`
`
`
`
`
`
`
`
`
`July 9, 2014
`
`Re: 67981/175959/169654
`
`To Whom It May Concern:
`
`This is to certify that a professional translator on our staff who is skilled in the Japanese and English languages
`translated [JP2000161457.pdf] from Japanese into English.
`
`We certify that the English translation conforms essentially to the original Japanese language.
`
`
`
`
`
`
`
`
`
`
`Susan Andrus
`Marketing Manager
`
`Subscribed and sworn to before me on July 9, 2014.
`
`
`
`
`
`
`
`
`Notary Public
`
`
`
`
`
`
`
`
`
`
`504 LAVACA ST, SUITE 940, AUSTIN, TEXAS 78701 USA • +1 512.472.6753 • +1 800.531.9977 • FAX +1 512.472.4591
`INFO@TRANSLATEMEDIA.COM • WWW.TRANSLATEMEDIA.COM
`
`Daifuku Exhibit 1013, Page 1 of 24
`
`

`

`
`
`(19) JAPANESE PATENT OFFICE (JP)
`
`(12) KOKAI TOKOUHYO PATENT
`GAZETTE (A)
`
`(11) PATENT APPLICATION
`PUBLICATION NO. 2000-161457
`(43) Publication Date June 16, 2000
`
`(51)
`
`
`
`
`
`
`Int. Cl.7:
`F16H 19/04
`B23Q 5/38
`B65G 1/04
`B66C 11/08
`F16H 13/06
`
`Identification Codes:
`
`
`551
`
`
`
`Examination Request: Not filed
`
`
`
`
`
`
`
`Theme Codes (Reference)
`E
`3F022
`D
`3F203
`551Z
`3J051
`
`F1
`
`F16H 19/04
`B23Q 5/38
`B65G 1/04
`B66C 11/08
`F16H 13/06
`No. of Claims: 5 (Total of 7 pages; OL)
`
`(21) Filing No.:
`(22) Filing Date:
`
`Hei 10[1998]-340795
`November 30, 1998
`
`(71) Applicant: 000002059
`Shinko Electric Co., Ltd.
`2-14, Toyo 7-chome Koto-ku, Tokyo 87,
`13583, JP
`(72) Inventors: Shunji Takaoka
`c/o Ise Works, Shinko Electric Co., Ltd.,
`100, Takegahana-cho, Ise-shi Mie Prefecture
`Motonori Inagaki
`c/o Ise Works, Shinko Electric Co., Ltd.,
`100, Takegahana-cho, Ise-shi Mie Prefecture
`Masatake Shiga (and 9 others)
`(continued on last page)
`
`(74) Agent:
`
`
`
`(54) [Title]
`
`RECTILINEAR/ROTARY MECHANISM
`
`(57) Abstract
`Problem:
`
`To offer a rectilinear/rotary mechanism that has a
`simple and thin structure, which can constitute both
`rectilinear and rotary drives with a single mechanism, and
`that has a simple signal system.
`
`Means to solve:
`
`A rack 27 is constituted for rectilinear driving in the
`Y direction by the rotation of a ball screw 23 rotating
`together with a motor 21. A rack 37 is similarly
`constituted and arranged in a symmetrical position. A
`pinion gear 39 is engaged between the rack 27 and rack
`37. When motor 21 and motor 31 rotate uniformly in the
`same direction, racks 27 and 37 move at the same speed
`and in the same direction, and the pinion gear 39 stops
`rotating and is driven linearly. When the speeds of motor
`21 and motor 31 change, a speed difference arises
`between the rack 27 and the rack 37, and pinion gear 39 is
`rotated/rectilinearly driven.
`
`
`
`Daifuku Exhibit 1013, Page 2 of 24
`
`

`

`
`
`Claims
`
`1. A rectilinear/rotary mechanism, being a rectilinear/rotary mechanism furnished with a
`mechanism that is driven linearly and rotated by a slide table by an actuator drive; characterized
`in being furnished with a round turntable fixed to said slide table, and arranged to advance
`linearly and rotate freely, a pair of linear drive means that propagate drive power to said
`turntable and that are arranged in parallel tangent lines circumferentially at symmetrical locations
`with regard to the center of said turntable, and a drive power supply means that supplies linear
`driving force to each of said paired linear drive means, and that varies the linear drive speed;
`whenever the linear drive speed and the direction of said paired linear drive means are the same,
`said turntable stops rotating and moves in a linearly advancing direction together with said linear
`drive means, and whenever the linear drive speeds of said paired linear drive means are different,
`said turntable is driven rectilinearly/rotationally.
`
`2. The rectilinear/rotary mechanism cited in Claim 1, characterized in that said turntable
`is a pinion gear, said paired linear drive means are a pair of racks that propagate drive power to
`said pinion gear, said drive power supply means is a motor that supplies linear driving force
`based upon torque with regard to said pair of racks, that is able to change rotational speed, and
`that is able to change the linear drive speed of said rack.
`
`3. The rectilinear/rotary mechanism cited in Claim 1, characterized in that said turntable
`is a pinion gear, said paired linear drive means are a pair of racks that propagate drive power to
`said pinion gear, said drive power supply means is a linear motor that supplies linear driving
`force to said pair of racks and is able to change the linear drive speed of said rack.
`
`4. The rectilinear/rotary mechanism cited in Claim 1, characterized in that said turntable
`is a pinion gear, said paired linear drive means are a pair of belts that propagate drive power to
`said pinion gear, said drive power supply means is a motor that supplies moving/driving force to
`said pair of belts and is able to change the moving/driving speed of said belts.
`
`5. The rectilinear/rotary mechanism cited in Claim 1, characterized in being provided
`with a link bar that has a crank function that propagates torque to said turntable, and a linear
`drive propagation function that propagates linear driving force to said turntable, and is arranged
`in symmetrical positions with regard to the center of said turntable; said drive power supply
`means is a motor with variable rotation speed; said paired linear drive means are slide members
`provided with a feed screw function that converts the motor rotation of said motor into linear
`motion, and propagation members that propagate the linear driving force and crank force from
`said feed screw function to said link bars.
`
`Daifuku Exhibit 1013, Page 3 of 24
`
`

`

`
`
`Detailed explanation of the invention
`[0001]
`Technical field of the invention
`
`The present invention pertains to a rectilinear/rotary mechanism for conveyance
`equipment and the like that linearly drives and rotates a conveyed object.
`
`[0002]
`Prior art
`
`A rectilinear/rotary mechanism is incorporated into a device that rotates and linearly
`moves objects. For example, it is incorporated in a so-called OHT (overhead hoist transport), and
`in ceiling conveyance devices such as cranes, for example, that rotate and move an object to be
`conveyed and also move it back and forth in a linear direction. This OHT has a constitution as
`shown in the perspective view of Figure 4, in which a conveying mechanism is attached to the
`lower part of traveling mechanism 15 that runs along a rail. In this conveying mechanism, a table
`17 is rotated or travels back and forth in a linear direction, as shown by the diagram arrows, by
`the driving force of a rectilinear/rotary mechanism, not shown in the diagram. In this way, an
`object held by the object holding apparatus 19 attached to the lower part of table 17 can be
`moved linearly or rotationally.
`
`[0003]
`The constitution of a conventional rectilinear/rotary mechanism for linearly and
`
`rotationally driving such a table is shown in Figure 6. Specifically, in this rectilinear/rotary
`mechanism, a ball screw 3, which is directly connected to the revolving shaft of motor 1,
`extends, and a slide member 5 is mounted via threads on the ball screw 3. Also, the slide table 7
`is engaged to the lower part end surface of the slide member 5 such that it can lock. Note that the
`locking structure is designed so as not to prevent rotational drive in the planar orientation of slide
`table 7. By this kind of linear drive mechanism, the slide table 7 can be freely driven linearly,
`along with slide member 5 which is helically moved in the shaft direction of ball screw 3.
`
`[0004]
`A worm 11 is arranged directly connected to the revolving shaft of motor 9 and extending
`
`the revolving shaft of motor 9, in a location above the ball screw 3, in a location that does not
`interfere with the movement of slide member 5 and that is parallel to ball screw 3. Separately, a
`worm gear is formed on the periphery of worm wheel 13, interlocking with worm 11, and
`attached so as to rotate freely. Furthermore, a slide table 7 is engaged to the lower part end
`surface of the worm wheel 13. Note that the engagement structure is designed so as not to
`
`Daifuku Exhibit 1013, Page 4 of 24
`
`

`

`
`
`interfere with the movement of slide table 7 in the linear direction. A rotation mechanism having
`this structure can rotationally drive a slide table 7 freely in the planar orientation, with the
`rotation of worm wheel 13.
`
`[0005]
`Now, when the motor 1 is caused to revolve, the slide member 5 moves along ball screw
`
`3 by the rotation of ball screw 3, so the slide table 7 engaged to the slide member 5 is driven
`linearly in the direction of the arrow in the figure. Obviously, a change in the direction of motion
`is carried out by changing the direction of revolution of motor 1. Then, by causing the motor 9 to
`revolve, the worm wheel 13 rotates by the rotation of worm 11, so the slide table 7 engaged to
`worm wheel 13 is rotationally driven in a planar orientation. At this time, changes in rotational
`direction are brought about by changing the direction of revolution of motor 9. In this way, the
`slide table 7 can be driven linearly and rotationally.
`
`[0006]
`Problem to be solved by the invention
`
`Nevertheless, the aforementioned rectilinear/rotary mechanism is constituted by separate
`actuators for the linear drive mechanism and the rotation mechanism, and structurally, each
`mechanism must be placed in an upper or a lower position. Accordingly, the assembly height of
`the rectilinear/rotary mechanism becomes tall. Furthermore, because two actuators, a linear drive
`mechanism and a rotation mechanism are used, the overall structure becomes large and the cost
`is increased. Also, the drive mechanism for the linear drive mechanism and the drive mechanism
`for the rotation mechanism are constituted separately, so the overall device drive efficiency is
`poor. There is a further problem in that the signal line system becomes complicated, because
`separate signals must be supplied to the motor for the linear drive and to the motor for the
`rotational drive.
`
`[0007]
`The present invention has been brought about in awareness of the aforementioned
`
`circumstances, and has the object of offering a rectilinear/rotary mechanism that has a simple
`and thin structure, that can constitute both rectilinear and rotary drives with a single mechanism,
`and that has a simple signal system.
`
`Daifuku Exhibit 1013, Page 5 of 24
`
`

`

`
`
`[0008]
`Means to solve the problem
`
`The rectilinear/rotary mechanism according to Claim 1 is a rectilinear/rotary mechanism
`furnished with a mechanism that is driven linearly and rotationally by a slide table by an actuator
`drive; characterized in being is furnished with a round turntable fixed to said slide table, arranged
`so it can advance linearly and rotate freely, a pair of linear drive means that propagate drive
`power to the turntable and that are arranged in parallel tangent lines circumferentially at
`symmetrical locations with regard to the center of the turntable, and a drive power supply means
`that supplies linear driving force to each of said paired linear drive means and that varies the
`linear drive speed. Then, whenever the linear drive speed and direction of the paired linear drive
`means are the same, the turntable stops rotating and moves in a linearly advancing direction
`together with said linear drive means, and whenever the linear drive speeds of said paired linear
`drive means are different, the turntable is driven rectilinearly/rotationally.
`
`[0009]
`The rectilinear/rotary mechanism according to Claim 2 is the rectilinear/rotary
`
`mechanism cited in Claim 1, characterized in that the turntable is a pinion gear, the paired linear
`drive means are a pair of racks that propagate drive power to said pinion gear, and the drive
`power supply means is a motor that supplies linear driving force based upon torque with regard
`to the pair of racks, that is able to change rotational speed, and that is able to change the linear
`drive speed of the rack.
`
`[0010]
`The rectilinear/rotary mechanism according to Claim 3 is the rectilinear/rotary
`
`mechanism cited in Claim 1, characterized in that the turntable is a pinion gear, the paired linear
`drive means are a pair of racks that propagate drive power to the pinion gear, and the drive
`power supply means is a linear motor that supplies linear driving force to the pair of racks and is
`able to change the linear drive speed of the rack.
`
`[0011]
`The rectilinear/rotary mechanism according to Claim 4 is the rectilinear/rotary
`
`mechanism cited in Claim 1, characterized in that the turntable is a pinion gear, the paired linear
`drive means are a pair of belts that propagate drive power to the pinion gear, and the drive power
`supply means is a motor that supplies moving/driving force to the pair of belts and is able to
`change the moving/driving speed of the belts.
`
`Daifuku Exhibit 1013, Page 6 of 24
`
`

`

`
`
`[0012]
`The rectilinear/rotary mechanism according to Claim 5 is the rectilinear/rotary
`
`mechanism cited in Claim 1, characterized in being provided with a link bar that has a crank
`function that propagates torque to the turntable, and a linear drive propagation function that
`propagates linear driving force to the turntable, and is arranged in symmetrical positions with
`regard to the center of the turntable; the drive power supply means is a motor with variable
`rotation speed; the paired linear drive means are slide members provided with a feed screw
`function that converts motor rotation of the aforementioned motor into linear motion, and
`propagation members that propagate linear driving force and crank force from the feed screw
`function to the aforementioned link bars.
`
`[0013]
`This constitution makes it possible carry out linear drive and rotational drive with one
`
`type of actuator mechanism. Consequently, the constitution of the entire device can be
`simplified; in particular, the height of the device can be made lower, to give a thin shape. The
`control system can also be simplified, and thus it is possible to realize a rectilinear/rotary
`mechanism that is economical and user-friendly.
`
`[0014]
`Preferred embodiments of the invention
`
`Below, application examples of the present invention are explained in detail with
`reference to the figures. Figure 1 is a perspective view of a rectilinear/rotary mechanism of an
`application example of the present invention. In the figure, a ball screw 23 that is directly
`connected to the revolving shaft of a motor 21 extends, and is housed within case 25, the upper
`part of which is open. A rack 27 mounted via threads by slide member 27a is attached to the ball
`screw 23. This is constituted so that the rack 27 moves in a linear direction (the Y direction of
`the figure) when the slide member 27a is helically moved by the rotation of ball screw 23,
`following the rotation of motor 21.
`
`[0015]
`On the other hand, a mechanical part identical to the aforementioned is symmetrically
`
`arranged on the side opposing the tooth surface of rack 27. Specifically, a ball screw 33 that is
`directly connected to the revolving shaft of a motor 31 extends, and is housed within case 35, the
`upper part of which is open. A rack 37 mounted via threads by slide member 37a is attached to
`the ball screw 33, and is attached opposite the tooth surface of rack 27. The slide member 37a of
`
`Daifuku Exhibit 1013, Page 7 of 24
`
`

`

`
`
`rack 37 is helically moved by the rotation of ball screw 33, following the rotation of motor 31,
`and is arranged so as to be able to move in the linear direction (Y direction in the figure).
`
`[0016]
`A pinion gear 39 is arranged to be helically engaged in a location sandwiched by the teeth
`
`of rack 27 and the teeth of rack 37. The pinion gear 39 can move in a linear direction along the
`teeth of rack 27 and the teeth of rack 37, and is constituted to be able to rotate according to the
`travel speed difference of rack 27 and rack 37. A slide rail 29 is securely attached to the end
`surface of the lower part of pinion gear 39, and a slide table, not shown in the figure, is attached
`to the upper part end surface of the pinion gear 39. The slide table carries out linear or rotary
`drive according to this rectilinear/rotary mechanism.
`
`[0017]
`Next, the operation of this application example is explained. First, the linear direction
`
`operation of the slide table fixed to pinion gear 39 is explained. Now, when motor 21 and motor
`31 rotate at the same speed and in the same direction, rack 27 and rack 37 are linearly driven at
`the same speed and in the same direction, respectively, by the ball screw 23 and the ball screw
`33. Then, since the relative speed of rack 27 and rack 37 during linear direction is zero, the
`pinion gear 39 does not rotate, but is engaged in the teeth of rack 27 and rack 37, and moves in a
`straight line (the Y direction of the figure) together with the two racks 27 and 37.
`
`[0018]
`Together with this, the slide rail 29 moves in a linear direction together with pinion gear
`
`39, and consequently the slide table is driven linearly in the direction of arrow Y in the figure.
`The, after it has moved to a desired location, the two motors 21 and 31 come to a halt. Note that
`when the linear drive of the slide table is to be reversed, it is enough for the motor 21 and the
`motor 31 to both rotate at the same speed in the reverse direction as mentioned previously. In this
`way, the slide table can be driven in reciprocal linear motion.
`
`[0019]
`Next, the operation of the rotational drive of the slide table attached to pinion gear 39 will
`
`be explained. When motor 21 and motor 31 rotate in the same direction but at different speeds,
`the linear direction travel speeds of rack 27 and rack 37 change. Specifically, the relative speed
`of rack 27 and rack 37 changes, so the pinion gear 39 rotates. Thus, the slide table rotates with
`the rotation of the pinion gear 39.
`
`Daifuku Exhibit 1013, Page 8 of 24
`
`

`

`
`
`[0020]
`For example, when motor 31 is rotated faster than motor 21, there will be relative
`
`movement of rack 37 toward the upper left of the figure with respect to rack 27, so the pinion
`gear 39 will rotate in the direction shown by the arrow in the figure. Consequently, the slide
`table, which is fixed to the pinion gear 39, can be driven rotationally. Then, after being rotated
`by a desired angle θ, rotation stops when the two motors 21 and 31 have halted, and there can be
`a switch to linear direction by uniform rotation of the two motors 21 and 31.
`
`[0021]
`Note that when reversing the rotation direction of the slide table, the pinion gear 39 can
`
`be rotated in the reverse direction by changing the rotation speeds of both the motor 21 and the
`motor 31 in the opposite directions from that mentioned earlier. Also, when the rotation speed of
`the slide table is to be changed, the rotation speed of the pinion gear 39 can be changed by
`changing the relative speed of rack 27 and rack 37, by changing the speed difference of the
`motor 21 and the motor 31. In this way, it is possible, by linear/rotational drive of pinion gear 39,
`to drive the slide table fixed to this pinion gear 39 linearly or rotationally with one actuator
`mechanism.
`
`[0022]
`With regard to the control of motor 21 and motor 31, by using servomotors or stepping
`
`motors for motors 21 and 31, the rotation speed and angle of rotation of each motor can be set to
`the desired values. If the length of racks 27 and 37 can be made long enough, and if the linear
`drive direction movement stroke is large, it will be possible to rotate the pinion gear any number
`of times, so the slide table can be rotated multiple times.
`
`[0023]
`Furthermore, in this embodiment of a rectilinear/rotary mechanism, the racks engage the
`
`pinion gear from both sides, so gear engagement play between the racks and the pinion is
`cancelled out, so ordinarily there is no problem in terms of precision in movement position and
`play. However, in order to obtain improved movement location precision, it is possible to use a
`non-backlash type pinion gear. A non-backlash type pinion gear is constituted such that play-
`compensation racks are arranged in two symmetrical locations, and gear meshing play is
`absorbed by a spring force or bolt securement.
`
`Daifuku Exhibit 1013, Page 9 of 24
`
`

`

`
`
`[0024]
`Figure 2 is a schematic diagram one example of a modification of a rectilinear/rotary
`
`mechanism of an embodiment of the present invention. This variation is characterized by the use
`of a linear motor 45 as the drive source for a rack 43 which drives a pinion gear 41. Specifically,
`the rack 43 floats above the linear motor 45, and the rack 43 is driven linearly above the linear
`motor 45 by normal linear motor driving principles. Otherwise, the drive operation is the same as
`the application example described for Figure 1, so an explanation is omitted. It is also acceptable
`to drive the racks with direct-acting air cylinders. In this case, the travel speed of each rack can
`be changed via the pressure difference of the two direct-acting air cylinders.
`
`[0025]
`Figure 3 is a schematic diagram showing another example of a modification of a
`
`rectilinear/rotary mechanism of an embodiment of the present invention. The characteristic of
`this variation is that it is an example that does not use a rack and pinion gear. Specifically, a ball
`screw 51 and a ball screw 53 that are rotationally driven by a motor, not shown in the figure, are
`engaged with a slide member 55 and a slide member 57, respectively. A columnar projection 59
`and a columnar projection 61 are respectively formed on the slide member 55 and the slide
`member 57. Separately, a slide table, not shown in the figure, is attached to the bottom surface of
`a turntable 63.
`
`[0026]
`A link bar 65 and a link bar 67 are also attached at symmetric locations on the periphery
`
`of the turntable 63 with respect to its center. The mechanism for attaching link bar 65 and link
`bar 67 is constituted by a mechanism, such as a crank mechanism for example, that can
`propagate rotational driving force to the turntable 63. Then, a slotted hole 69 and a slotted hole
`71 have each been formed at the other ends of link bar 65 and link bar 67, respectively, and the
`columnar projection 59 and the columnar projection 61 are each connected to the slotted hole 69
`and the slotted hole 71, respectively.
`
`[0027]
`Next, the operation is explained. When the slide member 55 and the slide member 57 are
`
`moving at the same speed, the link bar 65 and the link bar 67 maintain a linear configuration, and
`the slide member 55 and the slide member 57 both move in a linearly advancing direction. In this
`way, the turntable 63 is linearly driven in the direction of the arrow Y in the figure, and the slide
`table, not shown in the figure, is also driven linearly. Then, when the rotation speeds of the ball
`
`Daifuku Exhibit 1013, Page 10 of 24
`
`

`

`
`
`screw 51 and the ball screw 53 are modified, the relation between the relative positions of slide
`member 55 and slide member 57 changes due to the difference in speed.
`
`[0028]
`As a consequence of this, the columnar projection 59 and the columnar projection 61
`
`cause the slotted hole 69 and the slotted hole 71, respectively, to slide, so the link bar 65 and the
`link bar 67 are displaced obliquely. The effect of displacing the link bars 65 and 67 causes a
`change in the rotational force due to the crank mechanism of link bars 65 and 67 that are
`connected on the turntable 63, thereby driving turntable 63 rotationally in the direction of the
`arrow shown in the figure. Thus the slide table can be driven rotationally. Note that, in the
`mechanism of this application example, the rotation stroke is not as great as in the first
`application example shown in Figure 1, yet an inexpensive rectilinear/rotary mechanism can be
`realized.
`
`[0029]
`The embodiment described above is one example for explaining the present invention,
`
`but the present invention is not restricted to the aforementioned embodiment, and can be varied
`within the scope of the gist of the invention.
`
`[0030]
`For example, as shown in Figure 4, a constitution is acceptable in which two belts 81 and
`
`82 are arranged in circumferential tangential lines of 180° symmetry of a central pinion gear 39,
`with the pinion gear 39 moving linearly in the same direction when the belts 81 and 82 are
`moved at the same speed in the same direction, and the pinion gear 39 rotating when the travel
`speeds of the belts 81 and 82 are different. At this time, the perimeter length of belts 81 and 82
`can be adjusted by tensioners 95, according to the movement of pinion gear 39. The belt 81 can
`be driven by rotating either pulley 91 or 92 by a motor, for example. Similarly, belt 82 can be
`driven by rotating either pulley 93 or 94. Note that the two belts 81 and 82 can act as timing
`belts. At this time, pinion gear 39 and pulleys 91, 92, 93, and 94 can be replaced by timing
`pulleys.
`
`[0031]
`The gist is that, obviously, the scope of the present invention includes any constitution in
`
`which a turntable is tightly held by a pair of linear drive mechanisms such that it is rotated
`whenever there is a speed difference in the pair of linear drive mechanisms, and driven linearly
`whenever there is no speed difference.
`
`Daifuku Exhibit 1013, Page 11 of 24
`
`

`

`
`
`[0032]
`Effect of the invention
`
`As explained above, the rectilinear/rotary mechanism according to the present invention
`makes it possible to realize a linear drive and a rotational drive in one actuator mechanism, so the
`overall device can be made more compact and production costs can be reduced. In particular,
`there is no need to superpose actuators for linear drive and rotational drive, so the device can be
`made thinner.
`
`[0033]
`Also, there is no need to supply signals divided for linear drive and rotational drive, and it
`
`is possible to switch between linear drive and rotational drive by changing the speeds of the
`respective motors that can be changed with the same signal, which simplifies the signal system.
`The linear drive and rotational drive can be constituted by the same drive mechanism, so the
`drive efficiency of the entire mechanism is improved. In particular, in the prior art, the rotational
`drive actuator and the linear drive actuator each required respective power for driving, but
`according to the present invention, half the power of convention can be placed in two locations
`as actuator for both linear drive and rotational drive, which enables economic and efficient use.
`
`Brief description of the figures
`
`Figure 1: A perspective view of a rectilinear/rotary mechanism of an embodiment of the
`present invention.
`
`Figure 2: A schematic diagram showing one example of a modification of a
`rectilinear/rotary mechanism of an embodiment of the present invention.
`
`Figure 3: A schematic diagram showing another example of a modification of a
`rectilinear/rotary mechanism of an embodiment of the present invention.
`
`Figure 4: A schematic diagram showing an example of a modification of a
`rectilinear/rotary mechanism of an embodiment of the present invention.
`
`Figure 5: A perspective view of an OHT in which a rectilinear/rotary mechanism has
`been installed.
`
`Figure 6: A perspective view of a conventional rectilinear/rotary mechanism.
`
`Explanation of symbols
`1, 9, 21, 31
`Motor
`3, 23, 33, 51, 53
`Ball screw
`5, 55, 57
`Slide member
`7, 17
`Slide table
`11
`Worm
`
`Daifuku Exhibit 1013, Page 12 of 24
`
`

`

`
`
`13
`15
`19
`25, 35
`27, 37, 43
`27a, 37a
`29
`39, 41
`45
`59, 61
`63
`65, 67
`69, 71
`81, 82
`91, 92, 93, 94
`95
`
`
`Worm wheel
`Traveling mechanism
`Object holding apparatus
`Case
`Rack
`Slide member
`Slide rail
`Pinion gear
`Linear motor
`Columnar projection
`Turntable
`Link bar
`Slotted hole
`Belt
`Pulley
`Tensioner
`
`Figure 1
`
`
`
`Daifuku Exhibit 1013, Page 13 of 24
`
`

`

`
`
`Figure 2
`
`
`
`Figure 3
`
`
`
`Daifuku Exhibit 1013, Page 14 of 24
`
`

`

`
`
`
`
`Figure 4
`Figure 4
`
`
`
`Daifuku Exhibit 1013, Page 15 of 24
`
`Daifuku Exhibit 1013, Page 15 of 24
`
`

`

`
`
`
`
`Figure 5
`Figure 5
`
`
`
`Daifuku Exhibit 1013, Page 16 of 24
`
`Daifuku Exhibit 1013, Page 16 of 24
`
`

`

`
`
`
`
`
`Figure 6
`
`
`
`Continued from first page
`Int. Cl.7:
`(51)
`
`F16H 19/06
`
`
`25/20
`
`
`
`Identification Codes:
`
`(72) Inventors: Nobukimi Gunke
`c/o Ise Works, Shinko Electric Co., Ltd., 100,
`Takegahana-cho, Ise-shi Mie Prefecture
`
`
`
`F1
`
`F16H 19/04
`
`
`
`Theme Codes (Reference)
`
`
`(72) Inventors: Hiroshi Nakagawa
`c/o Ise Works, Shinko Electric Co., Ltd.,
`100, Takegahana-cho, Ise-shi Mie Prefecture
`F terms (for reference):
`
`3F022 JJ07 KK02 KK05 MM01 MM02
`3F203 BA04 CA02 CC01 CC02 CC03
`
`
`DA08 FA01
`3J051 BA01 BB04 EC03 ED15 FA07
`
`Daifuku Exhibit 1013, Page 17 of 24
`
`

`

`(19) 52115150??? (J P)
`
`(12) g} fi-fil 4%: if]: a} $5 (A)
`
`(11)fi5¥fifli§fifi§%
`45652000 — 161457
`
`(P2000 — 181457A)
`(43)’.L§EE El $535125: 6 H16 El (2000. 6. 16)
`
`
`
`(51) Int.C1.T
`
`$505315
`
`F16H wm4
`
`B23Q 5fl8
`
`B65G 1N4
`
`B66C ums
`
`F16H BN6
`
`551
`
`F 1
`
`F16H BN4
`
`BZBQ 5B8
`
`B65G 1N4
`
`B660 HN8
`
`F16H BN6
`
`$573+ (3%)
`
`E
`
`D
`
`3F022
`
`35203
`
`5512
`
`31051
`
`Efififi ififl fififimfi5 0L 0%7jfi)
`fififitfi<
`
`
`(21)Hjfi$%
`
`figm10—340795
`
`(22) Hflfl
`
`$5210$111530El(1998. 11.30)
`
`(71) {flak 000002059
`
`#fléfififiéfi
`
`fiMfiEfiEtTE 2314%
`
`«259% EN @fi
`
`EEfififififi5§Mmfifl Wflgfi
`
`fifiéfififigfifiw
`
`Umfimfi fifi Em
`
`EEfififififi5§Mmfifl Wflgfi
`
`5556595555
`
`(74)f%£¥)x
`
`100064908
`
`#fli EH Efi
`
`(fl9%)
`
`fififimfi<
`
`
`
`6®Ififiwfifil
`
`fifi/Efififi
`
`(57)【要約】
`【課題】 構造が簡単で且つ薄型であり、さらに、直進
`と回転の駆動が１つのメカニズムで構成でき、信号系統
`も簡単な直進／回転機構を提供する。
`【解決手段】 モータ21と共に回転するボールネジ23の
`回転によってラック27がＹ方向に直線駆動するように構
`成されている。対称位置に配置されているラック37も同
`様に構成されている。ラック27とラック37の間にはピニ
`オンギア39が噛み合わされている。モータ21とモータ31
`を同方向で等速回転すると、ラック27、37が同方向に同
`じ速度で移動し、ピニオンギア39は回転を停止してＹ方
`向に直進駆動する。モータ21とモータ31の速度を変える
`と、ラック27とラック37に速度差が生じピニオンギア39
`が回転／直進する。
`
`Daifuku Exhibit 1013, Page 18 of 24
`
`

`

`1
`
`【特許請求の範囲】
`【請求項１】 アクチュエータの駆動によって、スライ
`ドテーブルに直進駆動と回転駆動とをさせる機構を備え
`た直進／回転機構に於いて、
`前記スライドテーブルに固着され、直進及び回転自在に
`配置された円形の回転台と、
`前記回転台の中心に対して対称位置の円周上の接線に平
`行に配置され、前記回転台に駆動力を伝達する一対の直
`進駆動手段と、
`前記一対の直進駆動手段の各々に直進駆動力を供給し、
`且つ直進駆動速度を可変させる駆動力供給手段とを備
`え、
`前記一対の直進駆動手段の直進駆動速度と方向が等しい
`ときは、前記回転台は、回転を停止して前記直進駆動手
`段と共に直進方向に移動し、
`前記一対の直進駆動手段の直進駆動速度が異なるとき
`は、前記回転台は、回転／直進駆動を行うことを特徴と
`する直進／回転機構。
`【請求項２】 前記回転台がピニオンギアであり、
`前記一対の直進駆動手段が、前記ピニオンギアに駆動力
`を伝達する一対のラックであり、
`前記駆動力供給手段が、前記一対のラックに対して、回
`転力に基づく直進駆動力を供給すると共に、回転速度を
`可変して、前記ラックの直進駆動速度を可変させるモー
`タであることを特徴とする請求項１記載の直進／回転機
`構。
`【請求項３】 前記回転台がピニオンギアであり、
`前記一対の直進駆動手段が、前記ピニオンギアに駆動力
`を伝達する一対のラックであり、
`前記駆動力供給手段が、前記一対のラックに直進駆動力
`を供給し、且つ前記ラックの直進駆動速度を可変させる
`リニアモータであることを特徴とする請求項１記載の直
`進／回転機構。
`【請求項４】 前記回転台がピニオンギアであり、
`前記一対の直進駆動手段が、前記ピニオンギアに駆動力
`を伝達する一対のベルトであり、
`前記駆動力供給手段が、前記一対のベルトの移動駆動力
`を供給し、且つ前記ベルトの移動駆動速度を可変させる
`モータであること特徴とする請求項１に記載の直進／回
`転機構。
`【請求項５】 前記回転台に回転力を伝達するクランク
`機能と、該回転台に直進駆動力を伝達する直進駆動伝達
`機能とを有し、前記回転台の中心に対して対称位置に配
`置されたリンク棒を備え、
`前記駆動力供給手段が、回転速度可変のモータであり、
`前記一対の直進駆動手段が、前記モータの回転を直線運
`動に変換する送りネジ機構と、この送りネジ機構から前
`記リンク棒に直進駆動力並びにクランク力を伝達する伝
`達部材を備えたスライド部材であることを特徴とする請
`求項１記載の直進／回転機構。
`
`(2)
`
`10
`10
`
`20
`20
`
`30
`30
`
`40
`40
`
`50
`50
`
` 特開２０００−１６１４５７
`2
`
`【発明の詳細な説明】
`【０００１】
`【発明の属する技術分野】本発明は、搬送物体を直進及
`び回転移動させる搬送装置などに供する直進／回転機構
`に関する。
`【０００２】
`【従来の技術】直進／回転機構は、物体を直線方向に移
`動したり回転したりする装置に組み込まれている。例え
`ば、工場などの天井に取り付けられて、搬送物体を直進
`方向に往復移動させたり回転移動させたりするクレーン
`などの天井搬送装置、いわゆるＯＨＴ（オーバヘッドホ
`イストトランスポート）などに組み込まれている。この
`ＯＨＴは、図４に斜視図を示すような構造になってお
`り、レールに沿って走行する走行機構１５の下部に搬送
`機構が取り付けられている。この搬送機構は、図に表示
`されない直進／回転機構の駆動によって、テーブル１７
`が図の矢印のように直進方向に往復移動したり回転移動
`したりする。これによって、テーブル１７の下部に取り
`付けられた物体保持装置１９に保持された物体を直進及
`び回転移動させることが出来る。
`【０００３】このようなテーブルを直進及び回転駆動さ
`せるための、従来の直進／回転機構は図６のような構造
`になっている。すなわち、この直進／回転機構は、モー
`タ１の回転軸に直結してボールネジ３が延びており、こ
`のボールネジ３にはスライド部材５が螺合されている。
`さらに、このスライド部材５の下部端面にはスライドテ
`ーブル７が係止されている。なお、係止構造はスライド
`テーブル７の面方向の回転駆動を阻害しないように工夫
`されている。このような直進機構の構成により、ボール
`ネジ３の軸方向を螺動するスライド部材５に伴って、ス
`ライドテーブル７が自在に直進駆動できるようになって
`いる。
`【０００４】また、ボールネジ３の上部位置であって、
`スライド部材５の移動を邪魔しない位置に、ボールネジ
`３と平行するように、モータ９とこのモータ９の回転軸
`に直結して延びているウォーム１１とが配置されてい
`る。一方、ウォームホイール１３にはその円周にウォー
`ムギアが形成されており、ウォーム１１と螺合されて回
`転自在に取り付けられている。また、このウォームホイ
`ール１３の下部端面にはスライドテーブル７が係止され
`ている。なお、この係止構造はスライドテーブル７の直
`進方向への移動を妨げないように工夫されている。この
`ような回転機構の構成により、ウォームホイール１３の
`回転に伴ってスライドテーブル７が自在に面方向に回転
`駆動できるようになっている。
`【０００５】今、モータ１を回転させると、ボールネジ
`３の回転によってスライド部材５がボールネジ３に沿っ
`て移動するので、スライド部材５に係止されたスライド
`テーブル７は図の矢印の方向に直進駆動する。勿論、移
`動方向を変えるにはモータ１の回転方向を変えることに
`
`Daifuku Exhibit 1013, Page 19 of 24
`
`

`

`3
`よって行う。次に、モータ９を回転させると、ウォーム
`１１の回転によってウォームホイール１３が回転するの
`で、このウォームホイール１３に係止されたスライドテ
`ーブル７が面方向に回転駆動する。このとき、回転方向
`を変えるにはモータ９の回転方向を変えればよい。この
`ようにして、スライドテーブル７を自在に直進及び回転
`駆動することが出来る。
`【０００６】
`【発明が解決しようとする課題】しかしながら、上述の
`ような