JP2003184981A - Electric cylinder - Google Patents
Electric cylinderInfo
- Publication number
- JP2003184981A JP2003184981A JP2001389716A JP2001389716A JP2003184981A JP 2003184981 A JP2003184981 A JP 2003184981A JP 2001389716 A JP2001389716 A JP 2001389716A JP 2001389716 A JP2001389716 A JP 2001389716A JP 2003184981 A JP2003184981 A JP 2003184981A
- Authority
- JP
- Japan
- Prior art keywords
- nut member
- rotary shaft
- shaft
- electric cylinder
- thrust
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Transmission Devices (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、建設機械等の発生
すべき推力と作動速度が大きく変動する機械システムの
リンク機構を駆動する伸縮作動型のアクチュエータとし
て用いる電動シリンダに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric cylinder used as a telescopic actuator for driving a link mechanism of a mechanical system in which a thrust to be generated and an operating speed of a construction machine or the like greatly fluctuate.
【０００２】[0002]
【従来の技術】建設機械等のリンク機構を駆動するため
の伸縮作動型のアクチュエータとしては、連続的に低速
・大推力から高速・小推力が出力できる必要がある。そ
してこれに油圧シリンダが用いた場合、この油圧シリン
ダでは、これに圧油を供給する可変ポンプの容量を変化
させることで、上記圧油の圧力と流量を変化させ、出力
を最大にしながら広い速度範囲と推力範囲を実現してい
る。2. Description of the Related Art As a telescopic actuator for driving a link mechanism of a construction machine or the like, it is necessary to be capable of continuously outputting low speed / large thrust to high speed / small thrust. When a hydraulic cylinder is used for this, by changing the capacity of the variable pump that supplies pressure oil to this hydraulic cylinder, the pressure and flow rate of the pressure oil are changed, and a wide speed is achieved while maximizing the output. The range and thrust range are realized.
【０００３】これに対して、一方で、環境問題等から、
高効率で廃油の出ない伸縮作動型のアクチュエータであ
る電動シリンダへの代替が望まれている。On the other hand, on the other hand, due to environmental problems,
It is desired to replace the electric cylinder, which is an expansion-contraction actuator that is highly efficient and does not generate waste oil.
【０００４】従来の電動シリンダとしては、特開昭６０
−１５４９５５号公報の電動式動力舵取り装置があり、
この構成は、電動モータが筒状の回転軸を有し、この回
転軸の穴に、外周にねじ部を設けたねじ軸を貫通し、こ
のねじ軸と上記電動モータの回転軸とをねじ結合手段を
介して連結し、回転軸の回転によりねじ軸をこれの軸方
向に移動させ、すなわち、ねじ軸が電動モータを支持し
ている機体に対して伸縮動するようになっている。As a conventional electric cylinder, Japanese Patent Laid-Open No. Sho 60 has been used.
There is an electric power steering device of Japanese Patent Publication No. 154955.
In this configuration, the electric motor has a cylindrical rotary shaft, and a screw shaft having a threaded portion on its outer periphery is passed through a hole of the rotary shaft, and the screw shaft and the rotary shaft of the electric motor are screw-coupled to each other. The screw shaft is moved in the axial direction by the rotation of the rotary shaft, that is, the screw shaft expands and contracts with respect to the body supporting the electric motor.
【０００５】また、他の従来の電動シリンダとして、特
開平９−２８９７５５号公報、特開２０００−４６１４
０号公報に示された電動シリンダがあり、これらの構成
は、いずれも電動モータにて伝動部材を介してナット部
材を回転することにより、このナット部材に螺合してい
るねじ軸を移動させて、これを伸縮動するようになって
いる。Other conventional electric cylinders are disclosed in Japanese Patent Application Laid-Open Nos. 9-289755 and 2000-4614.
There is an electric cylinder shown in Japanese Patent Publication No. 0, which has a structure in which a nut member is rotated by an electric motor via a transmission member to move a screw shaft screwed into the nut member. And, it is designed to expand and contract.
【０００６】[0006]
【発明が解決しようとする課題】ところが上記した従来
の電動シリンダにおいては、出力の最大値から電動モー
タを選定すると、必要な駆動力を得るために減速機構の
減速比を大きくする必要があり、また、その状態で十分
な速度を得ようとすると、高速回転にしなければなら
ず、このため、従来の電動シリンダを建設機械等のリン
ク機構を駆動するためのアクチュエータとして用いた場
合、電動モータなどの寿命、耐久性の点で問題があっ
た。However, in the above-described conventional electric cylinder, when the electric motor is selected from the maximum output value, it is necessary to increase the reduction ratio of the reduction mechanism in order to obtain the necessary driving force. In addition, in order to obtain a sufficient speed in that state, it is necessary to rotate at a high speed. Therefore, when a conventional electric cylinder is used as an actuator for driving a link mechanism of a construction machine or the like, an electric motor, etc. There was a problem in terms of life and durability.
【０００７】本発明は上記のことに鑑みなされたもの
で、油圧シリンダと同様の低速・大推力から高速・小推
力を連続して可変して出力できるように、しかもコンパ
クトに構成できる電動シリンダを提供することを目的と
するものである。The present invention has been made in view of the above, and is an electric cylinder which can be continuously and variably output from a low speed / large thrust to a high speed / small thrust similar to a hydraulic cylinder, and which can be compactly constructed. It is intended to be provided.
【０００８】[0008]
【課題を解決するための手段及び作用効果】上記目的を
達成するために、本発明に係る電動シリンダは、電動シ
リンダにおいて、筒状ケーシング内に円筒状の回転軸を
電動モータの出力部に連結して設け、この回転軸内にね
じ軸を配置すると共に、このねじ軸を筒状ケーシングに
回転自在に支持したナット部材に螺合し、回転軸とナッ
ト部材を変速機構を介して連結した構成になっている。In order to achieve the above object, in the electric cylinder according to the present invention, in the electric cylinder, a cylindrical rotating shaft is connected to an output portion of the electric motor in a cylindrical casing. The screw shaft is disposed inside the rotary shaft, and the screw shaft is screwed into a nut member that is rotatably supported in a cylindrical casing, and the rotary shaft and the nut member are connected via a transmission mechanism. It has become.
【０００９】そしてこの構成により、電動モータの回転
力は円筒状の回転軸から変速機構を介してナット部材に
伝達され、ナット部材の回転に従ってねじ軸がこのナッ
ト部材に対して伸縮動する。このとき、ナット部材の回
転速度は変速機構を操作することにより任意に変えられ
る。従って、ナット部材に対する、すなわち、このナッ
ト部材を支持している筒状ケーシングに対するねじ軸の
伸縮動速度が任意に変えられ、ねじ軸の伸縮動により出
力される電動シリンダの出力は、低速・大推力から高速
・小推力にわたって出力一定曲線に沿って無段階に変化
して油圧シリンダと同様の動作特性を実現できる。With this structure, the rotational force of the electric motor is transmitted from the cylindrical rotary shaft to the nut member via the speed change mechanism, and the screw shaft expands and contracts with respect to the nut member as the nut member rotates. At this time, the rotation speed of the nut member can be arbitrarily changed by operating the speed change mechanism. Therefore, the expansion / contraction speed of the screw shaft with respect to the nut member, that is, with respect to the tubular casing supporting the nut member is arbitrarily changed, and the output of the electric cylinder output by the expansion / contraction motion of the screw shaft is low / large. It is possible to realize the same operating characteristics as a hydraulic cylinder by continuously changing along a constant output curve from thrust to high speed / small thrust.
【００１０】そして上記電動シリンダにおいて、変速機
構を、回転軸と同軸状に設けた構成になっており、この
構成により、上記電動シリンダをコンパクトにすること
ができる。In the above electric cylinder, the speed change mechanism is provided coaxially with the rotary shaft. With this structure, the electric cylinder can be made compact.
【００１１】[0011]
【発明の実施の形態】本発明の実施の形態を図面に基づ
いて説明する。図中１は少なくとも先端側を開放した筒
状ケーシングであり、この筒状ケーシング１内に円筒状
の回転軸２が両端部を軸受３，３に支持されて回転自在
に内装されている。そしてこの回転軸２の外側と筒状ケ
ーシング１の内側との間に、ステータコイル４と永久磁
石にて構成されてアーマチュア５とからなり、正転方向
と逆転方向の両方向に回転可能にしたブラシレス型の電
動モータ６が内装されており、これのアーマチュア５が
上記回転軸２と一体構成になっている。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described with reference to the drawings. In the figure, reference numeral 1 denotes a cylindrical casing having at least a tip end opened, and a cylindrical rotating shaft 2 is rotatably mounted in the cylindrical casing 1 with both ends thereof supported by bearings 3 and 3. Then, between the outer side of the rotary shaft 2 and the inner side of the tubular casing 1, a brushless structure comprising a stator coil 4 and an armature 5 composed of a permanent magnet and rotatable in both forward and reverse directions. The electric motor 6 of the mold is incorporated, and the armature 5 of the electric motor 6 is integrated with the rotary shaft 2.
【００１２】回転軸２の先端側には、この回転軸２と太
陽歯車７ａ、遊星歯車７ｂと、内歯車車７ｃ、遊星支持
軸７ｄからなる遊星歯車式の減速機７を介して連結され
た円板状の出力軸８が軸受９に支持されて回転軸２と同
心状に回転自在に支持されている。なお回転軸２と出力
軸８とは減速機７を介さずに直接連結してもよい。The tip end side of the rotary shaft 2 is connected to the rotary shaft 2 via a sun gear 7a, a planetary gear 7b, a planetary gear type speed reducer 7 including an internal gear wheel 7c and a planetary support shaft 7d. A disc-shaped output shaft 8 is supported by a bearing 9 and is rotatably supported concentrically with the rotating shaft 2. The rotary shaft 2 and the output shaft 8 may be directly connected without the reduction gear 7.
【００１３】筒状ケーシング１の先端部にはナット部材
１０が軸受１１，１１を介して上記回転軸２と同心状に
して回転自在に支持されており、このナット部材１０に
ねじ軸１２が螺合されている。ナット部材１０とねじ軸
１２の螺合部はボールねじが用いられている。このねじ
軸１２の基端部には円筒状の摺動子１３が固着されてお
り、これが回転軸２の内側に、筒状ケーシング１の基端
側に固着して設けた案内筒１４に摺動自在に嵌合されて
いる。筒状ケーシング１の基端とねじ軸１２の先端のそ
れぞれに継手１ａ，１２ａが設けてある。A nut member 10 is rotatably supported at the front end of the cylindrical casing 1 via bearings 11 and 11 so as to be concentric with the rotary shaft 2 and is rotatable. Have been combined. A ball screw is used for the screwing portion of the nut member 10 and the screw shaft 12. A cylindrical slider 13 is fixed to the base end portion of the screw shaft 12, and is slidable on a guide cylinder 14 fixed to the base end side of the tubular casing 1 inside the rotary shaft 2. It is movably fitted. Joints 1a and 12a are provided at the base end of the tubular casing 1 and the tip end of the screw shaft 12, respectively.
【００１４】上記減速機７の出力軸８とナット部材１０
が変速機構１５を介して連結されている。The output shaft 8 of the reduction gear 7 and the nut member 10
Are connected via a speed change mechanism 15.
【００１５】変速機構１５は公知のトロイダルＣＶＴ
（Ｔｏｒｏｉｄａｌ ｃｏｎｔｉｎｕｏｕｓｌｙ Ｖａ
ｒｉａｂｌｅ Ｔｒａｎｓｍｉｓｓｉｏｎ）を用いた。
このトロイダルＣＶＴはそれぞれが断面形状が凹球円錐
形に形成された入力ディスク１６と、出力ディスク１７
が向かいあわせに対向配置させ、両ディスク１６，１７
の間に２個のパワーローラ１８ａ，１８ｂが軸直角方向
に対向させてトラニオン１９ａ，１９ｂに支持されて配
置され、入力ディスク１６の回転がパワーローラ１８
ａ，１８ｂを介して出力ディスク１７に伝動され、かつ
トラニオン１９ａ，１９ｂにて傾動されるパワーローラ
１８ａ，１８ｂの傾角に応じてこの伝動回転比が無段階
に変化するようになっている。The transmission mechanism 15 is a known toroidal CVT.
(Toroidal continually Va
A riable transmission) was used.
The toroidal CVT has an input disk 16 and an output disk 17 each having a concave spherical conical cross section.
Are placed facing each other, and both discs 16 and 17
Between the two power rollers 18a and 18b, which are opposed to each other in the direction perpendicular to the axis and supported by the trunnions 19a and 19b, the rotation of the input disk 16 is prevented.
The transmission rotation ratio is steplessly changed according to the inclination angle of the power rollers 18a and 18b which are transmitted to the output disk 17 via a and 18b and are tilted by the trunnions 19a and 19b.
【００１６】トロイダルＣＶＴの入力ディスク１６はロ
ーディングカム２０を介してこの入力ディスク１６を出
力ディスク１７側へ押圧されながら出力軸８に連結され
ている。また、出力ディスク１７はナット部材１０に結
合されている。The input disk 16 of the toroidal CVT is connected to the output shaft 8 via the loading cam 20 while pressing the input disk 16 toward the output disk 17. The output disc 17 is also connected to the nut member 10.
【００１７】上記トロイダルＶＶＴの変速機構１５は油
圧式とねじ式とがあり、それぞれの構成を図２、図３に
て説明する。The transmission mechanism 15 of the toroidal VVT has a hydraulic type and a screw type, and the respective configurations will be described with reference to FIGS. 2 and 3.
【００１８】図２は油圧式の変速機構を示し、各トラニ
オン１９ａ，１９ｂは油圧ピストン２１ａ，２１ｂに連
結され、この各油圧ピストン２１ａ，２１ｂはステッピ
ングモータ２２にて切換え作動する制御弁２３を介して
選択的に供給される油圧モータ２４からの圧油にて作動
され、これにより各トラニオン１９ａ，１９ｂが対向方
向に傾動されて各パワーローラ１８ａ，１８ｂの姿勢が
対向方向に変化するようになっている。２３ａはカムに
よるメカニカルフィードバック機構である。FIG. 2 shows a hydraulic transmission mechanism in which the trunnions 19a and 19b are connected to hydraulic pistons 21a and 21b, and the hydraulic pistons 21a and 21b are switched by a stepping motor 22 via a control valve 23. It is operated by the pressure oil from the hydraulic motor 24 selectively supplied, whereby the trunnions 19a and 19b are tilted in the opposite direction, and the postures of the power rollers 18a and 18b are changed in the opposite direction. ing. Reference numeral 23a is a mechanical feedback mechanism using a cam.
【００１９】図３はねじ式の変速機構１５を示し、ウォ
ーム用モータ２５が回転することにより、ねじ方向を逆
向きにした２つのウォーム２６ａ，２６ｂが回転し、こ
れにより、ナット部材２７ａ，２７ｂが互いに逆方向に
回転し、この各ナット部材２７ａ，２７ｂに螺合してい
るトラニオン駆動ねじ２８ａ，２８ｂが逆方向に移動し
て両トラニオン１９ａ，１９ｂが互いに対向する方向に
傾動して変速されるようになっている。FIG. 3 shows a screw type speed change mechanism 15, in which the worm motor 25 rotates to rotate two worms 26a and 26b whose screw directions are opposite to each other, whereby the nut members 27a and 27b are rotated. Rotate in opposite directions, the trunnion drive screws 28a, 28b screwed to the nut members 27a, 27b move in opposite directions, and both trunnions 19a, 19b tilt in opposite directions to change speed. It has become so.
【００２０】上記構成において、電動モータ６が正転方
向あるいは逆転方向に回転駆動することにより、これの
アーマチュア５を介して回転軸２がそれぞれの方向に回
転し、この回転軸２の回転が変速機構１５を介してナッ
ト部材１０に伝わり、このナット部材１０の回転により
ねじ軸１２が直線方向に移動して筒状ケーシング１に対
して伸長動、あるいは短縮動される。In the above structure, when the electric motor 6 is rotationally driven in the forward rotation direction or the reverse rotation direction, the rotary shaft 2 is rotated in each direction through the armature 5 of the electric motor 6, and the rotation of the rotary shaft 2 is changed. It is transmitted to the nut member 10 via the mechanism 15, and the rotation of the nut member 10 causes the screw shaft 12 to move in a linear direction to extend or shorten with respect to the tubular casing 1.
【００２１】このときのねじ軸１２の伸縮動速度と推力
は変速機構１５の作動により無段階に変化される。図４
はこのときの速度・推力線図を示すもので、低速・大推
力領域Ｖ１−Ｆ１から高速・小推力領域Ｖ２−Ｆ２の両
域にわたる出力一定曲線ａ−ｂに沿って無段階に変化さ
れる。At this time, the expansion / contraction speed and thrust of the screw shaft 12 are continuously changed by the operation of the speed change mechanism 15. Figure 4
Shows the velocity-thrust diagram at this time, and is stepless along the constant output curve a-b extending from both the low-speed / large-thrust region V 1 -F 1 to the high-speed / small-thrust region V 2 -F 2. Is changed to.
【図１】本発明に係る電動シリンダの構成を示す断面図
である。FIG. 1 is a cross-sectional view showing a configuration of an electric cylinder according to the present invention.
【図２】図１のＡ−Ａ線断面図で、油圧式の変速機構を
示す。FIG. 2 is a cross-sectional view taken along the line AA of FIG. 1, showing a hydraulic transmission mechanism.
【図３】図１のＡ−Ａ線断面図で、ねじ式の変速機構を
示す。FIG. 3 is a cross-sectional view taken along the line AA of FIG. 1, showing a screw type speed change mechanism.
【図４】本発明に係る電動シリンダにおける出力一定曲
線図である。FIG. 4 is a constant output curve diagram of the electric cylinder according to the present invention.
１…筒状ケーシング、２…回転軸、３，９，１１…軸
受、４…ステータコイル、５…アーマチュア、６…電動
モータ、７…減速機、８…出力軸、１０…ナット部材、
１２…ねじ軸、１３…摺動子、１４…案内筒、１５…変
速機構、１６…入力ディスク、１７…出力ディスク、１
８ａ，１８ｂ…パワーローラ、１９ａ，１９ｂ…トラニ
オン、２０…ローディングカム、２１ａ，２１ｂ…油圧
ピストン、２２…ステッピングモータ、２３…制御弁、
２３ａ…メカニカルフィードバック機構、２５…ウォー
ム用モータ、２６ａ，２６ｂ…ウォーム、２７ａ，２７
ｂ…ナット部材、２８ａ，２８ｂ…トラニオン駆動ね
じ。DESCRIPTION OF SYMBOLS 1 ... Cylindrical casing, 2 ... Rotating shaft, 3, 9, 11 ... Bearing, 4 ... Stator coil, 5 ... Armature, 6 ... Electric motor, 7 ... Reduction gear, 8 ... Output shaft, 10 ... Nut member,
12 ... screw shaft, 13 ... slider, 14 ... guide cylinder, 15 ... transmission mechanism, 16 ... input disc, 17 ... output disc, 1
8a, 18b ... Power roller, 19a, 19b ... Trunnion, 20 ... Loading cam, 21a, 21b ... Hydraulic piston, 22 ... Stepping motor, 23 ... Control valve,
23a ... Mechanical feedback mechanism, 25 ... Worm motor, 26a, 26b ... Worm, 27a, 27
b ... Nut member, 28a, 28b ... Trunnion drive screw.
Claims (2)
（１）内に円筒状の回転軸（２）を電動モータ（６）の
出力部に連結して設け、この回転軸（２）内にねじ軸
（１２）を配置すると共に、このねじ軸（１２）を筒状
ケーシング（１）に回転自在に支持したナット部材（１
０）に螺合し、回転軸（２）とナット部材（１０）を変
速機構（１５）を介して連結したことを特徴とする電動
シリンダ。1. In an electric cylinder, a cylindrical rotary shaft (2) is provided in a cylindrical casing (1) in connection with an output part of an electric motor (6), and a screw shaft is provided in the rotary shaft (2). A nut member (1) in which the screw shaft (12) is rotatably supported in the tubular casing (1) while the (12) is arranged.
0) screwed to connect the rotating shaft (2) and the nut member (10) via the speed change mechanism (15).
軸状に設けたことを特徴とする請求項１記載の電動シリ
ンダ。2. The electric cylinder according to claim 1, wherein the speed change mechanism (15) is provided coaxially with the rotating shaft (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001389716A JP2003184981A (en) | 2001-12-21 | 2001-12-21 | Electric cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001389716A JP2003184981A (en) | 2001-12-21 | 2001-12-21 | Electric cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2003184981A true JP2003184981A (en) | 2003-07-03 |
Family
ID=27597858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001389716A Withdrawn JP2003184981A (en) | 2001-12-21 | 2001-12-21 | Electric cylinder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2003184981A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007034538A1 (en) * | 2005-09-20 | 2007-03-29 | Toshiaki Shimada | Device for moving drive shaft |
| US7220205B2 (en) | 2004-06-08 | 2007-05-22 | Smc Kabushiki Kaisha | Automatic speed reducing ratio-switching apparatus |
| JP2009275914A (en) * | 2008-04-17 | 2009-11-26 | Smc Corp | Electric driven actuator |
| CN110545008A (en) * | 2019-08-02 | 2019-12-06 | 北京精密机电控制设备研究所 | Compact variable reduction ratio electromechanical actuator suitable for various working conditions |
-
2001
- 2001-12-21 JP JP2001389716A patent/JP2003184981A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7220205B2 (en) | 2004-06-08 | 2007-05-22 | Smc Kabushiki Kaisha | Automatic speed reducing ratio-switching apparatus |
| WO2007034538A1 (en) * | 2005-09-20 | 2007-03-29 | Toshiaki Shimada | Device for moving drive shaft |
| JP2009275914A (en) * | 2008-04-17 | 2009-11-26 | Smc Corp | Electric driven actuator |
| CN110545008A (en) * | 2019-08-02 | 2019-12-06 | 北京精密机电控制设备研究所 | Compact variable reduction ratio electromechanical actuator suitable for various working conditions |
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