JP2003184982A - Electric cylinder - Google Patents
Electric cylinderInfo
- Publication number
- JP2003184982A JP2003184982A JP2001389747A JP2001389747A JP2003184982A JP 2003184982 A JP2003184982 A JP 2003184982A JP 2001389747 A JP2001389747 A JP 2001389747A JP 2001389747 A JP2001389747 A JP 2001389747A JP 2003184982 A JP2003184982 A JP 2003184982A
- Authority
- JP
- Japan
- Prior art keywords
- rotary shaft
- nut member
- shaft
- screw shaft
- cylindrical casing
- 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- Withdrawn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
【発明の詳細な説明】
【０００１】
【発明の属する技術分野】本発明は、建設機械等の機械
システムのリンク機構を駆動する伸縮作動形のアクチュ
エータとして用いる電動シリンダで、特に片側ロッド形
の復動油圧シリンダに代えて用いることができる電動シ
リンダに関するものである。
【０００２】
【従来の技術】従来の電動シリンダは、特開昭６０−１
５４９５５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。
【０００３】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。
【０００４】従来の電動シリンダは往復動の双方とも同
一速度で、かつ同一推力で作動されるようになってい
る。
【０００５】これに対して、片側ロッド形の復動油圧シ
リンダは、その構成上、油圧ポンプの出力が一定である
ときの伸長動作と短縮動作とで、その作動速度と推力が
異なり、ピストンの全面積で油圧を受ける伸長動作は低
速・大推力となり、ピストンの全面積からピストンロッ
ドの断面積を差し引いたロッド側のピストン面で油圧を
受ける短縮動作は高速・小推力となる。
【０００６】建設機械等のリンク機構では、油圧シリン
ダのこの特性を利用して、掘削等、大推力を必要とする
方向に伸長動作するようにして油圧シリンダを配置して
用いるようにしている。
【０００７】このため、このような建設機械等のリンク
機構に、往復動の双方とも同一速度で、かつ同一推力で
作動する電動シリンダを用いた場合、このときの操作感
覚が油圧シリンダの場合とずれてしまい、オペレータに
とまどい感を与えてしまうという問題があった。
【０００８】本発明は上記のことに鑑みなされたもの
で、往動と復動の両動作において、作動速度と推力を変
えることができ、例えば、片側ロッド形の復動油圧シリ
ンダと略同一動作を行うことができるようにした電動シ
リンダを提供することを目的とするものである。
【０００９】
【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
ト部材との間に減速比が異なる２組の減速機構を、それ
ぞれの出力側をナット部材に連結して配置し、一方の減
速機構の入力側と回転軸とが回転軸の正転時に連結さ
れ、他方の減速機構の入力側と回転軸とが回転軸の逆転
時に連結されるようにした。
【００１０】そしてこの構成によれば、電動モータの回
転によりねじ軸が伸縮動作する電動シリンダにおいて、
電動モータの回転方向によってねじ軸の伸長あるいは短
縮動の速度を変えることができる。
【００１１】従って、ねじ軸の短縮動作に対して伸長作
動の速度を遅くすることにより、片ロッド形の復動油圧
シリンダと略同様に、伸長作動時に低速・大推力を、ま
た短縮動作時に高速・小推力をそれぞれ出力することが
でき、この電動シリンダを建設機械のリンク機構に用い
たときに、通常の油圧シリンダと同様の感覚で操作する
ことができる。
【００１２】
【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
石にて構成されるアーマチュア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。
【００１３】筒状ケーシング１の先端部にはナット部材
７が軸受８，８を介して上記回転軸２と同軸状にして回
転自在に支持されており、このナット部材７にねじ軸９
が螺合されている。ナット部材７とねじ軸９の螺合部に
はボールねじが用いられている。
【００１４】ねじ軸９の基端部には円筒状の摺動子１０
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１０ａに摺動
自在に嵌合されている。筒状ケーシング１の基端部とね
じ軸９の先端部のそれぞれに継手１ａ，９ａが設けてあ
る。
【００１５】回転軸２とナット部材７との間には２組の
遊星歯車機構１１ａ，１１ｂが介装してある。それぞれ
の遊星歯車機構１１ａ，１１ｂは図２に示すように、太
陽歯車１２ａ，１２ｂと、この各太陽歯車１２ａ，１２
ｂと筒状ケーシング１の内側に設けた内歯歯車１３ａ，
１３ｂに噛み合って遊星運動する遊星歯車１４ａ，１４
ｂとからなり、それぞれの太陽歯車１２ａ，１２ｂは係
合方向が正転方向と逆転方向に異なる一方向クラッチ１
５ａ，１５ｂを介して回転軸２に連結されている。そし
て各遊星歯車機構１１ａ，１１ｂの遊星歯車１４ａ，１
４ｂを回転自在に支持している遊星支持軸１６ａ，１６
ｂはナット部材７に結合されている。
【００１６】両遊星歯車機構１１ａ，１１ｂのそれぞれ
の減速比は異ならしてあり、例えば両機構１１ａ，１１
ｂ相互で１：１．５の割合になっていて、電動モータ６
の回転により伸縮動するねじ軸９の動作が、例えば短縮
動作に対して伸長動作が１．５倍の速度になるようにな
っている。
【００１７】すなわち、ナット部材７が正転したときに
ねじ軸９が伸長するようになっているとすると、ナット
部材７を正転するために回転軸２が正回転したときに減
速比が小さい方の遊星歯車１１ａの一方向クラッチ１５
ａが係合し、またナット部材７を逆転するために回転軸
２が逆転したときに減速比が大きい方の遊星歯車１１ｂ
の一方向クラッチ１５ｂが係合するようになっている。
【００１８】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
アーマチェア５を介して回転軸２が正転方向あるいは逆
転方向に回転し、この回転軸２が、例えば正転方向に回
転すると、減速比が小さい方の遊星歯車機構１１ａを介
してナット部材７が正転してねじ軸９が伸長動される。
【００１９】回転軸２が、例えば逆転方向に回転する
と、減速比が大きい方の遊星歯車機構１１ｂを介してナ
ット部材７が逆転してねじ軸９が短縮動される。
【００２０】そしてこの場合、ねじ軸９の伸縮動作にお
いて、伸長動作は低速・大推力となり、また、短縮動作
は高速・小推力となり、片側ロッド形の復動油圧シリン
ダと略同一作動が行われる。
【００２１】なお、使用目的によっては、両遊星歯車機
構１１ａ，１１ｂの一方向クラッチ１５ａ，１５ｂの係
合方向を互いに逆にして、電動モータ６の回転によるね
じ軸９の移動速度が、伸長動作が遅く、伸長動作が速く
なるようにしてもよい。
【００２２】上記作動時において、回転軸２から回転が
伝わらない方の遊星歯車機構はナット部材７側から逆方
向に回転されるが、一方向クラッチにより空回り状態と
なり、動力伝達側の邪魔にはならない。
【００２３】また、この実施の形態では、減速機構とし
て遊星歯車機構を用いた例を示したが、回転軸２とナッ
ト部材７との間に同軸状にコンパクトに介装されるもの
であれば遊星歯車機構以外の減速機構を用いてもよい。Description: 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 such as a construction machine. The present invention relates to an electric cylinder that can be used in place of a dynamic hydraulic cylinder. 2. Description of the Related Art A conventional electric cylinder is disclosed in
There is an electric power steering apparatus disclosed in Japanese Patent Application Laid-Open No. 54955/1989, in which an electric motor has a cylindrical rotary shaft, and a hole of the rotary shaft penetrates a screw shaft provided with a screw portion on the outer periphery. The shaft and the rotating shaft of the electric motor are connected via screw coupling means, and the rotation of the rotating shaft causes the screw shaft to move in the axial direction of the shaft. To expand and contract. Other conventional electric cylinders are disclosed in JP-A-9-289755 and JP-A-2000-4614.
There is an electric cylinder disclosed in Japanese Patent Application Publication No. 0-203, and all of these configurations move a screw shaft screwed to the nut member by rotating a nut member via a transmission member by an electric motor. And, it expands and contracts. The conventional electric cylinder is operated at the same speed and the same thrust in both reciprocating motions. [0005] On the other hand, the single-rod type return hydraulic cylinder has a different operating speed and thrust between the extension operation and the contraction operation when the output of the hydraulic pump is constant, and the piston has a different structure. The elongation operation receiving the hydraulic pressure over the entire area has a low speed and a large thrust, and the shortening operation receiving the hydraulic pressure on the rod-side piston surface obtained by subtracting the cross-sectional area of the piston rod from the entire area of the piston has a high speed and a small thrust. In a link mechanism of a construction machine or the like, by utilizing this characteristic of the hydraulic cylinder, the hydraulic cylinder is arranged and used so as to extend in a direction requiring a large thrust such as excavation. For this reason, when an electric cylinder that operates at the same speed and with the same thrust in both reciprocating motions is used for such a link mechanism of a construction machine, the operating feeling at this time is different from that of a hydraulic cylinder. There is a problem in that the operator is displaced and gives a confusing feeling to the operator. The present invention has been made in view of the above, and it is possible to change the operating speed and the thrust in both the forward movement and the backward movement. For example, the same operation as the one-side rod type backward hydraulic cylinder is performed. It is an object of the present invention to provide an electric cylinder capable of performing the following. [0009] In order to achieve the above object, an electric cylinder according to the present invention comprises an electric cylinder in which a cylindrical rotary shaft is provided in a cylindrical casing and an output of the electric motor. The screw shaft is arranged inside the rotary shaft, and the screw shaft is screwed to a nut member rotatably supported by the cylindrical casing, and a reduction ratio is provided between the rotary shaft and the nut member. Are arranged with their output sides connected to a nut member, the input side of one reduction mechanism and the rotating shaft are connected when the rotation shaft rotates forward, and the input of the other reduction mechanism is The side and the rotating shaft are connected when the rotating shaft is reversed. According to this configuration, in the electric cylinder in which the screw shaft expands and contracts by the rotation of the electric motor,
The speed of extension or contraction of the screw shaft can be changed depending on the rotation direction of the electric motor. Therefore, by slowing the speed of the extension operation relative to the shortening operation of the screw shaft, the low speed and large thrust during the extension operation and the high speed during the shortening operation are substantially similar to the single rod type backward hydraulic cylinder. -A small thrust can be output, and when this electric cylinder is used for a link mechanism of a construction machine, it can be operated with the same feeling as a normal hydraulic cylinder. 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 an open end, and a cylindrical rotary shaft 2 is rotatably mounted in the cylindrical casing 1 with both ends supported by bearings 3 and 3. A brushless motor comprising a stator coil 4 and an armature 5 composed of a permanent magnet, which is rotatable in both forward and reverse directions, between the outside of the rotating shaft 2 and the inside of the cylindrical casing 1. An electric motor 6 of a mold type is provided, and the armature 5 is integrally formed with the rotary shaft 2. A nut member 7 is rotatably supported at the distal end of the cylindrical casing 1 through bearings 8 and 8 so as to be coaxial with the rotary shaft 2. A screw shaft 9 is attached to the nut member 7.
Is screwed. A ball screw is used for a threaded portion between the nut member 7 and the screw shaft 9. At the base end of the screw shaft 9 is a cylindrical slider 10.
Is fixed to the inside of the rotary shaft 2 and slidably fitted to a guide tube 10a fixedly provided on the base end side of the cylindrical casing 1. Joints 1a and 9a are provided at the base end of the cylindrical casing 1 and the tip end of the screw shaft 9, respectively. Two sets of planetary gear mechanisms 11a and 11b are interposed between the rotary shaft 2 and the nut member 7. As shown in FIG. 2, each of the planetary gear mechanisms 11a and 11b has sun gears 12a and 12b and sun gears 12a and 12b.
b and the internal gears 13a provided inside the cylindrical casing 1,
Planetary gears 14a and 14 that engage with the planetary gear 13b
b, each of the sun gears 12a and 12b has a one-way clutch 1 whose engagement direction is different from the normal rotation direction and the reverse rotation direction.
It is connected to the rotating shaft 2 via 5a, 15b. And the planetary gears 14a, 1 of the respective planetary gear mechanisms 11a, 11b.
Planetary support shafts 16a and 16 rotatably supporting 4b.
b is connected to the nut member 7. The reduction ratios of the two planetary gear mechanisms 11a and 11b are different from each other.
b, the ratio is 1: 1.5, and the electric motor 6
The operation of the screw shaft 9 that expands and contracts due to the rotation of the shaft is, for example, 1.5 times faster than the shortening operation. That is, assuming that the screw shaft 9 is extended when the nut member 7 rotates forward, the reduction ratio is small when the rotating shaft 2 rotates forward to rotate the nut member 7 forward. One-way clutch 15 of one planetary gear 11a
a is engaged, and when the rotating shaft 2 is reversed to reverse the nut member 7, the planetary gear 11b having the larger reduction gear ratio is used.
The one-way clutch 15b is engaged. In the above configuration, when the electric motor 6 is driven to rotate in the normal direction or the reverse direction, the rotary shaft 2 is rotated in the normal or reverse direction via the armchair 5, and the rotary shaft 2 is rotated. For example, when rotating in the forward rotation direction, the nut member 7 rotates forward via the planetary gear mechanism 11a having the smaller reduction ratio, and the screw shaft 9 is extended. When the rotating shaft 2 rotates in the reverse direction, for example, the nut member 7 rotates in the reverse direction via the planetary gear mechanism 11b having the larger reduction ratio, and the screw shaft 9 is shortened. In this case, in the expansion and contraction operation of the screw shaft 9, the extension operation has a low speed and a large thrust, and the shortening operation has a high speed and a small thrust. . Note that, depending on the purpose of use, the engagement directions of the one-way clutches 15a, 15b of the two planetary gear mechanisms 11a, 11b are reversed with each other, so that the moving speed of the screw shaft 9 due to the rotation of the electric motor 6 increases. May be slow and the decompression operation may be fast. In the above operation, the planetary gear mechanism to which the rotation is not transmitted from the rotating shaft 2 is rotated in the opposite direction from the nut member 7 side, but becomes idle due to the one-way clutch, and does not interfere with the power transmission side. No. Also, in this embodiment, an example is shown in which a planetary gear mechanism is used as the speed reduction mechanism. However, if it is coaxially and compactly interposed between the rotary shaft 2 and the nut member 7, A reduction mechanism other than the planetary gear mechanism may be used.
【図面の簡単な説明】
【図１】本発明の実施の形態を示す断面図である。
【図２】遊星歯車機構の部分を示す概略的構成説明図で
ある。
【符号の説明】
１…筒状ケーシング、１ａ，９ａ…継手、２…回転軸、
３，８…軸受、４…ステータコイル、５…アーマチェ
ア、６…電動モータ、７…ナット部材、９…ねじ軸、１
０…摺動子、１０ａ…案内筒、１１ａ，１１ｂ…遊星歯
車機構、１２ａ，１２ｂ…太陽歯車、１３ａ，１３ｂ…
内歯歯車、１４ａ，１４ｂ…遊星歯車、１５ａ，１５ｂ
…一方向クラッチ、１６ａ，１６ｂ…支持軸。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a sectional view showing an embodiment of the present invention. FIG. 2 is a schematic configuration explanatory view showing a part of a planetary gear mechanism. [Description of Signs] 1 ... cylindrical casing, 1a, 9a ... joint, 2 ... rotating shaft,
3, 8 bearing, 4 stator coil, 5 armature chair, 6 electric motor, 7 nut member, 9 screw shaft, 1
0: slider, 10a: guide cylinder, 11a, 11b: planetary gear mechanism, 12a, 12b: sun gear, 13a, 13b ...
Internal gear, 14a, 14b ... planetary gear, 15a, 15b
... one-way clutch, 16a, 16b ... support shaft.
Claims (1)
（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
（９）を配置すると共に、このねじ軸（９）を筒状ケー
シング（１）に回転自在に支持したナット部材（７）に
螺合し、回転軸（２）とナット部材（７）との間に減速
比が異なる２組の減速機構（１１ａ，１１ｂ）を、それ
ぞれの出力側をナット部材（７）に連結して配置し、一
方の減速機構の入力側と回転軸（２）とが回転軸（２）
の正転時に連結され、他方の減速機構の入力側と回転軸
（２）とが回転軸（２）の逆転時に連結されるようにし
たことを特徴とする電動シリンダ。In an electric cylinder, a cylindrical rotary shaft (2) is provided in a cylindrical casing (1) so as to be connected to an output portion of an electric motor (6). 2) A screw shaft (9) is disposed in the screw shaft (9), and the screw shaft (9) is screwed to a nut member (7) rotatably supported on the cylindrical casing (1). Two sets of speed reduction mechanisms (11a, 11b) having different reduction ratios between the speed reduction mechanism and the member (7) are arranged so that their output sides are connected to the nut member (7). The axis (2) is the rotation axis (2)
An electric cylinder, wherein the input side of the other reduction mechanism and the rotary shaft (2) are connected when the rotary shaft (2) rotates in the reverse direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001389747A JP2003184982A (en) | 2001-12-21 | 2001-12-21 | Electric cylinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001389747A JP2003184982A (en) | 2001-12-21 | 2001-12-21 | Electric cylinder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2003184982A true JP2003184982A (en) | 2003-07-03 |
Family
ID=27597873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001389747A Withdrawn JP2003184982A (en) | 2001-12-21 | 2001-12-21 | Electric cylinder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2003184982A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| KR100775652B1 (en) | 2005-08-29 | 2007-11-13 | 에스엠씨 가부시키 가이샤 | Automatic speed reducing ratio-switching apparatus |
| US7628727B2 (en) | 2006-02-16 | 2009-12-08 | Smc Kabushiki Kaisha | Automatic speed reducing ratio-switching apparatus |
| JP2010110437A (en) * | 2008-11-05 | 2010-05-20 | Honda Motor Co Ltd | Walking assistance device |
| WO2012077213A1 (en) * | 2010-12-09 | 2012-06-14 | 株式会社日立製作所 | Linear actuator |
| WO2013031623A1 (en) * | 2011-08-31 | 2013-03-07 | Ntn株式会社 | Suspension system for vehicle |
| JP2013147968A (en) * | 2012-01-18 | 2013-08-01 | Mitsubishi Electric Corp | Screw compressor |
| CN103854533A (en) * | 2012-12-06 | 2014-06-11 | 孙波 | Driving simulation method and system |
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| CN108964342A (en) * | 2018-06-22 | 2018-12-07 | 河海大学 | It is a kind of can on-line continuous control the half of used capacity and actively used hold |
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2001
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