JP2003111351A - Rectilinear/rotary actuator and winder having the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rectilinear/rotary actuator whose linear movement and rotational movement can be controlled individually and simultaneously. SOLUTION: A rotation drive motor B has a hollow shaft 3. When the rotation drive motor B turns a third nut 8 coupled with a spline part 9, an output shaft 7 coupled rotatably with a rectilinear shaft 21 via bearings 19 and 20 is turned. A screw part 12 and a spline part 13 are formed on the rectilinear shaft 21 and a first nut 11 is screwed onto the screw part 12, and a second nut in a fixed state is coupled with the spline part 13. The first nut 11 is fixed to a hollow shaft 6 of a rectilinear drive motor A and turned. When the rectilinear drive motor A is driven, the first nut 11 is turned and the rectilinear shaft 21 is moved linearly along the axis, and the output shaft 7 is moved linearly accordingly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rectilinear / rotary actuator for driving a machine or a device that performs both rectilinear and rotational motions, such as a robot arm or a nozzle of a winding machine. The present invention relates to a winding machine using the linear / rotary actuator.

[0002]

2. Description of the Related Art For example, when driving an arm of a robot or a nozzle of a winding machine, not only linear motion and rotary motion (uniaxial motion) but also both motions (biaxial motion) are performed.
In some cases, an actuator that can simultaneously perform the above is required. As an actuator that performs such biaxial motion, simply, an actuator that performs linear motion and an actuator that performs rotary motion are respectively combined, that is, a rotary drive motor and a linear drive motor for straight advance are independently provided. A linear / rotary actuator of a type that is provided to transmit power to a single output shaft via a complicated transmission mechanism to perform biaxial movements of rotation and rectilinear movement, and a rotation driving motor and a rectilinear driving motor in a straight line. There is a rectilinear / rotary actuator of a type that is provided side by side and directly rotates or advances the output shaft without a complicated transmission mechanism. As an example of this latter actuator, Japanese Patent Laid-Open No. 5-29630 is known.
Japanese Unexamined Patent Publication No. 8 discloses a rectilinear / rotary actuator in which a single output shaft performs biaxial motion of rectilinear motion and rotary motion by two motors arranged in a straight line so that their axes are common. Further, Japanese Patent Application Laid-Open No. 6-292343 discloses both the former linear / rotary actuator and the latter linear / rotary actuator.

[0003]

[Patent Document 1] Japanese Unexamined Patent Publication No. 6-29234
In the rectilinear / rotary actuator disclosed in Japanese Patent Publication No.
A ball screw and a spline are formed on the output shaft of the book. The ball screw and the spline are driven via a transmission mechanism or directly by a rotary drive motor and a straight drive motor. However, in the structure shown in this publication,
When the rotor of the linear drive motor is in a stopped state when the rotary drive is performed, there arises a problem that the output shaft moves linearly as the rotor of the rotary drive motor rotates.
In order to solve this problem, the linear drive motor must be cooperatively controlled when the rotary drive motor is rotated, and the control of the two motors becomes very complicated. There is a problem that deviation easily occurs.

The latter rectilinear / rotary actuator disclosed in Japanese Patent Laid-Open No. 5-296308 has a single output shaft for linear movement and rotation. A ball screw is provided on the output shaft, and the output shaft is also provided. Is provided with a spline. The ball screw is screwed with a nut that is driven by a linear drive motor to rotate, and the spline is fitted in a groove of a shaft that is driven and rotated by the rotary drive motor so as to allow linear movement. When the linear drive motor is driven, the nut rotates and the output shaft moves straight. When the rotary drive motor is driven, the output shaft rotates via the shaft. This linear / rotary actuator
The structure is relatively simple and the overall size can be made compact. However, with this linear / rotary actuator,
Since the linear motion and the rotary motion are mechanically synchronized, the biaxial motion cannot be performed individually. For example, even if only the rotational movement is attempted, the ball screw rotates with respect to the nut, and it is impossible to rotate the ball screw while stopping the linear movement at a predetermined position. Similarly, if it is attempted to carry out straight movement and rotation at the same time, it is possible to make straight movement in one direction, but the speed of straight movement is limited in the other direction, or straight movement is not possible. Due to such restrictions, there has been a problem that this linear movement / rotation actuator has poor versatility.

Further, since the rectilinear / rotary actuators that have been proposed so far cannot perform a rectilinear motion and a rotary motion arbitrarily and surely, so-called box motion (which is required when moving the nozzle of the winding machine) Straight line-Rotation-
It was unsuitable for applications in which (straight-rotation) is repeatedly performed at a high speed.

An object of the present invention is to provide a rectilinear / rotary actuator which can perform both rectilinear motion and rotary motion simultaneously or separately, and which can be controlled easily and surely. is there.

Another object of the present invention is to arrange a rotary driving motor and a straight-moving driving motor so as to share an axis, and to perform both straight-moving and rotating simultaneously or separately, simply and reliably. The object of the present invention is to provide a straight-moving / rotating actuator capable of performing the above.

Another object of the present invention is to provide a linear / rotary actuator suitable for driving a nozzle of a winding machine.

Still another object of the present invention is to provide a winding machine equipped with a straight-moving / rotating actuator which is excellent in controllability and is compact.

[0010]

SUMMARY OF THE INVENTION The basic idea of the present invention is that an output shaft fitted concentrically with a linear shaft that is linearly driven by the drive of a linear drive motor through a bearing is driven by a rotary drive motor. The output shaft that rotates or is driven by the rotation drive motor is fitted through a bearing to form a concentric straight shaft. It means to do both exercises.

In order to rotate the output shaft by the rotation driving motor, the output shaft is provided with a spline portion, and the nut fitted to the spline portion is rotated by the rotation driving motor directly or via a transmission mechanism. Let The linear drive motor that drives the linear shaft may be a rotary type motor or a linear motor. When a rotary type linear drive motor is used, the linear shaft is provided with a screw portion and a spline portion, and the nut screwed into the screw portion is rotated by the linear drive motor directly or via a transmission mechanism to drive the linear shaft. Go straight. The nut fitted to the spline part is fixed. The types of the rotation driving motor and the straight driving motor are arbitrary, but it is suitable to use a servo motor or a step motor in order to improve controllability.
When a linear motor is used as the linear drive motor, the linear shaft is directly driven as a mover of the linear motor.

Here, the "spline portion" permits movement along the axis of the shaft, and a so-called spline nut is fitted therein. And the spline part prevents rotation of the shaft when the nut called this spline nut is fixed, and conversely, when this nut rotates when a rotational force is applied in the non-fixed state, the rotational force transmitted from the nut is It has the function of transmitting to the shaft. Therefore, the spline portion may be in the form of a groove or a protrusion, and its structure is arbitrary. The nut fitted in the spline portion is engaged with the spline portion and does not rotate around the shaft. Further, the "screw portion" includes a ball screw and may have any form as long as it is formed in a spiral shape on the outer periphery of the shaft as a result. The nut screwed to the threaded portion has a structure such as a ball nut or the like that is screwed along the threaded portion when a rotational force is applied. In particular, the spline portion and the screw portion formed on the straight shaft may be formed by so-called "ball screw / spline" formed so as to be superposed on the same portion so as not to interfere with each other. The use of such a “ball screw / spline” has an advantage that the axial dimension of the linear shaft can be shortened.

When the basic idea of the present invention is used, since the rectilinear shaft and the output shaft are concentrically arranged, the structure of the rectilinear / rotary actuator becomes simple and compact. Further, the linear motion of the linear shaft and the rotational motion of the output shaft can be controlled independently and reliably.

The structure of the present invention will be described on a more specific level using the reference numerals in the drawings. First axis (XX)
Drive motors B arranged side by side so as to share
And a linear drive motor A, the output shaft 7 is rotated about the axis (XX) by the rotation of the shaft 3 of the rotary drive motor, and the output shaft 7 is rotated by the rotation of the shaft 6 of the linear drive motor (X-X). In the case of a rectilinear / rotary actuator that linearly moves the output shaft 7 along the direction (-X), the following is performed when the output shaft 7 is fitted to the rectilinear shaft 21.

The shafts (3, 6) of the rotary drive motor B and the straight drive motor A each have a hollow structure. The rectilinear shaft 21 is arranged at the central portions of the shafts (3, 6) of the rotation drive motor and the rectilinear drive motor so that the axes thereof form the axis (XX).
A spline portion (first spline portion) 13 and a screw portion 12 are formed on the outer peripheral portion. Specifically, the spline unit 1
2 extends along the axis, and the threaded portion 12 extends spirally around the axis. Further, there is provided a first nut 11 which is screwed with the thread portion 12 of the straight-moving shaft 21 and is driven by the shaft 6 of the straight-moving driving motor to rotate to displace the straight-moving shaft 21 in the axial direction. Further provided is a second nut (spline guide member) 14 which is in a fixed state and is fitted into the spline portion 13 of the straight advance shaft 21 to prevent the rotation of the straight advance shaft 21.
Specifically, the nut 14 is fixed to a motor frame, an end bracket, or the like. The output shaft 7 has a hollow structure in which a spline portion 9 extending in the axial direction is formed on the outer peripheral portion, and the output shaft 7 is the shaft 3 of the rotary drive motor.
The bearings 19, 20 are attached to the portion of the linear shaft 21 located at the center of the
It is rotatably fitted through. Output shaft 7 is linear shaft 21
Although it rotates about the axis, it does not slide on the linear shaft 21 along the axis. A third nut (or spline guide member) 8 fitted to a spline portion (second spline portion) 9 provided on the output shaft 7 is fixed to the shaft 3 of the rotary drive motor. Specifically, the shaft 3
The third nut 8 is fixed inside the.

According to this linear / rotary actuator,
By driving the linear drive motor A, the first nut 11 rotates on the threaded portion 12 of the linear shaft 21 and the linear shaft 21
Moves linearly in the axial direction. The straight advancing shaft 21 does not rotate because the spline portion 13 provided on the straight advancing shaft 21 is fitted to the second nut (spline guide member) 14 in a fixed state. On the other hand, the output shaft 7 is rotated by driving the rotary drive motor B, but the third nut (spline guide member) 8 provided on the shaft 3 of the rotary drive motor B is provided on the output shaft 7. Since the output shaft 7 is fitted with the spline portion 9, the output shaft 7 can move linearly while rotating. The output shaft 7 and the rectilinear shaft 21 are rotatably fitted via bearings 19 and 20 so as not to slide in the axial direction. As a result, the output shaft 7 goes straight as the straight shaft 21 goes straight, but the straight shaft 21 does not rotate regardless of the rotation of the output shaft 7. Therefore, it is possible to rotate only the output shaft 7 at a predetermined position or control the rotation of the output shaft 7 asynchronously with the linear motion, and the linear / rotary actuator of the present invention is excellent in versatility and has a structure. Easy and compact configuration. When synchronizing the linear motion and the rotary motion, a rotation detector (encoder) is attached to each of the linear drive motor and the rotary motion motor, and they are electrically synchronized based on the output of each rotation detector. Just take.

Next, when the linear shaft 21 'is fitted to a part of the output shaft 7', the following is done. The straight shaft 21 'has a hollow structure. The output shaft 7'is fitted to the inside of the rectilinear shaft 21 ', and the fitting portion 7'b is located outside the rectilinear shaft 21', and the output portion 7'a is formed with the spline portion 9 on the outer peripheral portion.
And a structure having. And the fitting portion 7 of the output shaft 7 '
′ B is rotatably fitted in the straight shaft 21 ′ via bearings (19 ′, 20 ′). In other words, the linear shaft 21 'is mounted on the fitting portion 7'b of the output shaft 7'in the bearing (19',
20 ') are concentrically and rotatably fitted. The other structure is substantially the same as the above case.

In any case, if the spline portion and the screw portion provided on the straight-moving shaft are formed at the same position so as not to interfere with each other, the length of the straight-moving shaft can be shortened.

If the above-mentioned two specific linear-movement / rotation actuators are used in a winding machine equipped with a linear-rotation / rotation actuator for causing the wire supply nozzle to perform linear movement and rotation movement, The structure of the mechanical section becomes very simple. When the two specific linear / rotary actuators are used to drive the nozzle of the winding machine, it is preferable to add a structure for smoothly guiding the winding conductor, that is, the wire to the nozzle. In that case, in the former linear / rotary actuator, a wire guide through hole 35 penetrating in the axial direction is formed in the linear shaft 21, and the wire guide through hole 35 is aligned with the wire guide through hole 35 at the outer end of the output shaft. To form a wire outlet hole 36. In the latter case, the wire guide through-hole is formed in the output shaft 7'through the axial direction. By doing so, the wire can be supplied to the nozzle through the inside of the linear movement / rotation actuator. Therefore, when the linear movement / rotation actuator of the present invention is applied to a winding machine, the structure of the winding machine is simplified and the wire is routed. Becomes unnecessary.

Next, the specific structure of the linear / rotary actuator of the present invention using the linear motor A'as the linear drive motor will be described. In this case, the shaft of the rotation driving motor B has a hollow structure. The mover of the linear motor A ′ is the linear shaft 21 ″, and the linear shaft 21 ′ is
′ Is set to have a length passing through the central portion of the shaft of the rotation driving motor B so that the axis center thereof constitutes the axis line (XX).
The output shaft 7 has a hollow structure in which a spline portion 9 is formed on the outer peripheral portion. The output shaft 7 is a bearing (19,
20) is rotatably fitted to the shaft of the rotation driving motor, and a nut 8 fitted to a spline portion 9 provided on the output shaft 7 is fixed to the shaft.

A linear motor A'as a linear drive motor
With the use of, the linear shaft can be directly driven without using a spline portion or a screw portion, so that the structure of the linear / rotary actuator becomes very simple. In particular, if a Siridan-type linear motor with a mover located inside the stator is used as the linear motor, the linear drive motor and the rotary drive motor can be integrated, and the linear / rotary actuator can be made compact. it can.

According to the present invention, when the respective driving forces from the shafts of the rotary drive motor B ″ and the straight drive motor A ″ are transmitted to the straight drive shaft and the output shaft via the transmission mechanism (41, 42). Can also be applied. In this case, the rectilinear drive motor A ″ is connected to the rectilinear shaft 21, via the first transmission mechanism 41.
A first nut 1 that is screwed with the threaded portions 12 and 12 'of 21'.
1, 11 'are rotated to displace (move) the linear shafts 21, 21' in the axial direction. Also, the rotation drive motor B ″
Is a third nut 8,8 fitted to the spline portion 9,9 'provided on the output shaft 7,7' via the second transmission mechanism 42.
′ Is rotated to rotate the output shafts 7, 7 ′. When the linear motor A ′ is used as the linear drive motor, the linear drive motor does not require a transmission mechanism, and the transmission mechanism 42 may be arranged only on the rotary drive motor B ″ side.

[0023]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a transverse sectional view showing an embodiment of a rectilinear / rotary actuator according to the present invention. Figure 1
Are vertically divided in a horizontal plane including the axis (XX) about the output shaft 7 and the rectilinear shaft 21, and the portion above the axis (X-X) moves forward with the output shaft 7 protruding leftward in the drawing. The state is shown, and the portion below the axis (XX) shows the state in which the output shaft 7 is retracted rightward and retracted.

In FIG. 1, the rectilinear / rotational actuator includes a rectilinear drive motor A and a rotational drive motor B which are arranged side by side so as to share the axis (XX). In this example, servo motors are used as the linear drive motor A and the rotary drive motor B. The rotary drive motor B includes a stator 1 and a rotor 2, and the linear drive motor A includes a stator 4 and a rotor 5. Each of the stators 1 and 4 includes cores 1a and 4a and insulators 1b and 4
b, the same as a normal servomotor consisting of coils 1c and 4c.
Is a normal structure except that is a hollow structure. Each of the rotors 2 and 5 has a hollow shaft 3 having a common axial center.
6, the shafts 3 and 6 rotate with the rotation of the rotors 2 and 5, respectively.

The stators 1 and 4 are fixed to the inner peripheral surfaces of cylindrical covers 33 and 34, respectively. Covers 33,3
4 has a cylindrical shape with substantially the same radius,
A pair of end brackets 26, 27 and an intermediate bracket 28 are fitted at both ends. The stator 1 of the rotary drive motor B is disposed between the end bracket 26 and the intermediate bracket 28 at the left end in the drawing, and the stator 4 of the linear drive motor A is the end bracket 27 and the intermediate bracket at the right end in the drawing. It is arranged between 28 and. The shaft 3 of the rotary drive motor B has a pair of bearings 22, a pair of bearings 22, on an end bracket 26 and an intermediate bracket 28.
It is rotatably supported via 23. The shaft 6 of the linear drive motor A is rotatably supported by the end bracket 27 and the intermediate bracket 28 via a pair of bearings 24, 25.

In this embodiment, since the intermediate bracket 28 is shared by the rotary drive motor B and the straight drive motor A, the number of parts is small and the overall axial dimension of the actuator is kept short. You can

In the storage space 29 formed in the intermediate bracket 28, the first encoder 10 for detecting the rotation of the rotation driving motor B is arranged, and in the end bracket 27, the rotation of the linear driving motor is rotated. The encoder cover 15 in which the second encoder 16 for detecting is stored is fixed. The end of the shaft 3 of the rotary drive motor B extends to the inside of the storage space 29, and the rotary element of the first encoder 10 is fixed to the end of the shaft 3. Further, the end of the shaft 6 of the linear drive motor A extends to the inside of the encoder cover 15,
The rotary element of the second encoder 16 is fixed to the end of the shaft 6.

By thus forming the storage space 29 for storing the first encoder 10 in the intermediate bracket 28, it is not necessary to separately arrange the encoders. Therefore, even if the two motors A and B are arranged side by side in a straight line so as to share the axis and the encoders are attached to the respective motors, the axial dimension of the actuator does not become too long.

Further, the intermediate bracket 28 has a coupler structure or a connector structure for electrically pulling out lead wires (not shown) for supplying electric power, which extend respectively from the linear drive motor A and the rotary drive motor B, to the outside. A lead wire drawing portion 31 is provided so that the lead wires for supplying electric power to the two motors can be drawn to the outside from one place. This facilitates external electrical connection. The output of the first encoder 10 is also drawn from the intermediate bracket 28. The output of the second encoder 16 is drawn outside from the encoder cover 15.

In the central portions of the rotor 2 and the shaft 3 of the rotary drive motor B and the rotor 5 and the shaft 6 of the linear drive motor A, the axial centers form an axis line (XX).
A straight shaft 21 is arranged. A spline portion 13 formed of a plurality of spline grooves extending in the axial direction and a screw portion formed of a ball screw spirally formed on the outer peripheral portion are provided on the right end portion and the outer peripheral portion of the intermediate portion of the straight advance shaft 21. And 12 are formed. The first nut 11 is fitted inside the shaft 6 of the linear drive motor A and is fixed to the shaft 6, and the straight shaft 2 is provided on the inner peripheral portion of the first nut 11.
A female screw that is screwed with the first screw portion 12 is formed. As a result, when the first nut 11 is driven and rotated by the linear drive motor A, the linear shaft 21 is displaced in the axial direction. Since the second nut 14 as the spline guide member is fitted to the spline portion 13 of the straight-moving shaft 21, the straight-moving shaft 21 does not rotate together with the first nut 11, but only moves straight. The second nut 14 includes a plurality of spline grooves that form the spline portion 13 and a plurality of fitting protrusions that are slidably fitted in the axial direction on the inner peripheral portion of the second nut 14. In this example, since the second nut 14 is fixed to the end bracket 27 via the encoder cover 15, the second nut 14 can be fixed with a simple structure.

The output shaft 7 has a hollow structure in which an outer peripheral portion is formed with a spline portion 9 formed of a plurality of spline grooves extending in the axial direction. A third nut 8 fitted and fixed to the hollow portion of the shaft 3 of the rotary drive motor B is fitted to the spline portion 9. Like the second nut 14, the third nut 8 also has a plurality of spline grooves that form the spline portion 9 and a plurality of fitting protrusions that are slidably fitted in the axial direction on the inner peripheral portion thereof. There is. Therefore, the output shaft 7 can move in the axial direction with respect to the shaft 3 of the rotary drive motor B, and further, rotates together with the shaft 3. The third nut 8 includes a main body that fits with the spline portion 9 and an annular flange portion 8 a that is located outside the shaft 3 and extends in the radial direction. An oil seal member 32 is arranged between the flange portion 8 a and the end bracket 26. Since the oil seal member 32 can be arranged using the third nut 8 in this manner, the mounting structure of the oil seal member 32 is simplified.

In the linear / rotary actuator according to the above-described embodiment, the output shaft 7 rotated by the rotary drive motor B and the linear shaft 21 linearly moved by the linear drive motor A are relatively arranged. It is freely rotatable. That is, the output shaft 7 is rotatably fitted through the radial bearings 19 and 20 so that the output shaft 7 cannot slide in the axial direction with respect to the portion of the rectilinear shaft 21 located at the center of the rotor 2 of the rotary drive motor B. Has been done. With this configuration, this straight line
According to the rotary actuator, both the rectilinear motion and the rotational motion can be simultaneously performed, and the linear motion and the rotational motion can be separately and independently performed.

In this embodiment, when only rotation is to be performed first, an exciting current is passed through the coil 1c of the stator 1 of the rotary drive motor B to rotate the rotor 2 and the shaft 3. Then, the third attached to the shaft 3
The output shaft 7 rotates via the nut 8 and the spline portion 9. At this time, the rectilinear shaft 21 is connected to the radial bearings 19, 2
Since 0 exists and the rotation is stopped by the fitting of the spline portion 13 and the second nut 14, it does not rotate. Therefore, the first nut 11 and the threaded portion 12
There is no rotation between and, and therefore the rectilinear shaft 21 is not displaced.

When only the straight traveling is performed, when an exciting current is passed through the coil 4c of the stator 4 of the straight traveling driving motor A, the rotor 5 and the shaft 6 rotate, and the first nut 1
1 rotates. The first nut 11 is screwed into the screw portion 12, and the second nut 14 and the spline portion 13 are fitted to each other to prevent rotation of the rectilinear shaft 21.
When the nut 11 of the
1 goes straight on. The output shaft 7 is fitted to the linear shaft 21 by radial bearings 19 and 20 so as not to be slidable in the axial direction, and the spline portion 9 and the third nut 8 are fitted to each other. Further, it is possible to go straight with respect to the shaft 3, and the output shaft 7 goes straight with the straight movement of the straight movement shaft 21.

When the straight traveling and the rotating are simultaneously performed,
The coil 4c of the stator 4 of the straight drive motor A and the coil 1c of the stator 1 of the rotary drive motor B are energized at the same time. Since the output shaft 7 is rotatably fitted to the straight advance shaft 21, the output shaft 7 is irrelevant regardless of the straight advance amount of the straight advance shaft 21.
Rotate independently, and the linear shaft 21 also linearly travels independently of the rotation speed of the output shaft 7. Therefore, in this example, the movement of one does not influence the movement of the other, and it is possible to simultaneously and freely perform the movements of straight movement and rotation.

In the above-described operation, the rotation amount of the output shaft 7 is detected by detecting the rotation amount of the shaft 3 by the first encoder 10, and the straight movement amount of the linear movement shaft 21 is the rotation amount of the shaft 6. The detection is indirectly detected by the second encoder 16, and the rotation amount and the straight travel amount are controlled by a control device (not shown) that receives the outputs of the encoders 10 and 16.

As described above, according to the rectilinear / rotary actuator according to the illustrated embodiment, the output shaft 7 is rotatably fitted to the rectilinear shaft 21. Unlike the structure that was rotating and going straight,
It is possible to perform free control such as performing only rotation while being stopped at a predetermined position, or controlling rotation asynchronously with linear movement.

The linear / rotary actuator shown in FIG.
For application to a winding machine, a wire guide through hole 35 penetrating in the axial direction is formed in the linear shaft 21, and the outer end of the output shaft 7 is aligned with the wire guide through hole 35. A wire outlet hole 36 for discharging the wire is formed. In addition, a wire inlet hole 37 is formed in the center of the encoder cover 15 in alignment with the wire guide through hole 35 to receive a wire.

In this rectilinear / rotary actuator, an intermediate bracket 28 is arranged between the end brackets 26 and 27 which form a part of the rotational drive motor B and the linear drive motor A, respectively. Are used as constituent members of both the rotation drive motor B and the straight drive motor A. Therefore, the number of parts is reduced, and the axial dimension of the entire actuator does not become long.
In addition, since the storage space 29 in which the first encoder 10 is arranged is formed in the intermediate bracket 28, it is not necessary to separately arrange the first encoder 10, and two motors are arranged in a straight line. However, even if an encoder is attached to each motor, the axial dimension of the actuator does not become long. Further, by fixing the second nut (spline guide member) 14 to the encoder cover 15, the second nut 14 is fixed to the end bracket 27.
Since the second nut 14 is fixed to the second nut 14, the fixing structure of the second nut 14 can be simplified. Also, the intermediate bracket 2
8 is provided with a lead wire lead-out portion 31 that electrically draws lead wires for power supply extending from the linear drive motor A and the rotary drive motor B, respectively, to the outside. A lead wire for supplying electric power to one motor can be electrically pulled out from one place. Therefore, electrical connection outside can be facilitated. The output of the first encoder 10 provided on the intermediate bracket 28 can also be extracted from the intermediate bracket 28.
The output of the second encoder 16 may be pulled out from the encoder cover 15.

The linear / rotary actuator of the embodiment shown in FIG. 1 is conceptually shown in FIG. Another embodiment of the present invention will be described using a drawing method similar to the conceptual view shown in FIG. FIG. 3 is a schematic configuration diagram of a second embodiment as a modified example of the embodiments of FIGS. 1 and 2. The embodiment of FIG. 3 is different from the embodiment of FIG. 1 in that the spline portion 13 and the screw portion 12 provided on the outer peripheral portion of the straight advance shaft 21 are the same on the outer peripheral portion of the straight advance shaft 21 so as not to interfere with each other. It is a point that is formed so as to overlap the portion. Such a structure is generally called a "ball screw / spline", and the use of such a "ball screw / spline" has an advantage that the axial dimension of the linear shaft can be shortened. Other points are substantially the same as the example of FIG.

Using the structure of the embodiment of FIG. 3, FIG.
It is clear from the actual design drawings shown in FIGS. 4 and 5 that the axial dimension of the linear / rotary actuator is shorter than that in the case of using the structure of the embodiment. The example of FIG. 4 is a design drawing of an actual rectilinear / rotary actuator using the structure of FIG. 1, and the example of FIG. 5 is a design drawing of an actual rectilinear / rotary actuator using the structure of FIG. As can be seen by comparing the two, in the example of FIG. 5 using the “ball screw / spline”, as compared with the example of FIG.
The length of 1 is shortened. In the examples of FIGS. 4 and 5, the encoders C and D provided for the linear drive motor A and the rotary drive motor B are arranged between the linear drive motor A and the rotary drive motor B, respectively. ing.

FIG. 6 is a schematic configuration diagram of another embodiment of the present invention shown in the same manner as FIG. In this example, a straight shaft 21 'is fitted to a part of the output shaft 7'. Therefore, the straight advance shaft 21 'needs to have a hollow structure. Then, the output shaft 7'is fitted with the fitting portion 7 fitted inside the straight advance shaft 21 '.
′ B and an output portion 7′a outside the straight-moving shaft 21 ′ and having a spline portion 9 ′ formed on the outer peripheral portion thereof. The fitting portion 7'b of the output shaft 7'is rotatably fitted in the straight shaft 21 'via bearings 19', 20 '. That is, the rectilinear shaft 21 'is the fitting portion 7'of the output shaft 7'.
It is concentrically and rotatably fitted to b through bearings 19 'and 20'. Other structures are substantially the same as those in FIGS. 1 and 2. With this structure, the wire goes straight
In order to pull out through the center of the rotary actuator, a wire guide through hole may be formed in the center of the output shaft 7 '.

FIG. 7 shows a modification of the embodiment shown in FIG. In this example, as in the example of FIG. 3 and FIG.
Spline portion 13 'and screw portion 12 provided on the outer peripheral portion of 1'
′ Are formed so as to overlap with each other on the same outer peripheral portion of the rectilinear shaft 21 ′ so as not to interfere with each other. Other points are shown in FIG.
Is the same as the example.

FIG. 8 is a schematic block diagram of a linear / rotary actuator of the present invention using a cylinder type linear motor as the linear drive motor A '. In this case, the shaft of the rotation driving motor B has a hollow structure as in the example of FIG. Then, the mover of the linear motor A'is connected to the linear shaft 21 '.
′, And the linear axis 21 ″ is centered on the axis (XX)
To have a length passing through the central portion of the shaft of the rotation driving motor B. The output shaft 7 has a hollow structure in which a spline portion 9 is formed on the outer peripheral portion similarly to the example of FIG. In addition, the output shaft 7 is rotatably fitted to a portion of the linear shaft 21 ″ located at the center of the shaft of the rotation driving motor B via bearings (19, 20), and is fitted to the shaft of the rotation driving motor B. Fixes a nut 8 fitted with a spline portion 9 provided on the output shaft 7.

When a linear motor is used as the linear drive motor A ', the linear shaft can be directly driven without using a spline portion or a screw portion, so that the structure of the linear / rotary actuator becomes very simple. In particular, if a Siridan-type linear motor whose mover is located inside the stator is used as the linear motor as in this example, the linear drive motor and the rotary drive motor can be integrated, and the linear drive / rotation can be performed. The actuator can be made compact. As a Siridan type linear motor that is actually sold, for example, Oriental Motor Co., Ltd. is VEXTA (registered trademark)
There is a Siridan type linear stepping motor commercially available under the product number of "UCM420".

FIG. 9 is a rectilinear / rotational arrangement in which the rotary driving motor and the rectilinear driving motor are arranged so as to share the axis (XX) like the rectilinear / rotating actuator shown in FIGS. 1 to 8. It is a schematic block diagram of an example of an embodiment when actuator 100 is applied to a winding machine. In this winding machine, the output shaft 10 of the linear / rotary actuator 100 is
A nozzle holding mechanism 103 having a swinging function is supported on the first unit via a coupling. Nozzle holding mechanism 10
A wire supply nozzle 104 bent in an L shape is supported by 3. In this example, the wire supply nozzle 104 of the type that supplies one wire is used, but it goes without saying that a wire supply nozzle of the type that individually supplies a plurality of wires from the tip can also be used. 106
Is a tension device that gives tension to the wire supplied from a wire reel (not shown) to the linear movement / rotation actuator 100. The linear / rotary actuator 100 is shown in FIG.
Unlike the linear / rotary actuators, the central portion has a passage for guiding the wire, so that a guide mechanism for guiding the wire separately from the actuator is unnecessary. Further, since the rectilinear / rotary actuator 100 has a compact structure in which two motors are integrated, the winding machine can be made compact.

FIG. 10 shows an example of the locus of movement of the nozzle 104 when a wire is wound around the laminated core 107 of a rotary electric machine using the winding machine of FIG. 9 to form a winding portion. 108 is an end home, and 109 is a needle. A locus L1 drawn with a solid line is a locus during normal winding, and a locus L2 drawn with a broken line is a locus of the nozzle 104 when processing a crossover. When processing the crossover, the amount of linear movement is lengthened by ΔL to form a space for inserting the needle 109. Then, a crossover process is performed by the needle 109. As can be seen from this figure, the nozzle 104 basically makes a box motion consisting of a linear motion and a rotary motion. In the rectilinear / rotary actuator 100 of the present invention, linear motion and rotary motion can be controlled separately and independently.
With respect to laminated cores of any shape and size, the winding portion can be easily formed simply by changing the control modes of the linear drive motor and the rotary drive motor. Therefore, as compared with the conventional winding machine, the winding machine of the present invention has an advantage that the change of the core to be wound can be easily coped with.

The present invention can also be applied to the case where the respective driving forces from the shafts of the rotary drive motor and the linear drive motor are transmitted to the linear drive shaft and the output shaft via the transmission mechanism. The embodiment of FIG. 11 includes a rotation drive motor B ″ and a straight drive motor A ″, and the rotation of the straight drive motor A ″ is first transferred via the first transmission mechanism 41. To the nut 11 to move the linear shaft 21 straight in the axial direction. Further, the rotation of the rotation drive motor B ″ is transmitted to the third nut 8 via the second transmission mechanism 42 to rotate the output shaft 7. First transmission mechanism 41 and second transmission mechanism 42
Is a transmission mechanism consisting of a combination of a pulley and a belt,
It is a known transmission mechanism including a gear mechanism and the like. Other points are basically the same as the embodiment of FIGS. 1 and 2. In the modified example of the embodiment of FIG. 11, a “ball screw / spline” in which the screw portion 12 and the spline portion 13 are formed to overlap each other can be adopted, as in the embodiment of FIG.

In the embodiment shown in FIG. 12, as in the embodiment shown in FIGS. 6 and 7, the linear shaft 21 'is fitted to one end of the output shaft 7'via bearings 19' and 20 '. In Fig. 11
Similar to the embodiment described above, the first transmission mechanism 41 and the second transmission mechanism 42 are incorporated. In this example as well, the rotation of the linear drive motor A ″ is transmitted to the first nut 11 ′ via the first transmission mechanism 41 to linearly advance the linear shaft 21 ′ in the axial direction. Further, the rotation of the rotation drive motor B ″ is transmitted to the third nut 8 ′ via the second transmission mechanism 42 to rotate the output shaft 7 ′. Other points are the same as those of the embodiment shown in FIGS. 6 and 7. Also in the modification of the embodiment of FIG. 12, as in the embodiment of FIG.
It is possible to employ a "ball screw / spline" in which the spline portion 13 'and the spline portion 13' are overlapped with each other.

When the linear motor A'is used as the linear drive motor, the linear drive motor does not need a transmission mechanism as shown in FIG.
The transmission mechanism 42 may be arranged only on the ‘side.

[0052]

As described above, according to the rectilinear / rotational actuator of the present invention, it is possible to perform the rotational movement and the rectilinear movement separately or both at the same time. There is an advantage that it can be applied to various uses including.

Further, according to the winding machine of the present invention, compared with the conventional winding machine, there is an advantage that the change of the core to be wound can be easily coped with.

[Brief description of drawings]

FIG. 1 is a transverse cross-sectional view showing one embodiment of a rectilinear / rotary actuator according to the present invention.

FIG. 2 is a diagram conceptually showing the rectilinear / rotary actuator according to the embodiment of FIG.

FIG. 3 is a schematic configuration diagram of a second embodiment as a modified example of the embodiments of FIGS. 1 and 2.

FIG. 4 is a design view of an actual linear / rotary actuator using the structure of FIG.

5 is a design diagram of an actual straight / rotary actuator using the structure of FIG.

FIG. 6 is a schematic configuration diagram of another embodiment of the present invention.

FIG. 7 is a schematic configuration diagram showing a modified example of the embodiment of FIG.

FIG. 8 is a schematic configuration diagram of a linear movement / rotation actuator of the present invention using a cylinder type linear motor as a linear movement motor.

FIG. 9 is a view showing a linear / rotary actuator that is arranged such that the rotary drive motor and the linear drive motor share an axis (XX) like the linear / rotary actuator shown in FIGS. 1 to 8; It is a schematic structure figure of an example of an embodiment when applied to a wire machine.

FIG. 10 shows an example of a locus of movement of a nozzle when a wire is wound around a laminated core of a rotary electric machine to form a winding portion using the winding machine of FIG.

FIG. 11 is a schematic configuration diagram of another embodiment of the present invention having a transmission mechanism.

FIG. 12 is a schematic configuration diagram of another embodiment of the present invention having a transmission mechanism.

FIG. 13 is a schematic configuration diagram of another embodiment of the present invention having a transmission mechanism.

[Explanation of symbols]

1 stator 2 rotor 3 shafts 4 stator 5 rotor 6 shafts 7,7 'Output shaft 8,8 'Third nut 9,9 'Spline part 10 First encoder 11,11 'First nut 12,12 'screw part 13,13 'Spline part 14,14 'Second nut 15 Encoder cover 16 Second encoder 19,20,19 ', 20' Radial bearing 21,21 'Straight axis

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yutaka Takeuchi             1-15-1 Kitaotsuka, Toshima-ku, Tokyo Sanyo             Electric Co., Ltd. (72) Inventor Shigeto Murata             1-15-1 Kitaotsuka, Toshima-ku, Tokyo Sanyo             Electric Co., Ltd. F term (reference) 3J062 AA21 AA38 AB21 AC01 AC07                       BA11 BA12 BA29 CD02 CD23                       CD25                 5H607 AA12 BB01 BB07 BB09 BB14                       BB26 CC03 CC09 DD02 DD04                       DD16 EE53 HH01                 5H641 BB09 BB14 JA08 JA19

Claims (8)

[Claims] 1. A straight advance shaft (21) having a spline portion (13) and a screw portion (12) formed on an outer periphery thereof, and a nut (11) screwed with the screw portion (12) of the straight advance shaft (21). ) Is rotated directly or via a transmission mechanism (41) to linearly drive the linear shaft, and the linear drive motor (A) is fitted to the spline portion (13) of the linear shaft (21) in a fixed state. The mating nut (14) and the spline portion (9) are formed on the outer periphery of the straight shaft (2).
1) The output shaft (7) fitted to the linear shaft (21) through the bearings (19, 20) and fitted to the spline portion (9) of the output shaft (7). And a rotation driving motor (B) for rotating the output shaft by rotating a nut (8) directly or via a transmission mechanism. 2. An output shaft (7 ′) having a spline portion (9 ′) formed on an outer peripheral portion thereof, and a nut (8 ′) fitted to the spline portion (9 ′) of the output shaft (7 ′). A rotary drive motor (B) for rotating the output shaft (7 ') by rotating the shaft directly or via a transmission mechanism (42), and a spline portion (13') and a screw portion (12 ') on the outer peripheral portion. The output shaft (7 ') is formed with bearings (19', 20)
′) And a straight shaft (21 ′) fitted concentrically with the output shaft (7 ′) and a nut (12) screwed with the screw portion (12 ′) of the straight shaft (21 ′). A straight drive motor (A) for rotating the straight shaft (21 ') straight by rotating 11') directly or via a transmission mechanism (41); and the straight shaft (21 ') in a fixed state. A straight-moving / rotating actuator including a spline part (13 ') and a nut (14') that fits. 3. A linear motor (A ′) having a linear shaft (21 ″) as a mover, and a spline portion (9) formed on an outer peripheral portion of the linear motor (A ′) fitted to the linear shaft via bearings (19, 20). The output shaft (7) that is combined and arranged concentrically with the rectilinear shaft, and the nut that is fitted to the spline portion of the output shaft (7) are rotated directly or through the transmission mechanism (42) to output the output shaft. A rectilinear / rotary actuator including a rotation driving motor (B) for rotating. 4. A rotary drive motor (B) and a linear drive motor (A ′), which are arranged side by side so as to share an axis (XX), and which are provided in the rotary drive motor (B). The output shaft (7) is rotated about the axis (XX) by the rotation of the shaft, and the output shaft (7) is rotated along the axis (XX) by the linear drive motor (A ′). Is a rectilinear / rotary actuator that linearly moves in the axial direction, the shaft of the rotational drive motor (B) has a hollow structure, and the linear drive motor is a linear motor (A ′). The straight shaft (21 ″) of (A ′) has a length passing through the central portion of the shaft of the rotary drive motor (B) so that the axis center thereof constitutes the axis (XX). The output shaft (7) has a spline portion (9) formed on the outer periphery thereof. The output shaft (7) rotates through a bearing (19, 20) at a portion of the linear shaft (21 ″) located at the center of the shaft of the rotary drive motor. A nut (8) which is freely fitted and is fitted to the spline portion (9) provided on the output shaft (7) is fixed to the shaft of the rotary drive motor. -Rotary actuator. 5. The linear movement / rotation actuator according to claim 4, wherein the linear motor is a cylinder type linear motor. 6. A rotary drive motor (B ″) and a straight drive motor (A ″) are provided, and the rotation drive motor (B ″) is rotated to center the axis (XX). Actuator for rotating the output shaft (7) and linearly moving the output shaft (7) in the axial direction along the axis (XX) by the rotation of the shaft (6) of the linear drive motor. A linear axis (21) having an axial center arranged to form the axis (XX) and having a spline portion (13) and a screw portion (12) formed on an outer peripheral portion thereof, The rectilinear shaft (21) is screwed into the threaded portion (12) and is driven by the rectilinear driving motor (A ″) through the first transmission mechanism (41) to rotate and rotate. Two
First nut (11) for displacing 1) in the axial direction
And a second fixed state that is fitted to the spline portion (13) of the linear shaft (21) to prevent rotation of the linear shaft.
Nut (14), the output shaft (7) has a hollow structure in which a spline portion (9) is formed on the outer peripheral portion in the axial direction, and the output shaft (7) is the straight shaft (21). Bearing (19,
20) is rotatably fitted through the output shaft (7) and is fitted to the spline portion (9) provided on the output shaft (7) through the second transmission mechanism (42). A linear / rotary actuator having a third nut (8) that is driven and rotated by the ″ ″. 7. The straight advance according to claim 6, wherein the spline portion (13 ′) and the screw portion (12 ′) provided on the straight advance shaft are formed at the same position so as not to interfere with each other. -Rotary actuator. 8. A rotation drive motor (B) and a straight drive motor (A ′) are provided, and the output shaft (7) is driven by the rotation drive motor about an axis (XX). It is rotated, and the axis (X-
X) to move the output shaft (7) in a straight line
In the rotary actuator, the linear drive motor is composed of a linear motor (A ′), and a linear axis of the linear motor has an axis center of the axial line (X ′).
-X), the output shaft (7) has a hollow structure in which a spline portion (9) is formed on an outer peripheral portion, and the output shaft (7) has a bearing at an end portion of the rectilinear shaft (21). (19, 20) is rotatably fitted, fitted with the spline portion (9) provided on the output shaft (7), and the rotary drive motor (B) is fitted through a transmission mechanism (42). ) A straight-moving / rotating actuator having a nut (8) which is driven and rotated by (1).