502 of the fifth modification, which is in Fig. 16, differs from the differential motion device 402 of the fourth modification, which is shown in Fig. 14 and Fig. 15 is shown in a design of a movable pulley unit 518.

[0140] The movable pulley unit 518, which is in Fig. 16 and Fig. Figure 17 shows the first movable pulley 428, a second movable pulley 530 and a third movable pulley 550.

[0141] As in Fig. As shown in Figure 17, the second movable pulley 530 also has a gear 560, in addition to the rotating shaft 446 and the gear 448. The third movable pulley 550 also has a gear 562 in addition to the rotating shaft 452 and the roller 454.

[0142] Gear 560 and gear 562 mesh with each other. Gear 560 is designed to rotate integrally with gear 448, and gear 562 rotates in the reverse direction in accordance with the rotation of gear 560. When gear 448 and gear 560 rotate integrally in accordance with the movement of the endless component 404, gear 562, meshing with gear 560, and roller 454 rotate integrally in the reverse direction.

[0143] With the above design, the second motion block 426 is not only conveyed in the second axial direction Y1 by the roller 444 of the first movable pulley 428, but is also conveyed in the same direction by the roller 454 of the third movable pulley 550 ( Fig. 16) promoted. Not only is a rotational force of the first movable pulley 428 transmitted, but also a rotational force of the second movable pulley 530 is transmitted to the second motion block 426 via the gears 560 and 562, so that a driving force for the second motion block 426 can be increased. (Sixth variation)

[0144] As in Fig. 1 and Fig. As shown in Figure 2, the first embodiment describes the case in which the drive motors 14 and 16 are directly connected to the drive rollers 6 and 8; however, the present invention is not limited to such a case. Such a modification is described with reference to Fig. 18 described.

[0145] Fig. Figure 18 is a front view, roughly representing a main part of a differential motion device 602 according to a sixth modification.

[0146] The differential motion device 602, which is in Fig. As shown in Figure 18, it has a first drive motor 614 for driving the first drive roller 6 and a second drive motor 616 for driving the second drive roller 8.

[0147] The drive motors 614 and 616 are not directly connected to the drive rollers 6 and 8, but are indirectly connected to the drive rollers 6 and 8 via endless components 618 and 620.

[0148] The continuous component 618 rotatably connects the first drive roller 6 and the first drive motor 614, and the continuous component 620 rotatably connects the second drive roller 8 and the second drive motor 616. Any type of continuous component 618 and 620 can be used as long as each continuous component can rotatably engage with a drive roller and a drive motor.

[0149] With the above design, since the drive motors 614 and 616 are separated from the drive rollers 6 and 8 and the support block 17, the degree of freedom for arranging the drive motors 614 and 616 is increased, and the dimensions of the differential motion device 602 in the Z-direction can be reduced. As a consequence, for example, in a case where a plurality of differential motion devices 602 are used and arranged at intervals in the Z-direction, the plurality of differential motion devices 602 can be arranged more densely, and it is possible to implement a dense multi-row arrangement. In this case, for example, in applications such as a picking machine, it is possible to perform parallel processing of tasks, which contributes to an improvement in processing capacity per device installation area and to an increase in speed. (Second example)

[0150] With reference to Fig. 19 and Fig. 20 describes a differential motion device 702 according to a second embodiment.

[0151] Fig. Figure 19 is a front view of the differential motion device 702 according to the second embodiment, and Fig. Figure 20 is a perspective view of the differential motion device 702 according to the second embodiment.

[0152] In the first embodiment, the two axes on which the movable pulley unit 18 moves intersect (the first axial direction X1 and the second axial direction Y1); however, the second embodiment differs in that the two axes on which a movable pulley unit 718 moves are parallel to each other (a first axial direction X1 and a second axial direction X6).

[0153] The differential motion device 702, which is in Fig. 19 and Fig. Figure 20 shows an endless component 704, a first drive roller 706, a second drive roller 708, a first output roller 710, a second output roller 712, and a first drive motor 714 ( Fig. 20), a second drive motor 716, a support block 717 and a movable pulley unit 718.

[0154] The continuous component 704 has a first path segment 720 and a second path segment 722. The movable pulley unit 718 has a first motion block 724, a second motion block 726, a first movable pulley 728 and a second movable pulley 730.

[0155] In the above embodiment, the first motion block 724 engages with a first guide section 740, which is provided on the support block 717 and extends in an X-direction, and is slidably movable in the first axial direction X1 along the first guide section 740. The second motion block 726 engages with the first movable pulley 728 inside the first motion block 724 in a state in which it is held by the first motion block 724, and is movable in the second axial direction X6 by a rotation of the first movable pulley 728.

[0156] As in Fig. As shown in Figure 20, the first movement block 724 is provided with a second guide section 742 which extends in the X direction, and the second movement block 726 engages with the second guide section 742 and is movable in the X direction along the second guide section 742 in a sliding manner.

[0157] The second motion block 726 and the first movable pulley 728 of the second embodiment are designed in a rack and pinion arrangement.

[0158] The above design makes it possible to have the two axes on which the movable pulley unit 718 moves serve as the first axial direction X1 and the second axial direction X6, which are parallel to each other, and the design can be used in applications (for example, a telescopic mechanism) that differ from the differential motion device 2 of the first embodiment.

[0159] As described above, in the differential motion device 702 according to the second embodiment, the first axial direction X1 and the second axial direction X6 extend in directions parallel to each other. Such a design allows the differential motion device 702 to be used for applications that differ from those of the differential motion device 2 of the first embodiment. (Third embodiment)

[0160] With reference to Fig. 21 describes a differential motion device 802 according to a third embodiment.

[0161] Fig. Figure 21 is a perspective view of the differential motion device 802 according to the third embodiment.

[0162] In the first embodiment, the two axes on which the movable pulley unit 18 moves are the first axial direction X1 and the second axial direction Y1; however, the third embodiment differs in that the two axes on which a movable pulley unit 818 moves are a first axial direction X1 and a second axial direction Z1.

[0163] The differential motion device 802, which is in Fig. Figure 21 shows an endless component 804, a first drive roller 806, a second drive roller 808, a first output roller 810, a second output roller 812, a first drive motor 814, a second drive motor 816, a support block 817 and a movable pulley unit 818.

[0164] The continuous component 804 has a first path segment 820 and a second path segment 822. The movable pulley unit 818 has a first motion block 824, a second motion block 826, a first movable pulley 828 and a second movable pulley 830.

[0165] In the above embodiment, the first motion block 824 engages with a first guide section 840, which is provided on the support block 817 and extends in an X-direction, and moves in a sliding manner in the first axial direction X1 along the first guide section 840. The second motion block 826 engages with the first movable pulley 828 inside the first motion block 824 in a state in which it is held by the first motion block 824, and moves in a sliding manner in the second axial direction Z1 with a rotation of the first movable pulley 828.

[0166] The first motion block 824 is provided with a second guide section 842 which extends in a Z direction, and the second motion block 826 moves in a sliding manner in the Z direction along the second guide section 842.

[0167] The second movement block 826, which is in Fig. The assembly shown in Figure 21 has a first rod-shaped section 826A and a second rod-shaped section 826B. The first rod-shaped section 826A extends through the first motion block 824 and engages with the first movable pulley 828 inside the first motion block 824. The first rod-shaped section 826A has a drive force conversion structure (for example, a ball screw structure) that converts a drive force in one direction of rotation of the first movable pulley 828 into a drive force in the Z-direction. The second rod-shaped section 826B extends parallel to the first rod-shaped section 826A and engages with the second guide section 842 of the first motion block 824.

[0168] The movement along the two directions can be carried out not only in the X-direction and the Y-direction in the first embodiment, but also in the X-direction and the Z-direction in the above design.

[0169] As described above, it is possible to achieve a differential motion device that is movable not only along the two axes that are perpendicular to each other, but along two axes that extend in any direction, such as two axes that intersect at an angle other than 90 degrees, or two axes that are parallel to each other, as in the second embodiment. (Fourth example)

[0170] With reference to Fig. 22 to 24 describes a differential motion device 902 according to a fourth embodiment.

[0171] Fig. 22 and Fig. Figures 23 are perspective views of the differential motion device 902 according to the fourth embodiment. Fig. 24 is a perspective view obtained by performing a crop at the differential motion device 902 of Fig. 22 is obtained along a II cross-section.

[0172] The first embodiment is the differential motion device 2 of a "two-axis design", in which the first motion block 24 moves along the first axial direction and the second motion block 26 moves along the second axial direction. However, the fourth embodiment differs in that a motion block 924, as a first motion component, moves along a first axial direction (Y-axis direction), and, on the other hand, a belt conveyor 926, as a second motion component, rotates a belt 927.

[0173] The differential motion device 902, which is in Fig. 22 and Fig. Figure 23 shows an endless component 904, a first drive roller 906, a second drive roller 908, a first output roller 910, a second output roller 912, a first drive motor 914, a second drive motor 916, a support block 917 and a movable pulley unit 918.

[0174] The endless component 904 has a first path segment 920, which forms an inner loop, and a second path segment 922, which forms an outer loop. The movable pulley unit 918 has the motion block 924 (first motion component), the belt conveyor 926 (second motion component), a first movable pulley 928, and a second movable pulley 930.

[0175] The motion block 924 rotatably holds the first movable pulley 928 and the second movable pulley 930, which are located in Fig. 23 are shown, and engages with guide sections 940A and 940B, which are provided on the support block 917, which is in Fig. 22 is shown, and extend in a Y direction. The motion block 924, which engages with the guide sections 940A and 940B, is movable along a first axial direction Y2 with a sliding movement of the first movable pulley 928 and the second movable pulley 930 in the Y direction (i.e. movable up and down).

[0176] The belt conveyor 926 is held by the motion block 924 and has an endless belt 927. The belt 927 engages with the second movable pulley 930 via a drive shaft 952 ( Fig. 24) which is described later, and is driven by a rotation of the second movable pulley 930 and the drive shaft 952. The belt 927 has a forward rotation function (arrow R1) and a reverse rotation function (arrow R2) according to a direction of rotation of the second movable pulley 930.

[0177] The belt 927 has an upper belt surface 929 for conveying a conveyed object (not shown). The upper belt surface 929 moves linearly along an X-direction as the belt 927 rotates to convey the conveyed object in the X-direction.

[0178] As in Fig. As shown in Figure 24, two drive shafts 950 and 952 are provided inside the belt 927.

[0179] The drive shaft 950 is a shaft component that engages with the first movable pulley 928, which is located in Fig. 23, and rotates integrally with the first movable pulley 928 about an axis of rotation Ax5 extending in a Z-direction. The drive shaft 952 is a shaft component that engages with the second movable pulley 930, which is located in Fig. 23 is shown, and rotates in one piece with the second movable pulley 930 around a rotational axis Ax6 which extends in the Z direction.

[0180] The two drive shafts 950 and 952 are both supported by rotary bearings to allow rotation, by a first plate 960 of the belt conveyor 926, which is located in Fig. 22 is shown, and a second plate 962 of the belt conveyor 926, which is in Fig. Figure 23 shows that both end sections of each of the drive shafts 950 and 952 are supported.

[0181] In the fourth embodiment, the drive shaft 950 does not engage with the belt 927, but the drive shaft 952 does engage with the belt 927. The drive shaft 952, which engages with the belt 927, functions as a drive pulley that transmits a rotary drive force to the belt 927.

[0182] In the example that is in Fig. As shown in Figure 24, the drive shaft 950 is designed with a shaft, but the drive shaft 952 is designed with a shaft and a cylindrical component that surrounds a circumference of the shaft. The cylindrical component of the drive shaft 952 engages with an inner circumferential surface of the belt 927 for a predetermined length along a direction of rotation.

[0183] Four drive belt pulleys 954A to 954D engage further with the belt 927.

[0184] Each of the four drive pulleys 954A to 954D is a pulley that rotates as a result of the rotation of the belt 927. Each of the drive pulleys 954A to 954D is supported by a rotary bearing to allow it to rotate, by the first plate 960, which is located in Fig. 22 is shown, and the second plate 962, which is in Fig. 23 is shown, and both end sections of each of the drive belt pulleys 954A to 954D are supported in the same way as the drive shafts 950 and 952.

[0185] The drive pulleys 954A and 954B, which are provided in an upper stage, engage with the inner circumferential surface of the belt 927 at both end sections of the belt 927 in the X direction. The drive pulleys 954C and 954D, which are provided in a lower stage, engage with the outer circumferential surface of the belt 927 at a middle section of the belt 927 in the X direction.

[0186] The differential motion device 902, which has the aforementioned configuration, is used in a position in which the upper belt surface 929 of the belt 927 faces vertically upwards. The belt conveyor 926 has a lifting function of moving up and down along the first axial direction Y2 and a rotating function of rotating the belt 927 in an endless manner. In one position, when the differential motion device 902 is used, the drive shaft 950 is arranged above the drive shaft 952.

[0187] The drive shaft 950, located at the top, supports a major part of the belt conveyor 926, including the two plates 960 and 962, and is a section that bears a significant load when the belt conveyor 926 moves up and down. In light of this, the drive shaft 950 is designed to avoid engaging with the belt 927 and is configured such that both ends of the drive shaft 950 are supported by the two plates 960 and 962. This allows the drive shaft to function as a single section that primarily bears the load during the up and down movement. As a result, the strength of the differential motion device 902 can be improved.It should be noted that in a case where sufficient stiffness can be ensured, the drive shaft 950 can be omitted, and, instead of the drive shaft 950, the second plate 962 can mainly bear a load during the up and down movement.

[0188] The drive shaft 952, which is located below, is a section that is less likely to bear a load at the time of the up and down movement of the belt conveyor 926 compared to the drive shaft 950, and the drive shaft 952 efficiently exerts a force to rotate the belt 927 when it is engaged with the belt 927 and functions as a drive pulley.

[0189] As described above, taking into account the different designs and functions of the two drive shafts 950 and 952, it is possible to improve the strength of the differential motion device 902 by using the drive shaft 950, and at the same time it is possible to operate the belt conveyor 926 efficiently by using the drive shaft 952.

[0190] In the differential motion device 902 of the fourth embodiment, particularly since a motor is not mounted on the movable pulley unit 918, which serves as a moving section, the peripheral design comprising the movable pulley unit 918 can be reduced in weight and simplified, thereby contributing to an increase in the speed of the moving section and a reduction in the capacity of the drive motors 914 and 916. As a consequence, this also contributes to a reduction in the size and weight of the support block 917.

[0191] As described above, the differential motion device 902 of the fourth embodiment has the movable pulley unit 918, which has: the movable pulleys 928 and 930, which move linearly along the first axial direction Y2 and / or rotate with the movement of the first path segment 920 and the second path segment 922; the motion block 924 (first motion component), which moves along the first axial direction Y2 with the linear movement of the movable pulleys 928 and 930; and the belt conveyor 926 (second motion component), which is held by the motion block 924 and moves with the rotation of the second movable pulley 930.

[0192] With such a design, the sizes of the continuous component 904 and the support block 917 in the differential motion device 902 can be reduced, thereby achieving a reduction in size.

[0193] In the differential motion device 902 of the fourth embodiment, the second moving component is the belt conveyor 926, which has the belt 927 that rotates with the rotation of the second movable pulley 930. Such a design can implement the belt conveyor 926, which has a function of moving upwards and downwards along the first axial direction Y2 and a function of rotating the belt 927, and can implement the differential motion device 902, which has the belt conveyor 926.

[0194] In the foregoing, the present disclosure has been described with reference to the first to fourth embodiments and the first to sixth modifications described above, but the present disclosure is not limited thereto.

[0195] For example, in the embodiments and variations described above, the gear is shown as the component that engages with the endless component 4, but the present invention is not limited to such a case. Depending on the type of the endless component 4, the endless component 4 can be driven by engaging with a different type of component that is not a gear. For example, if the endless component 4 is a toothed belt, a toothed belt pulley can be engaged; if the endless component 4 is a chain, a sprocket can be engaged; and if the endless component 4 is a wire, a pulley or a rope sheave can be engaged.

[0196] Furthermore, the embodiment and the modifications described above have exemplified the case in which the control unit 70, as the control device, controls the differential motion device 2, but the present invention is not limited to such a case, and a mechanical control device can be used instead of the control device.

[0197] If any embodiments and variations of the embodiments and various variations described above are combined in a suitable manner, their respective effects can be demonstrated.

[0198] Although the present disclosure has been fully described with respect to preferred embodiments with reference to the accompanying drawings, various variations and modifications are obvious to the person skilled in the art. Such variations and modifications should be understood as being within the scope of the present disclosure, unless the variations and modifications deviate from the scope of the present disclosure as set forth in the appended claims. Furthermore, combinations of elements and changes in the sequence can be implemented in any embodiment without deviating from the scope and substance of the present disclosure. COMMERCIAL APPLICABILITY

[0199] The present disclosure is applicable to a differential motion device. Reference symbol list 2 Differential motion device 4 Endless component 6 first drive roller 8 second drive roller 10 first output roller 12 second output roller 14 first drive motor 16 second drive motor 18 movable pulley unit 20 first path segment 22 second path segment 24 first movement block (first movement component) 26 second movement block (second movement component) 28 first movable pulley 30 second movable pulley 32 first connection path segment 34 second connecting path segment 70 Control unit X1 first axial direction Y1 second axial direction QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP-A-S58-59777

[0003]

Claims

[1] Differential motion device with: an endless component forming an endless path, wherein the endless component has: a first path segment located inside; a second path segment located outside; and a connecting path segment connecting the first path segment and the second path segment; a first drive roller that engages with the first path segment; a second drive roller that engages with the second path segment; a first drive motor that rotates the first drive roller; a second drive motor that rotates the second drive roller; a control unit that controls the first drive motor and the second drive motor; and a movable pulley unit comprising: a movable pulley that engages with the connecting path segment and moves linearly along a first axial direction and / or rotates with a movement of the first path segment and the second path segment; a first motion component that moves along the first axial direction with a linear movement of the movable pulley; and a second motion component that is held by the first motion component and moves with a rotation of the movable pulley. [2] Differential motion device according to claim 1, wherein the second motion component moves linearly along a second axial direction with the rotation of the movable pulley. [3] Differential motion device according to claim 2, wherein the first axial direction and the second axial direction extend in directions that intersect each other. [4] Differential motion device according to claim 2, wherein the first axial direction and the second axial direction extend in directions that are parallel to each other. [5] Differential motion device according to claim 1, wherein the second motion component rotates with the rotation of the movable pulley. [6] Differential motion device according to claim 5, wherein the second motion component is a belt conveyor having a belt which rotates with the rotation of the movable pulley. [7] Differential motion device according to claim 1, wherein The connecting path segment has the following: a first connecting path segment that connects a first end of the first path segment and a first end of the second path segment; and a second connecting path segment that connects a second end of the first path segment and a second end of the second path segment. The movable pulley has the following: a first movable pulley that engages with the first connecting path segment; and a second movable pulley that engages with the second connecting path segment, and The first movable pulley and the second movable pulley move in one piece along the first axial direction. [8] Differential motion device according to claim 7, wherein the second motion component engages with a pulley movable by the first and the second movable pulley. [9] Differential motion device according to claim 1, further comprising a support component which supports the first drive roller and the second drive roller in a rotatable state. [10] Differential motion device according to claim 9, wherein the support component has a first guide section which guides the movement of the first motion component along the first axial direction. [11] Differential motion device according to claim 10, wherein the first motion component has a second guide section which guides the movement of the second motion component. [12] Differential motion device according to claim 1, wherein the first drive roller is located inside the first path segment, and the second drive roller is located inside the second path segment. [13] Differential motion device according to claim 1, wherein the endless component has: a first main surface with which the first drive roller engages; and a second main surface with which the second drive roller engages. [14] Differential motion device according to claim 1, wherein the first drive roller and the second drive roller are arranged on a first side with respect to the movable pulley unit. [15] Differential motion device according to claim 1, wherein the first drive roller is arranged on a first side with reference to the movable pulley unit, and the second drive roller is arranged on a second side with reference to the movable pulley unit.

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