JP2012176331A - Three-dimensional rotating mechanism, and ball mill and kneading apparatus with the same - Google Patents

Abstract

A three-dimensional rotation mechanism having a wide application range is provided.
In addition to the rotation of a first frame 3 and a second frame 9 arranged in the frame of the first frame, a rotated body 15 arranged in the frame of the second frame A three-axis three-dimensional rotation mechanism is configured by rotating around the third rotation axis following the rotation of the second frame. The second frame is driven by the rotation of the first frame. Since the centrifugal force due to the three-axis rotation acts on the rotated body, so-called rotation in which the rotated body and its accommodation rotate together can be suppressed, so that the application range is wide, such as being suitable for a ball mill.
[Selection] Figure 1

Description

  The present invention relates to a three-dimensional rotation mechanism, a ball mill including the same, and a kneading apparatus.

  As an apparatus provided with a three-dimensional rotation mechanism, there is a clinostat apparatus described in Patent Document 1. A three-dimensional rotation mechanism (hereinafter referred to as “conventional rotation mechanism”) provided in the clinostat device includes a first frame body and a first frame body drive that rotates the first frame body around a first rotation axis. The mechanism, the second frame disposed within the frame of the first frame, and the second rotation that follows the rotation of the first frame and is orthogonal to the first rotation axis. And a first driven mechanism that rotates around an axis. That is, the conventional rotating mechanism is configured to rotate in two axes, the first rotating shaft and the second rotating shaft. A clinostat device other than the above is also configured to rotate biaxially (see Patent Documents 2 and 3).

  JP 2008-273276 A   JP 2003-70458 A   JP-A-11-264716

  However, the two-axis rotation three-dimensional rotation mechanism has a problem particularly when high-speed rotation is required. The inventor conducted the following experiment by applying the three-dimensional rotation mechanism to a ball mill. That is, the second frame and the mill pot described in the background art section above are integrated, and the mill pot is configured to rotate three-dimensionally by the rotation of the second frame together with the rotation of the first frame. I observed the inside. The mill pot used in the experiment was a transparent polyethylene spherical container with a radius of 120 mm. In the spherical mill pot, synthetic resin beads (bead group) having diameters of 2, 3, 5, and 8 mm were mixed. The occupying ratio of beads to the mill pot was about 40%. The beads were multicolored. This is to make it easier to see the inside of the mill pot by using multiple colors.

  As the number of revolutions of the mill pot gradually increased, the bead group staying at the bottom gradually increased along the inner wall during the rotation, and eventually dropped. From the time when the rotational speed exceeded 100 rpm, the dropping of the bead group became dull (stayed in an elevated state), and after 150 rpm, it did not fall at all. In other words, a state where the mill pot sticks to the inner wall of the mill pot and rotates together with the mill pot is formed. This state indicates that the inner wall of the mill pot and the bead group are in a rotating state and there is no movement between them. This is because the centrifugal force applied to the bead group by the rotation of the mill pot is the same as or higher than the gravity. In the rotating state, the beads are not dropped or collided, so that efficient pulverization is impossible. Since the centrifugal force is proportional to the distance from the rotation axis, if the diameter of the mill pot is increased to increase the capacity, the object to be crushed (bead group) is further away from the rotation axis, and the centrifugal force increases by the distance. . Since the size of the gravity does not change, if the diameter is increased, the corresponding reduction will occur unless the rotation speed is reduced. Although the above experiment was performed assuming a ball mill to the last, the suppression of the turning phenomenon is also effective for other devices applying the three-dimensional rotation mechanism, such as a kneading device, a defoaming device, a stirring device, etc. This is an important issue. If this problem is solved, the application range of the three-dimensional rotation mechanism can be greatly expanded. That is, it is a problem to be solved by the present invention to expand the application range of the three-dimensional rotation mechanism by eliminating the rotation problem.

  In order to solve the above-mentioned problems, the inventor has conducted an experiment, and presupposes existing biaxial rotation, and in addition to this, adds another axis to make three-axis rotation, thereby suppressing the rotation phenomenon. Successful. The details will be explained anew in the section. It should be noted that the definitions of terms used to describe the invention according to any claim are not limited to the category of the invention, etc. Shall also apply.

(Characteristics of the invention of claim 1)
The three-dimensional rotation mechanism according to the first aspect of the invention (hereinafter referred to as “the rotation mechanism of claim 1” as appropriate) is a first frame and a first frame that rotates the first frame around the first rotation axis. A drive mechanism for one frame, a second frame disposed within the frame of the first frame, and the second frame driven by the rotation of the first frame, A first driven mechanism that rotates around a second rotation axis that is orthogonal, a rotated body that is disposed within the frame of the second frame, and the rotated body that is driven by the rotation of the second frame. And a second driven mechanism that rotates around the third rotation axis. Here, the “rotation axis” refers to a straight line serving as a central axis of rotation (hereinafter the same).

  According to the rotating mechanism of the first aspect, the first frame rotates around the first rotation axis by the action of the first frame driving mechanism. The rotation direction is not limited, and the clockwise direction or the counterclockwise direction may be used. The rotation of the first frame rotates the second frame via the first driven mechanism. The rotation of the second frame is performed around the second rotation axis. The rotation direction of the second frame body is not limited. The rotation of the second frame rotates the rotated body. The rotation of the rotated body is performed around the third rotation axis. The rotation direction of the rotated body is not limited. Up to the biaxial rotation of the first rotating body and the second rotating body is the same as that of the conventional three-dimensional rotating mechanism, but it is a three-axis rotation with a third rotating shaft added to it. The total centrifugal force applied to the body is difficult to balance with gravity. As a result, the application range of the rotation mechanism of claim 1 can be expanded.

  The three-dimensional rotation mechanism according to the invention described in claim 2 (hereinafter, appropriately referred to as “rotation mechanism of claim 2”) is premised on the configuration of the rotation mechanism of claim 1 and, as a preferred aspect thereof, is configured as follows. did. That is, the first driven mechanism rotates coaxially with the first frame body within the frame of the first frame body and outside the frame of the second frame body (that is, between the first frame body and the second frame body). The first fixed shaft, the first fixed original vehicle that is coaxially fixed to the tip of the first fixed shaft so as not to rotate with respect to the first fixed shaft, and the first fixed shaft that rotates coaxially with the second frame. And a first rotating slave fixed outside the two-frame body frame. Here, the first rotation slave wheel is configured to have a larger diameter than the rotation radius of the second frame body, and the first fixed master vehicle and the first rotation slave vehicle are engaged with each other, Friction wheels that are in frictional contact with each other are configured such that the rotation of the first fixed master vehicle caused by the rotation of the first frame causes the first rotating slave vehicle to be driven to rotate by gear transmission or friction transmission. It is configured.

  According to the rotating mechanism of the second aspect, in addition to the operational effects of the rotating mechanism of the first aspect, the following operational effects are achieved. That is, first, the rotation of the first frame causes the first fixed original vehicle to be driven and rotated via the first fixed shaft. The first fixed master vehicle rotates the first rotating slave wheel by meshing the gears or by frictional contact between the friction wheels. Since the first rotating slave wheel is configured to rotate coaxially with the second frame, the second frame rotates by the rotation of the first rotating slave. Thus, the second frame body follows the first frame body, and the first frame body is driven by the first frame body driving mechanism. In other words, the second frame can be rotated without providing a drive mechanism for driving the second frame. If the second frame body driving mechanism is provided, it is necessary to rotate the second frame body together with the second frame body and supply power to the mechanism. There is no need. That is, it is possible to simplify and reduce the size of the second frame and the entire apparatus.

(Characteristics of Claim 3)
The three-dimensional rotation mechanism according to the invention described in claim 3 (hereinafter referred to as “the rotation mechanism of claim 3” as appropriate) is based on the configuration of the rotation mechanism of claim 2, and a preferred embodiment thereof is as follows. Configured. That is, the second driven mechanism includes a second frame main bearing mechanism, a second frame sub bearing mechanism, a second fixed shaft, a second fixed original vehicle, and a second rotary driven vehicle. It is configured. The second frame main bearing mechanism is fixed to be non-rotatable with respect to one of the first frame and the second frame, and is fixed to be rotatable with respect to the other, and the hollow shaft A hollow shaft inner bearing that is rotatable with respect to the second fixed shaft that has been passed through, and the second frame body sub-bearing mechanism is configured with the second frame body main bearing mechanism. In cooperation, the second frame is configured to be rotatable with respect to the first frame. The second fixed shaft is coaxial with the second rotation shaft, one end of the second fixed shaft protrudes into the frame of the second frame, and the other end is fixed to the first frame so as not to rotate. The second fixed vehicle is coaxially fixed to one end of the second fixed shaft so as not to rotate. The second rotating slave wheel is coaxial with the first rotating shaft, and is rotatably fixed to the second frame member via a second frame slave wheel bearing and rotated with respect to the rotated member. The second rotating slave is fixed so as to rotate the driven body integrally. The second fixed master vehicle and the second rotating slave vehicle are constituted by meshed gears or friction wheels that are in frictional contact with each other, and the second rotating slave vehicle is rotated by the rotation of the second frame body. The second rotating slave wheel is driven to rotate by gear transmission or friction transmission received when it goes around the periphery of the second fixed original vehicle.

  According to the rotation mechanism of the third aspect, in addition to the function and effect of the rotation mechanism of the second aspect, the following function and effect are exhibited. That is, the cooperation of the second frame main bearing mechanism and the second frame sub-bearing mechanism allows the second frame to rotate with respect to the first frame. The hollow shaft and the hollow shaft inner bearing allow rotation of the second frame relative to the second fixed shaft (impossible to rotate with respect to the first frame). The hollow shaft allows its rotation relative to the second frame if it is secured to the first frame, and conversely allows its rotation relative to the first frame if it is secured to the second frame. . On the other hand, the second fixed original vehicle integrated with the second fixed shaft rotates together with the first frame. This rotation is not the rotation of the second fixed original vehicle in the circumferential direction (the second fixed shaft is fixed to the first frame and the second fixed original vehicle), but the rotation center of the first frame. This is a rotation around the first rotation axis. The rotation of the second fixed original vehicle rotates the second rotating slave wheel by gear transmission or friction transmission. The second rotation slave wheel can be rotated because the second rotation slave wheel is rotatably fixed to the second frame body via the second frame slave wheel bearing. The rotation of the second rotating slave wheel rotates the rotated body integrated therewith. Centrifugal force due to triaxial rotation acts on the rotated body. In this way, the rotated body follows the second frame, and the second frame is driven by the first frame drive mechanism via the first frame. In other words, the rotating body can be rotated without providing a driving mechanism for driving the rotating body. If the driven body drive mechanism is provided, it is necessary to rotate the driven body together with the rotated body and to supply power to the mechanism. According to the rotating mechanism of claim 3, There is no need. That is, it is possible to simplify and reduce the size of the rotated body and the entire apparatus. In other words, the downsizing of the rotated body can be increased without changing the overall size of the apparatus.

(Feature of the invention of claim 4)
The three-dimensional rotation mechanism according to the invention described in claim 4 (hereinafter referred to as “the rotation mechanism of claim 4” as appropriate) is premised on the configuration of the rotation mechanism of claim 2 and, as a preferred aspect thereof, is configured as follows. did. That is, the second driven mechanism includes a second frame main bearing mechanism, a second frame sub bearing mechanism, a second fixed shaft, a fixed auxiliary bearing, a second fixed master vehicle, and a second rotating slave vehicle. And at least one. The second frame main bearing mechanism is fixed to be non-rotatable with respect to one of the first frame and the second frame, and is fixed to be rotatable with respect to the other, and the hollow shaft A hollow shaft inner bearing that is rotatable with respect to the second fixed shaft that has been passed through, and the second frame body sub-bearing mechanism is configured with the second frame body main bearing mechanism. In cooperation, the second frame is configured to be rotatable with respect to the first frame. The second fixed shaft is coaxial with the second rotation shaft, one end of the second fixed shaft protrudes into the frame of the second frame, and the other end is fixed to the first frame so as not to rotate. In addition, one end of the second fixed shaft is fixed to the second frame body via a fixed auxiliary bearing so that the second frame body is rotatable with respect to the second fixed shaft. The second fixed vehicle is coaxially fixed in the middle of the second fixed shaft so as not to rotate, and the second rotating slave shaft is parallel to the second rotational shaft, and is attached to the second frame. On the other hand, it is fixed so as to be rotatable via a second frame body follower bearing and fixed so as not to rotate with respect to the rotated body. The second fixed master vehicle and the second rotating slave vehicle are constituted by meshed gears or friction wheels that are in frictional contact with each other, and the second rotating slave vehicle is rotated by the rotation of the second frame body. The second rotating slave wheel is driven to rotate by gear transmission or friction transmission received when it goes around the periphery of the second fixed original vehicle.

  According to the rotating mechanism of the fourth aspect, in addition to the operational effects of the rotating mechanism of the second aspect, the following operational effects are achieved. That is, the cooperation of the second frame main bearing mechanism and the second frame sub-bearing mechanism allows the second frame to rotate with respect to the first frame. The hollow shaft, the hollow shaft inner bearing, and the fixed auxiliary bearing allow rotation of the second frame relative to the second fixed shaft (which cannot rotate with respect to the first frame). The hollow shaft allows its rotation relative to the second frame if it is secured to the first frame, and conversely allows its rotation relative to the first frame if it is secured to the second frame. . On the other hand, the second fixed original vehicle integrated with the second fixed shaft rotates together with the first frame. This rotation is not the rotation of the second fixed original vehicle in the circumferential direction (the second fixed shaft is fixed to the first frame and the second fixed original vehicle), but the rotation center of the first frame. This is a rotation around the first rotation axis. Here, attention is paid to the relationship of the second frame with respect to the second fixed original vehicle. The second frame rotates around the second fixed master vehicle, and the rotation of the second frame rotates the second rotary slave vehicle that receives gear transmission or friction transmission from the second fixed master vehicle. The second rotation slave wheel can be rotated because the second rotation slave wheel is rotatably fixed to the second frame body via the second frame slave wheel bearing. The rotation of the second rotating slave wheel rotates the rotated body integrated therewith. Centrifugal force due to triaxial rotation acts on the rotated body. Since the to-be-rotated body turns around the second rotating vehicle, it is separated from the second fixed shaft (second rotating shaft) by that amount, and receives a larger centrifugal force by the distance. In this way, the rotated body follows the second frame, and the second frame is driven by the first frame drive mechanism via the first frame. In other words, the rotating body can be rotated without providing a driving mechanism for driving the rotating body. If the driven body drive mechanism is provided, it is necessary to rotate the driven body together with the rotated body and to supply power to the mechanism. According to the rotating mechanism of claim 3, There is no need. That is, it is possible to simplify and reduce the size of the rotated body and the entire apparatus. In other words, the downsizing of the rotated body can be increased without changing the overall size of the apparatus.

(Feature of the invention of claim 5)
A three-dimensional rotation mechanism according to the invention described in claim 5 (hereinafter referred to as “rotation mechanism of claim 5” as appropriate) is a first frame and a first frame that rotates the first frame around the first rotation axis. A first frame driving mechanism; a second frame disposed within the frame of the first frame; and a second frame that rotates the second frame about a second rotation axis that is orthogonal to the first rotation axis. The two-frame drive mechanism, the rotated body arranged in the frame of the second frame, and the rotated body driven by the rotation of the second frame and rotated around the third rotation axis And a driven body driven mechanism to be rotated.

  According to the rotating mechanism of the fifth aspect, the first frame rotates around the first rotation axis by the action of the first frame driving mechanism. The rotation direction is not limited, and the clockwise direction or the counterclockwise direction may be used. The rotation of the second frame is performed by the second frame drive mechanism. There is no restriction on the direction of rotation. The rotation of the second frame causes the rotated body to be driven and rotated. The rotation of the rotated body is performed around the third rotation axis. The rotation direction of the rotated body is not limited. Up to the biaxial rotation of the first rotating body and the second rotating body is the same as that of the conventional three-dimensional rotating mechanism, but it is a three-axis rotation with a third rotating shaft added to it. The total centrifugal force applied to the body is difficult to balance with gravity. As a result, the application range of the rotation mechanism of claim 1 can be expanded.

(Characteristics of the invention described in claim 6)
The three-dimensional rotation mechanism according to the invention described in claim 6 (hereinafter, appropriately referred to as “rotation mechanism of claim 6”) is premised on the configuration of the rotation mechanism of claim 2, and has the following configuration as a preferred mode. did. That is, the second frame body driving mechanism is fixed to the first frame body via the first rotation shaft bearing so as to be coaxially rotatable with the first frame body, and the first rotation shaft. A variable reversible motor that rotates the rotating shaft, a first fixed original vehicle that is coaxially fixed to the tip of the first rotating shaft so as not to rotate with respect to the first rotating shaft, and the first frame so as to rotate integrally with the second frame. And a first rotating slave fixed to the outside of the second frame, and the first rotating slave is configured to have a larger diameter than the rotation radius of the second frame. The first fixed master vehicle and the first rotating slave vehicle are constituted by meshed gears or friction wheels in frictional contact with each other. Here, the rotation of the first fixed original vehicle due to the rotation of the variable reversible motor is configured to cause the first rotation slave vehicle to be driven to rotate by gear transmission or friction transmission.

  According to the rotating mechanism of the sixth aspect, in addition to the operational effect of the rotating mechanism of the second aspect, the following operational effect is achieved. That is, first, the rotation of the first frame causes the first fixed original vehicle to be driven and rotated via the first fixed shaft. The first fixed original vehicle tends to follow the first rotating slave wheel by meshing the gears or by frictional contact between the friction wheels. Since the first rotating slave wheel is configured to rotate coaxially with the second frame, the second frame rotates by the rotation of the first rotating slave. Thus, the second frame body follows the first frame body, and the first frame body is driven by the first frame body driving mechanism. On the other hand, if the rotation direction of the variable reversible motor is determined so that the first fixed original vehicle rotates in the same direction as the second frame, the second frame is rotated by the cooperation of the first driven mechanism and the variable reversible motor. I will let you. On the other hand, if the rotation direction of the variable reversible motor is determined so that the first fixed original vehicle rotates in the opposite direction to the second frame, the second frame can be rotated in the opposite direction. The reverse rotation of the second frame is allowed because the second frame can be rotated with respect to the first frame by the action of the second frame main bearing mechanism and the second frame sub-bearing mechanism, And it is because the 2nd rotation follower is constituted so that rotation with respect to the 2nd frame is possible.

(Feature of the invention of claim 7)
The three-dimensional rotation mechanism according to the invention described in claim 7 (hereinafter, appropriately referred to as “rotation mechanism of claim 7”) is premised on the configuration of the rotation mechanism of claim 6 and has the following configuration as a preferred mode. did. That is, the rotating body driven mechanism includes a second frame main bearing mechanism, a second frame sub bearing mechanism, a first frame fixing shaft, a first frame fixing original vehicle, and a first frame rotating follower. And the car. The second frame main bearing mechanism is fixed to be non-rotatable with respect to one of the first frame and the second frame, and is fixed to be rotatable with respect to the other, and the hollow shaft A hollow shaft inner bearing that is rotatable with respect to the first frame body fixed shaft that has passed through, and the second frame body sub-bearing mechanism includes the second frame body main bearing. The second frame is configured to be rotatable with respect to the first frame in cooperation with the mechanism. The first frame fixing shaft is coaxial with the second rotation shaft, one end of the second fixing shaft protrudes into the frame of the second frame, and the other end cannot rotate with respect to the first frame. The first frame fixing original vehicle is coaxially fixed to one end of the first frame fixing shaft so as not to rotate. The first frame rotating slave is coaxial with the first rotating shaft, and is rotatably fixed to the second frame via a second frame supporting vehicle bearing, and is fixed to the rotated body. The first frame-fixed master vehicle and the first frame-rotating slave vehicle are configured by meshed gears or friction wheels that are in frictional contact with each other. The first frame rotating slave is driven to rotate by gear transmission or friction transmission received when the first frame rotating slave rotates around the periphery of the first frame fixed master vehicle by the rotation of the second frame. It is constituted as follows.

  According to the rotating mechanism of the seventh aspect, in addition to the operational effect of the rotating mechanism of the sixth aspect, the following operational effect is achieved. That is, the cooperation of the second frame main bearing mechanism and the second frame sub-bearing mechanism allows the second frame to rotate with respect to the first frame. The hollow shaft and the hollow shaft inner bearing allow rotation of the second frame relative to the second fixed shaft (impossible to rotate with respect to the first frame). The hollow shaft allows its rotation relative to the second frame if it is secured to the first frame, and conversely allows its rotation relative to the first frame if it is secured to the second frame. . On the other hand, the second fixed original vehicle integrated with the second fixed shaft rotates together with the first frame. This rotation is not the rotation of the second fixed original vehicle in the circumferential direction (the second fixed shaft is fixed to the first frame and the second fixed original vehicle), but the rotation center of the first frame. This is a rotation around the first rotation axis. The rotation of the second fixed original vehicle rotates the second rotating slave wheel by gear transmission or friction transmission. The second rotation slave wheel can be rotated because the second rotation slave wheel is rotatably fixed to the second frame body via the second frame slave wheel bearing. The rotation of the second rotating slave wheel rotates the rotated body integrated therewith. Centrifugal force due to triaxial rotation acts on the rotated body. In this way, the rotated body follows the second frame, and the second frame is driven by the first frame drive mechanism via the first frame. In other words, the rotating body can be rotated without providing a driving mechanism for driving the rotating body. If the driven body drive mechanism is provided, it is necessary to rotate the driven body together with the rotated body and to supply power to the mechanism. According to the rotating mechanism of claim 3, There is no need. That is, it is possible to simplify and reduce the size of the rotated body and the entire apparatus. In other words, the downsizing of the rotated body can be increased without changing the overall size of the apparatus.

(Characteristics of the invention described in claim 8)
The three-dimensional rotation mechanism according to the invention described in claim 8 (hereinafter, appropriately referred to as “rotation mechanism of claim 8”) is premised on the configuration of the rotation mechanism of claim 6 and has the following configuration as a preferred mode. did. That is, the second driven mechanism includes a second frame main bearing mechanism, a second frame sub bearing mechanism, a second fixed shaft, a fixed auxiliary bearing, a second fixed master vehicle, and a second rotating slave vehicle. And at least one. The hollow shaft in which the first hollow shaft inner bearing structure is fixed so as not to rotate with respect to one of the first frame body and the second frame body, and rotatably fixed with respect to the other, and the hollow shaft A hollow shaft inner bearing that is rotatable with respect to the second fixed shaft that has been passed through, and the second frame body sub-bearing mechanism is configured with the second frame body main bearing mechanism. In cooperation, the second frame is configured to be rotatable with respect to the first frame. The second fixed shaft is coaxial with the second rotation shaft, one end of the second fixed shaft protrudes into the frame of the second frame, and the other end is fixed to the first frame so as not to rotate. In addition, one end of the second fixed shaft is fixed to the second frame body via a fixed auxiliary bearing so that the second frame body is rotatable with respect to the second fixed shaft. The second fixed vehicle is coaxially fixed in the middle of the second fixed shaft so as not to rotate, and the second rotating slave shaft is parallel to the second rotational shaft, and is attached to the second frame. On the other hand, it is fixed so as to be rotatable via a second frame body follower bearing and fixed so as not to rotate with respect to the rotated body. The second fixed master vehicle and the second rotating slave vehicle are constituted by meshed gears or friction wheels that are in frictional contact with each other, and the second rotating slave vehicle is rotated by the rotation of the second frame body. The second rotating slave wheel is driven to rotate by gear transmission or friction transmission received when it goes around the periphery of the second fixed original vehicle.

  According to the rotating mechanism of the eighth aspect, in addition to the operational effect of the rotating mechanism of the sixth aspect, the following operational effect is achieved. That is, the cooperation of the second frame main bearing mechanism and the second frame sub-bearing mechanism allows the second frame to rotate with respect to the first frame. The hollow shaft, the hollow shaft inner bearing, and the fixed auxiliary bearing allow rotation of the second frame relative to the second fixed shaft (which cannot rotate with respect to the first frame). The hollow shaft allows its rotation relative to the second frame if it is secured to the first frame, and conversely allows its rotation relative to the first frame if it is secured to the second frame. . On the other hand, the second fixed original vehicle integrated with the second fixed shaft rotates together with the first frame. This rotation is not the rotation of the second fixed original vehicle in the circumferential direction (the second fixed shaft is fixed to the first frame and the second fixed original vehicle), but the rotation center of the first frame. This is a rotation around the first rotation axis. Here, attention is paid to the relationship of the second frame with respect to the second fixed original vehicle. The second frame rotates around the second fixed master vehicle, and the rotation of the second frame rotates the second rotary slave vehicle that receives gear transmission or friction transmission from the second fixed master vehicle. The second rotation slave wheel can be rotated because the second rotation slave wheel is rotatably fixed to the second frame body via the second frame slave wheel bearing. The rotation of the second rotating slave wheel rotates the rotated body integrated therewith. Centrifugal force due to triaxial rotation acts on the rotated body. Since the to-be-rotated body turns around the second rotating vehicle, it is separated from the second fixed shaft (second rotating shaft) by that amount, and receives a larger centrifugal force by the distance. In this way, the rotated body follows the second frame, and the second frame is driven by the first frame drive mechanism via the first frame. In other words, the rotating body can be rotated without providing a driving mechanism for driving the rotating body. If the driven body drive mechanism is provided, it is necessary to rotate the driven body together with the rotated body and to supply power to the mechanism. According to the rotating mechanism of claim 3, There is no need. That is, it is possible to simplify and reduce the size of the rotated body and the entire apparatus. In other words, the downsizing of the rotated body can be increased without changing the overall size of the apparatus.

(Feature of the invention of claim 9)
A mill pot according to the invention of claim 9 (hereinafter, appropriately referred to as “mill pot of claim 9”) is provided with the three-dimensional rotation mechanism according to any one of claims 1 to 8, and a rotated body of the three-dimensional rotation mechanism is provided. And a mill pot having a ball inside.

  According to the mill pot of the ninth aspect, since the three-dimensional rotation mechanism according to any one of the first to eighth aspects is provided, the centrifugal force due to the three-axis rotation acts on the mill pot that is the rotated body. For this reason, when the object to be crushed stored in the mill pot is rotated with the inner wall of the mill pot when rotated at a high speed, it is effectively suppressed, thereby enabling efficient crushing.

(Features of the invention of claim 10)
A kneading apparatus according to the invention of claim 10 (hereinafter referred to as “kneading apparatus of claim 10” as appropriate) comprises the three-dimensional rotation mechanism according to any one of claims 1 to 8, and the three-dimensional rotation mechanism is rotated. The body is configured to include an accommodation container that can accommodate the material to be kneaded therein.

  According to the kneading apparatus of the tenth aspect, since the three-dimensional rotation mechanism according to any one of the first to eighth aspects is provided, the centrifugal force due to the three-axis rotation acts on the accommodation heat that is the rotated body. For this reason, even when it is rotated at a high speed, it is effectively suppressed that the material to be kneaded accommodated in the storage container is rotated around the inner wall of the storage container, thereby enabling efficient kneading.

  According to the present invention, it is possible to solve the problem of the surroundings when the rotating body rotates. As a result, not only low speed but also high speed rotation is possible, so that the application range of the three-dimensional rotation mechanism can be expanded.

  It is a front view of the three-dimensional rotation mechanism which concerns on this embodiment.   It is a top view of the three-dimensional rotation mechanism shown in FIG.   It is a front view which shows the modification of the three-dimensional rotation mechanism shown in FIG.

(Schematic structure of the three-dimensional rotation mechanism)
The schematic structure of the three-dimensional rotation mechanism according to this embodiment will be described with reference to FIGS. The three-dimensional rotation mechanism 1 includes a rectangular first frame body 3 and a first frame body drive mechanism 7 that rotates the first frame body 3 around a first rotation axis (a straight line that serves as a central axis of rotation) 5. The first frame 3, the motor 7), the rectangular second frame 9 disposed in the frame of the first frame 3 (that is, smaller than the first frame 3), and the second frame 9. A first driven mechanism 13 that rotates around a second rotation shaft 11 that is orthogonal to the first rotation shaft 5, a rotated body 15 that is disposed within the frame of the second frame body 9, and The second driven mechanism 17 is configured to rotate the driven body 15 around the third rotation axis (in the present embodiment, the same as the first rotation axis) following the rotation of the second frame body 9. It is. The postures of the first frame body 3 and the second frame body 9 are both raised in this embodiment (the first rotation axis is horizontal), but it is not necessary to be limited to this. You can also The rotation direction of the motor 7 may be either clockwise or counterclockwise. By determining the rotation direction of the motor 7, the rotation direction of the first frame body 3 is determined, and further, the rotation direction of the second frame body 9 to be driven is determined. In this embodiment, it is configured to rotate counterclockwise as viewed from the right side of FIG. Therefore, the first frame 3 also rotates clockwise. Reference numeral 2 denotes a base portion that is the basis of the entire apparatus.

(Structure of the first driven mechanism)
The description will be continued with continued reference to FIGS. The first driven mechanism 13 is rotated with respect to the first fixed shaft 19 at the tip of the first fixed shaft 19 and the first fixed shaft 19 that rotates coaxially with the first frame 3 within the frame of the first frame 3. The first fixed original vehicle 21 that is coaxially fixed to be impossible, and the first rotating slave wheel 23 that is fixed outside the frame of the second frame 9 so as to rotate integrally with the second frame 9 are configured. . Here, the first fixed shaft 19 shown in FIG. 1 can be rotated by the motor 61, but here it is assumed that the motor 61 is not rotated. That is, the first fixed shaft 19 is braked (not shown). The motor 61 may be omitted and the first fixed shaft 19 may be fixed to the first frame 3. The first rotation follower 23 is configured to have a larger diameter than the rotation radius of the second frame body 9. As a result, when viewed in plan, the first rotary follower 23 protrudes beyond the second frame by an amount larger in the radial direction. The first fixed master vehicle 21 and the first rotary slave vehicle 23 are both friction wheels, and the peripheral end surface of the first fixed master vehicle 21 and the first rotary slave vehicle 23 (the portion that protrudes from the second frame body thereof). The upper surface periphery is in perpendicular contact with each other. Here, when the 1st frame 3 rotates, the 1st fixed original vehicle 21 rotates integrally with this. The rotation of the first fixed master vehicle 21 causes the first rotary slave wheel 23 in frictional contact therewith to be driven to rotate. The rotation of the first rotating slave wheel 23 rotates the second frame 9 integrated therewith. If this rotation is self-rotating, the second frame 9 revolves together with the first frame 3 while rotating. As described above, the first fixed master vehicle 21 and the first rotating slave vehicle 23 are friction wheels that are in frictional contact with each other, but can also be configured by gears that mesh with each other. According to the above configuration, the motor 7 rotates the first frame 3, and the rotation of the first fixed original vehicle 21 accompanying the rotation of the first frame 3 is integrated with the first rotation follower 23 and the first rotation slave vehicle 23 by friction transmission. The second frame body 9 is driven to rotate.

(Structure of second driven mechanism)
As shown in FIGS. 1 and 2, the second driven mechanism 17 includes a second frame main bearing mechanism 25, a second frame sub bearing mechanism 27, a second fixed shaft 29, a second fixed original vehicle 33, The second rotation follower 35 is included. The second frame main bearing mechanism 25 and the second frame sub bearing mechanism 27 cooperate to make the second frame 9 rotatable about the second rotation shaft 11 with respect to the first frame 3. It is configured. The second fixed shaft 29 is coaxial with the second rotating shaft 11, one end of the second fixed shaft 29 protrudes into the frame of the second frame body 9, and the other end is fixed to the first frame body 3 so as not to rotate. It is. The second frame main bearing mechanism 25 is fixed to either one of the first frame 3 and the second frame 9 so as not to be rotatable, and is fixed to the other so as to be rotatable (in this embodiment, the second frame A hollow shaft 37 fixed to the body 9, rotatable relative to the first frame 3, or vice versa) and a hollow shaft rotatable relative to the second fixed shaft 29 passed through the hollow shaft 37. The inner bearing 31 is included. A second fixed original vehicle 33 is coaxially fixed to one end of the second fixed shaft 29 in the frame of the second frame 9 so as not to rotate. The second fixed shaft 29 is perpendicular to the radius of the second fixed original vehicle 33. Since the second fixed shaft 29 does not rotate with respect to the first frame 3, the second fixed original vehicle 33 also does not rotate with respect to the first frame 3.

  The second rotation follower 35 is coaxial with the first rotation shaft 5, is rotatably fixed to the second frame 9 via the second frame follower bearing 39, and is fixed to the rotated body 15. It is fixed so that it cannot rotate. That is, the rotated body 15 rotates integrally with the second rotating follower 35. The second fixed original vehicle 33 and the second rotating slave vehicle 35 are both constituted by friction wheels that frictionally contact each other vertically. It is not different from the case of the first driven mechanism 13 that both may be constituted by gears meshing with each other. In the above configuration, the second end of the second rotating follower 35 rotates while the second frame 9 rotates while contacting the peripheral edge of the lower surface of the second fixed original vehicle 33. Is driven to rotate. If the 2nd rotation follower 35 rotates, the to-be-rotated body 35 integrated with this will also rotate. Since the centrifugal force due to the three-axis rotation acts on the rotated body 15, these centrifugal forces are less likely to be equal to or more than the gravity as compared with the two-axis rotation.

  Here, the description returns to the motor 61. The motor 61 is a reversible variable motor that can change the rotation direction and the rotation speed. In the above description, it is assumed that the motor 61 does not rotate. However, if the assumption is canceled and the motor 61 is rotated, the following is obtained. If the rotation direction of the motor 61 is determined so that the first fixed original vehicle 21 rotates in the same direction as the second frame body 9, the second frame body 9 is rotated by the cooperation of the first driven mechanism 13 and the motor 61. I will let you. That is, when the motor 7 viewed from the right in FIG. 1 is rotated counterclockwise, the first fixed original vehicle 21 together with the first frame 3 rotates in the same counterclockwise direction when viewed from the right. The counterclockwise rotation of the first fixed original vehicle 21 causes the first rotating slave wheel 23 to rotate in the clockwise direction in plan view. Here, if the motor 61 is rotated in the same direction as above, that is, counterclockwise as viewed from the right, the motor 61 is rotated in the forward direction with respect to the rotation direction of the motor 7, so that they form a cooperative relationship. To do. On the other hand, when the rotation direction of the motor 61 is determined so that the first fixed original vehicle 21 rotates in the reverse direction (clockwise as viewed from the right) with respect to the second frame 9, the reverse direction (counterclockwise in plan view) The second frame body 9 can be rotated. The reverse rotation of the second frame body 9 (relative to the rotational direction of the motor 7) is allowed because the second frame body 9 is operated by the second frame main bearing mechanism 25 and the second frame sub-bearing mechanism 27. It is rotatable with respect to the first frame 3 (the rotation of the second frame 9 does not affect the first frame 3), and the second rotating follower 35 is with respect to the second frame 9. This is because it is configured to be rotatable. In this case, the frame 3 is rotated in the counterclockwise direction when viewed from the right in FIG.

(Modification of this embodiment)
A modification of the present embodiment will be described with reference to FIG. The difference between this embodiment described above and the modification of this embodiment (hereinafter referred to as “this modification”) is only the second driven mechanism and the rotated body. Therefore, here, the description will be focused on the above-mentioned parts, and the same reference numerals as those used in FIGS. 1 and 2 will be used in FIG. 3 for the parts common to both, and their description will be omitted as far as possible.

  The second driven mechanism 47 according to the present modification includes a second frame main bearing mechanism 25, a second frame sub bearing mechanism 27, a second fixed shaft 49, a fixed auxiliary bearing 51, and a second fixed original vehicle. 53 and the second rotation follower 55 (two here, but at least one is sufficient). The second frame body main bearing mechanism 25 and the second frame body sub-bearing mechanism 27 are configured to cooperate to make the second frame body 9 rotatable with respect to the first frame body 3. This point is not different from the present embodiment. The second fixed shaft 49 is coaxial with the second rotating shaft 11, one end of the second fixed shaft 49 protrudes into the frame of the second frame body 9, and the other end cannot rotate with respect to the first frame body 3. It is fixed to. The second frame main bearing mechanism 25 has the same structure as that in the present embodiment. One end of the second fixed shaft 49 is connected to the second frame main bearing mechanism 25 of the second frame 9 via the fixed auxiliary bearing 51 so that the second frame 9 is rotatable with respect to the second fixed shaft 49. It is fixed to the part facing. The second fixed original vehicle 53 is coaxially fixed so as not to rotate in the middle of the second fixed shaft 49 in the length direction (substantially the center of the second frame 9 in this modification). The second rotation follower 55 is a shaft parallel to the second rotation shaft 11, and is fixed to the second frame 9 via the second frame follower bearing 57 so as to be rotatable and rotated members 59, 59. It is fixed so that it cannot rotate. The second fixed original vehicle 53 and the second rotary driven vehicle 55 are gears that mesh with each other. You may comprise by the friction wheels mutually friction-contacting. Here, the second rotating follower 55 is driven to rotate by the gear transmission received when the second rotating follower 55 goes around the periphery of the second fixed original vehicle 53 by the rotation of the second frame body 9, thereby rotating The bodies 59, 59 also rotate. Centrifugal force due to three-axis rotation acts on the rotated bodies 59 and 59. Since the to-be-rotated bodies 59 and 59 will go around the 2nd rotation original vehicle 53, it will leave | separate from the 2nd fixed shaft (2nd rotating shaft) by that much (it does not exist in the center area | region of the 2nd frame 9). As a result, a greater centrifugal force is applied to the distance.

(Application example of three-dimensional rotation mechanism)
The three-dimensional rotation mechanism 1 can be applied to various uses. For example, a triaxial clinostat is a typical example. Furthermore, for example, if this is applied to a ball mill and the above-mentioned rotated body 15 is made into a mill pot containing balls, the current state of rotation can be effectively suppressed, so that high-speed rotation is possible, thereby expecting efficient grinding. can do. The present invention can also be suitably applied to a kneading device, a stirring device, etc. mounted on a concrete mixer truck.

DESCRIPTION OF SYMBOLS 1 ... Three-dimensional rotation apparatus, 2 ... Base part, 3 ... 1st frame, 5 ... 1st rotating shaft, 7 ... 1st frame drive mechanism (motor), 9 ... Second frame, 11 ... Second rotating shaft, 13 ... First driven mechanism, 15 ... Rotated body, 17 ... Second driven mechanism, 19 ... First fixed Axis, 20 ... first fixed bearing, 21 ... first fixed original vehicle, 23 ... first rotating slave, 25 ... second frame main bearing mechanism, 27 ... second frame Body sub-bearing mechanism, 29 ... second fixed shaft, 31 ... bearing in the hollow shaft, 33 ... second fixed original vehicle, 35 ... second rotating slave wheel, 37 ... hollow shaft, 39 ... 2nd frame slave wheel bearing, 47 ... 2nd driven mechanism, 49 ... 2nd fixed shaft, 53 ... 2nd fixed original vehicle, 55 ... 2nd rotation slave wheel, 57... Second frame slave wheel bearing, 59. Rotary body

Claims (10)

A first frame,
A first frame driving mechanism for rotating the first frame around the first rotation axis;
A second frame disposed within the frame of the first frame,
A first driven mechanism for rotating the second frame around the second rotation axis perpendicular to the first rotation axis following the rotation of the first frame;
A rotated body disposed within the frame of the second frame;
A second driven mechanism for rotating the rotated body around the third rotation axis following the rotation of the second frame;
A three-dimensional rotation mechanism characterized by comprising. The first driven mechanism includes a first fixed shaft that rotates coaxially with the first frame body within the frame of the first frame body and out of the frame of the second frame body, and the first fixed shaft at the tip of the first fixed shaft. Including a first fixed original vehicle that is coaxially fixed so as not to rotate with respect to one fixed shaft, and a first rotating slave vehicle that is fixed outside the second frame body so as to rotate integrally with the second frame body. Configured,
The first rotation slave wheel is configured to have a larger diameter than the rotation radius of the second frame,
The first fixed original vehicle and the first rotating slave vehicle are constituted by meshed gears or friction wheels that are in frictional contact with each other,
The rotation of the first fixed original vehicle due to the rotation of the first frame is configured to rotate the first rotation slave vehicle by gear transmission or friction transmission. The three-dimensional rotation mechanism according to claim 1. The second driven mechanism includes a second frame main bearing mechanism, a second frame sub-bearing mechanism, a second fixed shaft, a second fixed original vehicle, and a second rotary driven vehicle. And
The second frame main bearing mechanism is fixed to be non-rotatable with respect to one of the first frame and the second frame, and is fixed to be rotatable with respect to the other, and the hollow shaft And a hollow shaft inner bearing that is rotatable with respect to the second fixed shaft that has been passed through,
The second frame sub-bearing mechanism is configured to cooperate with the second frame main bearing mechanism so that the second frame is rotatable with respect to the first frame.
The second fixed shaft is coaxial with the second rotation shaft, one end of the second fixed shaft protrudes into the frame of the second frame, and the other end is fixed to the first frame so as not to rotate. And
The second fixed vehicle is coaxially fixed to one end of the second fixed shaft so as not to rotate;
The second rotating slave wheel is coaxial with the first rotating shaft, and is rotatably fixed to the second frame member via a second frame slave wheel bearing and rotated with respect to the rotated member. Fixed impossible,
In the second rotating slave wheel, the rotated body is fixed so as to rotate integrally,
The second fixed master vehicle and the second rotating slave vehicle are constituted by meshed gears or friction wheels that are in frictional contact with each other,
The second rotating slave is driven to rotate by gear transmission or friction transmission received when the second rotating slave rotates around the periphery of the second fixed master vehicle by the rotation of the second frame. The three-dimensional rotation mechanism according to claim 2, wherein The second driven mechanism includes at least a second frame main bearing mechanism, a second frame sub bearing mechanism, a second fixed shaft, a fixed auxiliary bearing, a second fixed master vehicle, and a second rotating slave vehicle. And is composed of
The second frame main bearing mechanism is fixed to be non-rotatable with respect to one of the first frame and the second frame, and is fixed to be rotatable with respect to the other, and the hollow shaft And a hollow shaft inner bearing that is rotatable with respect to the second fixed shaft that has been passed through,
The second frame sub-bearing mechanism is configured to cooperate with the second frame main bearing mechanism so that the second frame is rotatable with respect to the first frame.
The second fixed shaft is coaxial with the second rotation shaft, one end of the second fixed shaft protrudes into the frame of the second frame, and the other end is fixed to the first frame so as not to rotate. And
One end of the second fixed shaft is fixed to the second frame via a fixed auxiliary bearing so that the second frame is rotatable with respect to the second fixed shaft,
The second fixed vehicle is coaxially fixed so as not to rotate in the middle of the second fixed shaft,
The second rotating slave wheel is a shaft parallel to the second rotating shaft, and is fixed to the second frame body rotatably via a second frame slave wheel bearing and to the rotated body. Fixed non-rotatable,
The second fixed master vehicle and the second rotating slave vehicle are constituted by meshed gears or friction wheels that are in frictional contact with each other,
The second rotating slave is driven to rotate by gear transmission or friction transmission received when the second rotating slave rotates around the periphery of the second fixed master vehicle by the rotation of the second frame. The three-dimensional rotation mechanism according to claim 2, wherein A first frame,
A first frame driving mechanism for rotating the first frame around the first rotation axis;
A second frame disposed within the frame of the first frame,
A second frame body drive mechanism for rotating the second frame body around a second rotation axis orthogonal to the first rotation axis;
A rotated body disposed within the frame of the second frame;
A rotated body driven mechanism that rotates the rotated body around the third rotation axis following the rotation of the second frame;
A three-dimensional rotation mechanism characterized by comprising. A first rotating shaft fixed to the first frame via a first rotating shaft bearing so that the second frame driving mechanism is coaxially rotatable with the first frame; and the first rotating shaft A variable reversible motor that rotates the first rotation shaft, a first fixed original vehicle that is coaxially fixed to the tip of the first rotation shaft so as not to rotate with respect to the first rotation shaft, and the second frame body so as to rotate integrally therewith. A first rotating slave fixed outside the second frame body frame,
The first rotation slave wheel is configured to have a larger diameter than the rotation radius of the second frame,
The first fixed original vehicle and the first rotating slave vehicle are constituted by meshed gears or friction wheels that are in frictional contact with each other,
The rotation of the first fixed original vehicle by the rotation of the variable reversible motor is configured to rotate the first rotation slave vehicle by gear transmission or friction transmission. Item 3. A three-dimensional rotation mechanism according to item 2. The rotating body driven mechanism includes a second frame main bearing mechanism, a second frame sub bearing mechanism, a first frame fixing shaft, a first frame fixing original vehicle, and a first frame rotating driven vehicle. , Including
The second frame main bearing mechanism is fixed to be non-rotatable with respect to one of the first frame and the second frame, and is fixed to be rotatable with respect to the other, and the hollow shaft A hollow shaft inner bearing that is rotatable with respect to the first frame fixed shaft that has been passed through,
The second frame sub-bearing mechanism is configured to cooperate with the second frame main bearing mechanism so that the second frame is rotatable with respect to the first frame.
The first frame fixing shaft is coaxial with the second rotation shaft, one end of the second fixing shaft protrudes into the frame of the second frame, and the other end cannot rotate with respect to the first frame. It is fixed to
The first frame fixed original vehicle is coaxially fixed to one end of the first frame fixed shaft so as not to rotate,
The first frame rotating slave is coaxial with the first rotating shaft, and is rotatably fixed to the second frame via a second frame supporting vehicle bearing, and is fixed to the rotated body. And fixed so that it cannot rotate.
The first frame fixed master vehicle and the first frame rotating slave vehicle are configured by meshed gears or friction wheels that are in frictional contact with each other,
The first frame rotating slave is driven to rotate by gear transmission or friction transmission received when the first frame rotating slave rotates around the periphery of the first frame fixed master vehicle by the rotation of the second frame. The three-dimensional rotation mechanism according to claim 1, wherein the three-dimensional rotation mechanism is configured as described above. The second driven mechanism includes at least a second frame main bearing mechanism, a second frame sub bearing mechanism, a second fixed shaft, a fixed auxiliary bearing, a second fixed master vehicle, and a second rotating slave vehicle. And is composed of
The hollow shaft in which the first hollow shaft inner bearing structure is fixed so as not to rotate with respect to one of the first frame body and the second frame body, and rotatably fixed with respect to the other, and the hollow shaft And a hollow shaft inner bearing that is rotatable with respect to the second fixed shaft that has been passed through,
The second frame sub-bearing mechanism is configured to cooperate with the second frame main bearing mechanism so that the second frame is rotatable with respect to the first frame.
The second fixed shaft is coaxial with the second rotation shaft, one end of the second fixed shaft protrudes into the frame of the second frame, and the other end is fixed to the first frame so as not to rotate. And
One end of the second fixed shaft is fixed to the second frame via a fixed auxiliary bearing so that the second frame is rotatable with respect to the second fixed shaft,
The second fixed vehicle is coaxially fixed so as not to rotate in the middle of the second fixed shaft,
The second rotating slave wheel is a shaft parallel to the second rotating shaft, and is fixed to the second frame body rotatably via a second frame slave wheel bearing and to the rotated body. Fixed non-rotatable,
The second fixed master vehicle and the second rotating slave vehicle are constituted by meshed gears or friction wheels that are in frictional contact with each other,
The second rotating slave is driven to rotate by gear transmission or friction transmission received when the second rotating slave rotates around the periphery of the second fixed master vehicle by the rotation of the second frame. The three-dimensional rotation mechanism according to claim 1 or 2, characterized by the above. A three-dimensional rotation mechanism according to any one of claims 1 to 8,
The ball mill characterized in that the rotated body of the three-dimensional rotation mechanism includes a mill pot having a ball inside. A three-dimensional rotation mechanism according to any one of claims 1 to 8,
The kneading apparatus characterized in that the rotating body of the three-dimensional rotation mechanism includes a container that can store the kneading body therein.

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