JP2004316921A - Actuator and its structure - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator allowing efficient operation of production facilities for inventory management and distribution, and its structure. <P>SOLUTION: The actuator 10, shown in Fig., comprises a plurality of AC servo motors provided in structural members 12 and sequencers 298, 300 with programming boards for integrally controlling the plurality of AC servo motors, the sequencers 298, 300 with the programming boards being connectable to a CIM (Computer Integrated Manufacturing). Thus, the sequencers are provided connectable to the CIM as an upper network system and the actuator is controlled for inventory control and distribution, thereby allowing efficient operation of the production facilities including the actuator. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an actuator for converting fluid energy into mechanical energy using an electric motor, a hydraulic cylinder, a hydraulic motor, and the like, and a structure thereof.

  2. Description of the Related Art Conventionally, for example, an actuator has been used as a device for sucking a work or holding and transporting the work using a mechanical hand or a chuck. In this actuator, a slider is moved along a groove formed in a guide rail, which is an actuator body, under the rotational driving action of an electric motor (for example, see Patent Document 1). With this movement, the suction holding means connected to the slider also moves, and the work sucked by the suction holding means is conveyed to a desired position under the movement of the moving body.

Japanese Utility Model Publication No. 3-69742

  However, when the above-described actuator according to the related art is controlled by a controller (not shown), the controller is not provided so as to be connectable to an upper network system. For example, based on a system that integrates sales, design, manufacturing, distribution, and the like. Therefore, there is a problem that it cannot be efficiently manufactured including inventory management and distribution.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and controls production based on a sequencer included in CIM (Computer Integrated Manufacturing) to efficiently operate production equipment including inventory management and distribution. It is an object of the present invention to provide an actuator and a structure thereof capable of performing the following.

In order to achieve the above object, the present invention comprises a column having an opening formed by extrusion molding and having a U-shaped cross section, and a groove in which a guide frame is mounted is formed on the inner surface along the longitudinal direction. A structural member in which another groove is formed on the side surface along the longitudinal direction, and a plurality of passages are formed along the longitudinal direction between the inner surface and the outer surface;
An AC servomotor disposed inside or outside the structural member and having and covered with an encoder;
A moving body having a concave portion that is displaced along the longitudinal direction of the structural member under the rotational driving action of the AC servomotor and engages with the guide frame;
A feed screw shaft for converting the rotational driving force of the AC servomotor into linear motion and transmitting the rotational driving force to the moving body;
With
A coupling member is omitted, the motor axis of the AC servomotor is the same as the feed screw axis, and a cover member for closing an opening of a structural member is provided at both ends orthogonal to the displacement direction of the moving body. A set of projections exposed to the outside from the space between the members is formed,
A plurality of AC servomotors can be used, and a plurality of AC servomotors can be integrally controlled by a sequencer included in CIM (Computer Integrated Manufacturing).

Further, the present invention comprises a column formed in an U-shaped cross section having an opening by extrusion molding, a groove for mounting a guide frame is formed in the inner surface along the longitudinal direction, and the mounting groove is formed on the outer surface in a longitudinal direction. A structural member formed along the direction, wherein a plurality of passages are formed along the longitudinal direction between the inner surface and the outer surface,
An AC servomotor having an encoder disposed inside or outside the structural member, and a concave portion displaced along a longitudinal direction of the structural member under the rotational driving action of the AC servomotor and engaged with the guide frame. And a feed screw shaft for converting the rotational driving force of the AC servomotor into a linear motion and transmitting the rotational driving force to the moving body, wherein the coupling member is omitted and the AC servomotor is omitted. The motor shaft is the same as the feed screw shaft, and is exposed to the outside from the space between the cover member closing the opening of the structural member and the structural member at both ends orthogonal to the displacement direction of the moving body. An actuator having a set of protrusions,
A column member formed of a column body having a plurality of outer surfaces formed with a connecting long groove extending in a longitudinal direction, and a column member formed in a three-dimensional shape by combining a plurality of the structural members,
Connecting means for connecting a plurality of the strut members or a plurality of the structural members and the strut members to construct a structure;
A plurality of AC servomotors provided on each structural member, a sequencer capable of integrally controlling the plurality of AC servomotors;
Wherein the sequencer is included in CIM (Computer Integrated Manufacturing).

  According to the present invention, a plurality of AC servomotors for driving an actuator are integrally controlled by a sequencer included in a CIM (Computer Integrated Manufacturing). Therefore, for example, based on a higher-level network system integrating sales, design, manufacturing, distribution, and the like, inventory control, distribution, and the like are efficiently controlled.

  According to the present invention, a sequencer is provided so as to be connectable to a CIM (Computer Integrated Manufacturing), which is a higher-level network system, and an actuator is controlled including inventory management and physical distribution, so that production equipment including the actuator can be efficiently used. It can be operated on a regular basis.

  Next, preferred embodiments of an actuator and a structure thereof according to the present invention will be described in detail with reference to the accompanying drawings.

  First, as shown in FIG. 1, an actuator 10 according to a first embodiment of the present invention basically includes a structural member 12 constituting an outer frame, a harmonic drive motor having an encoder, an AC servomotor, and a DC servomotor. , A stepping motor, an ultrasonic motor, etc., and a moving member 20 including a ball screw 16 and a moving body 18. FIG. 2 is an exploded perspective view of FIG.

  The structural member 12 has two rail-shaped grooves 22 defined on the inner bottom, concave portions 24 on both inner side surfaces and concave portions 26 and 28 on the outer side surfaces formed in the longitudinal direction, and is extruded, pulled out, and metal-injected. It is integrally formed by molding or resin.

  The moving member 20 includes a circular motor 14 (for example, an electric motor) that functions as a driving source, a casing 30 that transmits a rotational driving force of the motor 14 to the ball screw 16, and a rotational motion of the ball screw 16. The moving body 18 to which the nut 32 is connected in the linear direction, the plate-shaped ball screw support part 34, the guide part 46 and the frame part 36 for positioning the casing part 30 and the moving body 18 on a straight line And are arranged. Further, the ball screw 16 may be the same as the motor rotation shaft, and the rotation may be balanced to be integrated and the coupling may be omitted. A maintenance window 41 is provided on the upper surface of the casing 30. The frame portion 36 is provided with screw holes 40 for fixing the moving member 20 to the structural member 12 via screws 38 at predetermined intervals.

  One end of the ball screw 16 is connected to the casing 30 connected to the motor 14, and the other end is inserted into a bearing hole 42 of the ball screw support 34. A female screw provided in a hole (not shown) of a nut connected to the moving body 18 is screwed with a male screw engraved on the outer circumference of the ball screw 16 between the casing 30 and the bearing hole 42. Similarly, the ball screw 16 can be replaced with a string screw or a trapezoidal screw. The moving body 18 is provided with a table having projections 44 at both ends of the upper surface. A positioning groove 45 is provided substantially at the center of the protrusions 44 on both ends. On the upper surface of the frame portion 36, a guide portion 46 (see FIG. 2) is provided, which functions as a guide that comes into contact with the concave portion of the moving body 18 and moves the moving body 18 linearly. The casing 30 and the ball screw 16 function as a drive mechanism for moving the moving body 18 linearly.

  An operation of the actuator 10 according to the first embodiment that employs such a configuration will be described.

  First, as shown in FIG. 2, the moving member 20 in which the motor 14, the casing 30, the ball screw 16, the moving body 18, the ball screw support 34 and the like are connected to the frame 36 is fixed to the structural member 12. At this time, a T nut or a nut is inserted into the two rail-shaped grooves 22 engraved on the bottom of the structural member 12 through the screw holes 40 provided in the frame portion 36, and is tightened with the screws 38. Is fixed. After the moving member 20 is fixed to the structural member 12 in this manner, the motor 14 connected to a power supply (not shown) is driven. Since a transmission (not shown) is provided inside the casing 30, the ball screw 16 rotates in conjunction with the rotation of the motor 14. The rotational movement of the ball screw 16 is transmitted to a nut connected to the moving body 18, and the male screw on the outer peripheral surface of the ball screw 16 and the inner peripheral surface of a hole (not shown) provided at the center of the nut are fitted. I do. The moving body 18 connected to the nut and integrated with the nut is rotated from the end of the casing part 30 to the end of the ball screw support part 34 by rotation of the ball screw 16 in the fitted state. It is possible to move. An actuator 10 similar to that of the present embodiment may be mounted on the projection 44 of the table provided on the upper surface of the moving body 18 and the bottom may be fixed to the projection 44, or a suction pad or the like may be used. It is also possible to fix another member to which the work suction / holding means is connected to the protrusion 44.

  As described above, after the positioning for transporting the work is set and set, when the movement position is readjusted or changed, the screw 38 of the frame portion 36 fixed to the structural member 12 is loosened. The moving member 20 can be displaced from the structural member 12 in its length direction. In this case, the moving member 20 can be moved while the structural member 12 is fixed to, for example, a work board. When the maintenance / inspection of the actuator 10 is performed, the screw 38 fitted in the rail-shaped groove 22 of the structural member 12 is loosened, and the moving member 20 is removed from the structural member 12 to easily perform maintenance / inspection. It can be performed.

  Next, an actuator according to a second embodiment is shown in FIG.

  The difference of the actuator 50 according to the second embodiment from the first embodiment is that a concave portion 54 is provided at the bottom of a structural member 52 constituting an outer frame, a plate 60 is mounted in the concave portion 54, and the moving member 20 is moved. The point is that it can be attached to any position of the plate 60 from above. After the plate 60 is mounted in the recess, the plate 60 is fixed to the frame portion 36 of the moving member 20 via the screw 38, and the moving member 20 can be moved through the displacement of the plate 60.

  In the second and subsequent embodiments, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

  Regarding the operation of the second embodiment, first, the frame portion 36 of the moving member 20 provided with the motor 14, the moving body 18 and the like is fixed to the plate 60 via screws 38. Therefore, the plate 60 connected to the frame portion 36 of the moving member 20 is slid in the length direction from the end side of the structural member 52 into the concave portion 54 provided at the bottom of the structural member 52, and is attached to the concave portion 54. I do. Further, it can be attached to an arbitrary position from the upper surface. In this way, when the moving member 20 is connected to the structural member 52 and the transfer position of the work is set and then readjustment or position change is performed, the screw 38 is loosened and the plate 60 attached to the recess 54 is removed. It can be easily moved by sliding.

  Next, a description will be given of a third embodiment using a plurality of moving members of such an actuator.

  As shown in FIG. 4, in the actuator 62 according to the present embodiment, a moving member A66 and a moving member B68 are arranged in series in close proximity to a long structural member 64 constituting an outer frame, and are provided at two locations. A moving body 18 is provided. A locking member 70 is attached to one end of the structural member 64. To the moving member A66, in addition to the configuration of the actuator 10 described above, a cover member 74 that accommodates the motor 14 and the casing 30 and has a plurality of slits 72 is attached. Further, a plate-shaped cover member 76 is provided on the table of the moving body 18, and the protrusions 44 on both ends of the table are formed so as to protrude. The operations of the moving member A66 and the moving member B68 of the actuator 62 are the same as those in the above-described embodiment, and a detailed description thereof will be omitted.

  Next, an actuator according to a third embodiment of the present invention will be described.

  A feature of the actuator shown in FIG. 5 is that the moving body is moved using a timing belt as a driving mechanism (see FIG. 6).

  The actuator 78 according to the third embodiment basically includes a structural member 12 forming an outer frame, and a moving member 84 including a motor 14, a timing belt 80, a moving body 82, and the like.

  In the structural member 12, a rail-shaped groove is defined at the center of the inner bottom portion, and the concave portions 24 are formed in the both sides on the inner side in the longitudinal direction, and are integrally formed by casting or the like. Note that a locking member 70 is attached to an end of the structural member.

  The moving member 84 includes a cylindrical motor 14 that is housed in a box-shaped cover member 86 in which a plurality of slits 85 are engraved and functions as a driving unit, and a disk-shaped rotating body that mediates the rotational movement of the motor 14. A motor pulley unit 90 having a tension adjusting mechanism, a timing belt 80 functioning as a driving mechanism, a moving body 82 moving in the left and right linear directions by rotating the timing belt 80, An idle pulley unit 92 having a disc-shaped rotating body 89 located at one end of the motor 80, a motor pulley unit 90 at one end, and an idle pulley unit 92 at the other end are connected to each other. The guide part 46 with which the moving body 82 can move linearly is arranged. The guide portion 46 is provided with screw holes 94 for connecting to the frame portion 36 via screws at predetermined intervals.

  The timing belt 80 has projections 96 formed at predetermined intervals. The projections 96 are formed in recesses (not shown) of the motor pulley unit 90 and the annular bodies 97 of the rotating bodies 88 and 89 of the idle pulley unit 92. The engagement causes the timing belt 80 to rotate. In addition, a concave portion 98 is defined at the bottom of the moving body 82, and the moving body 82 can slide on the guide section 46 by engaging with the upper surface of the guide section 46. Further, a substantially rectangular plate-shaped cover member 76 is provided on the upper surface of the moving body 82, and the protrusions 44 at both ends of the table are formed to protrude.

  The operation of the actuator according to the third embodiment under such a configuration will be described.

  First, as shown in FIG. 6, a moving member 84 having a motor pulley unit 90 provided at one end of the guide portion 46 and an idle pulley unit 92 provided at the other end thereof is fixed to the structural member 12. At this time, the plate is connected to the frame portion 36 through a screw hole 94 provided in the guide portion 46, and the plate is inserted into the rail-shaped concave portion 54 engraved on the bottom of the structural member 12, and then tightened with the screw 38. 84 is fixed. After the moving member 84 is fixed to the structural member 12 in this manner, the motor 14 connected to a power supply via a CIM controller (not shown) and a sequencer is driven, and the motor pulley is linked with the rotational movement of the motor 14. The rotating body 88 arranged in the unit 90 rotates. The projection of the timing belt 80 meshes with the recess of the rotating body 88, so that the timing belt 80 rotates. The revolving motion of the timing belt 80 is transmitted to the inside of the moving body 82 (not shown), and the moving body 82 moves in the revolving direction of the timing belt 80. The moving body 82 can move to the maximum from the end of the motor pulley unit 90 to the end of the idle pulley unit 92. The projections 44 provided on both ends of the upper surface of the moving body 82 can be equipped with an actuator 78 similar to that of the present embodiment, or can be connected to another member to which the work suction / holding means is connected. is there.

  In the case where the moving position is readjusted after positioning for carrying the work as described above, first, the cover members 76 and 86 are removed, and the frame portion of the moving member 84 is fixed to the structural member 12. After loosening the screw 38 and sliding the moving member 84 itself, it is fixed to the structural member 12 by the screw 38 again.

  Next, FIGS. 7 to 11 show an embodiment relating to a module type actuator in which the components of the moving member can be easily assembled and disassembled. Each of the embodiments in FIGS. 7 to 9 differs from the embodiment in that an electric motor is used as a drive source, and FIGS. 10 and 11 use compressed air or fluid pressure such as vacuum pressure as a drive source.

  FIG. 7 shows a fourth embodiment of the actuator according to the present invention, and is an exploded perspective view of a moving member constituting the actuator.

  The moving member 100 includes a frame, which serves as a base, a locking unit 104 provided at one end of the frame, a moving body 106, a guide unit 108, and a ball in which a ball holding unit 110 serving as a driving mechanism is connected. It comprises a screw 112, an electric motor 114 as a drive source, a connecting portion 116 for transmitting and rotating the electric motor 114 and the ball screw 112 through rotation, an annular body 118, and a holding bracket 120.

  The assembling method according to the present embodiment will be described. First, from one end side of a frame portion having several linear grooves 122 in the length direction, the protrusion 124 of the locking portion 104 is moved along the groove 122 along the horizontal axis. Slide in the direction. Next, similarly, the protrusion 126 of the connecting portion 116 can be slid from the lateral axis direction and fixed along the groove 122 from the other end side of the frame portion. Subsequently, the guide portion 108 is fitted into the concave portion 128 of the frame portion. Then, the ball screw 112 and the electric motor 114 are connected to the hole portion 130 of the locking portion 104 through the annular body 118 and the holding metal fitting 120, respectively. 116 is inserted into the hole 132. After the attachment, the lower portion of the moving body 106 is slid from the horizontal axis direction into the cylindrical portion 134 of the ball holding portion 110 connected to the ball screw 112 and inserted. Then, the moving body 106 is attached so that the block 138 connected to the guide portion 108 is fitted into the concave portion 136 provided on the lower surface of the moving body 106.

  As described above, the moving member 100 can be easily assembled on site, and can be easily disassembled for easy maintenance and inspection. In addition, when the parts need to be replaced after the maintenance and inspection, the parts can be easily replaced. Further, the length of the frame portion can be adjusted by cutting the frame portion into an arbitrary length.

  FIG. 8 shows a fifth embodiment of the actuator.

  The fifth embodiment shown in FIG. 8 differs from the fourth embodiment shown in FIG. 7 in that the groove 144 on the side surface of the frame 142 is formed at an acute angle. Therefore, when attaching the locking portion 146 and the connecting portion 148, it is not necessary to slide and fix the frame portion 142 in the horizontal axis direction from the end of the frame portion 142. The locking portion 146 and the claw portion 150 of the connection portion 148 can be inserted into the groove portion 144 and fixed so as to be sandwiched from the side. Other configurations and operations are the same as those of the third embodiment, and therefore, detailed description thereof will be omitted.

  FIG. 9 shows a sixth embodiment constituting a moving member of an actuator. Unlike the fourth and fifth embodiments, a timing belt 154 is used as a drive source.

  The moving member 152 shown in the fifth embodiment includes a frame 156, a guide 158, a moving body 164 including a table top 160 and a slide table 162, a motor pulley unit 166, an idle pulley unit 168, a timing belt 154, and a motor 170. Is done.

  The moving member 152 can be assembled by inserting the projection 172 of the frame 156 and the slide table 162 into the hole 174 of the motor pulley unit 166, the idle pulley unit 168, and the table top 160, respectively. .

  FIGS. 10 and 11 show a seventh embodiment and an eighth embodiment, respectively, in which a fluid pressure such as compressed air or vacuum pressure is used as a drive source, and a rodless cylinder or a band type seal slit is used as a drive mechanism. FIG. 3 is an exploded perspective view of a moving member of an actuator that is characterized in that the moving member is used.

  10, a rodless cylinder 182 includes a rectangular parallelepiped housing 184, a cylindrical tube 186, an internal piston (not shown), and the like. The connecting portion 188 which is attached to the groove portion 144 of the frame portion 142 by sandwiching the claw portion 150 is provided with an electromagnetic valve 190 for switching the supply of compressed air to the rodless cylinder 182. The rodless cylinder 182 introduces compressed air from ports (not shown) at both ends of the tube 186, and switches the compressed air by the solenoid valve 190 to move a piston (not shown) in the tube 186 to the left and right ends. The reciprocating linear motion can be continued by moving in the partial direction. A ring-shaped magnet (not shown) is connected to the piston. On the other hand, a magnet (not shown) is built in the housing 184, and the housing 184 is moved by the action of the magnet holding force as the piston moves. The table top 192 can be used by being connected to the upper surface of the housing 184 that moves in this manner. Similarly, the rodless cylinder 182 can be replaced with a rodless cylinder using a rectangular or elliptical piston for reducing the height direction without changing the pressure receiving area of the piston.

  FIG. 11 is common in that a rodless cylinder 196 is used in the same manner as described above, but differs in that two piston rods 200 are provided to prevent rotation of the housing 198. Reference numeral 202 indicates a connection portion, reference numeral 204 indicates an electromagnetic valve, reference numeral 206 indicates a locking member, reference numeral 208 indicates a compressed air introduction and discharge port, respectively, and reference numeral 209 indicates a shock absorber. Is shown. Other operations such as the operation of moving the housing 198 by the holding force of the magnet connected to the piston are the same as those described above, and a detailed description thereof will be omitted.

  Next, a case where a plurality of actuators according to the present invention are connected to each other and used as a structure of an actuator will be described.

  As shown in FIG. 12, the structure 210 of the actuator according to the first assembling example includes a plurality of columnar members 212 forming a skeleton, first to third actuators 214, 216, and 218, a work table 220, and a work table. 222, a work storage plate 224, moving bodies 236, 238 and 240, a cylinder 230 to which a suction pad 228 as a work gripping means is connected, and a cylinder 234 with a cylinder rod 232 protruding. .

  The first actuator 214 is for moving the second actuator 216 mounted on the upper surface of the moving body 236 in a linear direction, and the movement of the second actuator 216 connected orthogonally to the first actuator 214. A cylinder 230 to which a suction pad 228 is connected is connected to the body 238. A cylinder 234 is connected to the moving body 240 of the third actuator 218 and is used to position the work 222. A motor box 237 is provided at a connection between the first actuator 214 and the columnar member 212, and a valve unit 239 is provided at a connection between the third actuator 218 and the columnar member 212.

  Regarding the operation, first, compressed air is supplied to the cylinder 230 connected to the second actuator 216 via a fluid passage 252 in the columnar member 212 described later. By the supply of the compressed air, the cylinder rod 232 of the cylinder 230 is displaced downward, and the work 222 arranged on the work storage plate 224 is sucked by the suction pad 228. Again, the cylinder rod 232 is displaced upward by the supply of the compressed air, and the moving body 236 of the first actuator 214 is moved in the longitudinal direction while maintaining the state, and is connected to the moving body 236 of the first actuator 214. The second actuator 216 is moved. The second actuator 216 stops moving when the work 222 sucked by the suction pad 228 approaches above a desired position, and moves the moving body 238 of the second actuator 216 in the horizontal axis direction to move the work 222. Into the desired hole 242 of the work holding plate 226. At this time, the positioning can be performed by displacing the cylinder rod 232 of the third actuator 218 so that the work 222 is reliably inserted into the hole 242 of the work holding plate 226.

  Here, the connecting means for connecting the columnar member, the actuator and the like will be described with reference to FIGS.

  13 and 14 show a first embodiment of the connecting means. FIG. 13 (a) is a partially omitted front view showing a case where the columnar members are connected to each other, and FIG. 13 (b) is a part of FIG. 13 (a). FIG. 14 is an exploded perspective view.

  In FIG. 14, in the columnar member 244 formed substantially identically, a linear groove 246 is defined in the longitudinal direction of each side surface. A plate 250 screwed via a screw 248 is slidably disposed in the groove 246. The tip 251 of the screw 248 is formed in a conical shape. A fluid passage 252, which is a transmission path for a fluid such as air, oil, or water, is formed to penetrate through corners of both ends of the columnar member 244, and a bolt 258 is provided at a substantially central portion via a spring 256. A hole 260 for inserting the hole is defined. The head 262 of the bolt 258 is formed in accordance with the cross-sectional shape of the groove 246, and is loosely fitted from one end of the columnar member 244 in a direction substantially orthogonal to the column. Further, a V-shaped groove 264 is cut at an intermediate portion of the bolt 258, and a circular concave portion 266 serving as a spring receiver is provided on a side opposite to the head 262.

  Therefore, when connecting and connecting the columnar members 244, the plate 250 is inserted into the groove 246, the spring 256 and the bolt 258 are inserted into the hole 260 from one end of the columnar member 244 in the length direction thereof. At the same time, the head 262 of the bolt 258 is loosely fitted in a direction orthogonal to the groove 246 at one end of the columnar member 244. Subsequently, the screws 248 are screwed into the plate 250 via the groove portions 246, so that the columnar members 244 are connected and fixed to each other through the bolts 258 in a substantially right angle direction. That is, as shown in FIG. 13B, the head integrated with the bolt 258 is formed by the inclined surface of the tip 251 of the screw 248 contacting the inclined surface of the V-shaped groove 264 of the bolt 258. The portion 262 is displaced in the direction of arrow A. Due to the displacement of the head 262, the back side of the head 262, which has been loosely fitted in the groove 246, comes into contact with the groove 246, and the columnar member 244 is fixed. In this manner, the columnar members 244 can be easily connected to each other, and a fluid pressure signal can be transmitted through the fluid passage 252 in the columnar member 244.

  Next, when the connection is released and the columnar member 244 is separated, the bolt 258 is displaced in the direction of arrow B by the elastic force of the spring 256 by loosening the screw 248. Due to the displacement of the bolt 258, the back side of the head 262 of the bolt 258 is separated from the groove 246, and the head 262 of the bolt 258 is again loosely fitted in the groove 246. The loose fit of the head 262 of the bolt 258 allows the head 262 of the bolt 258 inserted into the other columnar member 244 to slide from the groove 246 of one columnar member 244, and the columnar member 244 along the groove 246. Can be removed by moving. Although the first embodiment of the connecting means has been described with respect to the case where the columnar members are connected to each other, the same applies to the case where the columnar member is connected to the actuator and the actuators.

  Next, in a second embodiment of the connecting means shown in FIG. 15, a groove 246 parallel to one side surface of the columnar member 268 is defined, and a bolt integrated with a head 262 which is loosely fitted in the groove 246 is formed. This embodiment differs from the above embodiment in that two 270s are provided. In the second and subsequent embodiments of the connecting means, substantially the same components are denoted by the same reference numerals, and detailed description thereof will be omitted.

  Subsequently, in the third to fifth embodiments of the connecting means shown in FIGS. 16 to 18, for example, the columnar members and the like are respectively connected in three substantially orthogonal directions. In the third embodiment shown in FIG. 16, the second columnar member 274 and the third columnar member 276 are orthogonally connected to two side surfaces of the first columnar member 272 having different widths, respectively. The second columnar member 274 and the third columnar member 276 are respectively connected to the first columnar member 272 by using two bolts 278 in the groove 246 parallel to the first columnar member 272. Inside the first to third columnar members 272, 274, and 276, the electric signal passage 279 formed similarly to the fluid passage penetrating in the longitudinal direction as described above is provided. Centralized wiring can be realized by the electric signal path 279. In the fourth embodiment shown in FIG. 17, a second columnar member 282 having a connecting surface smaller than one side surface of the first columnar member 280 is formed on the first columnar member 280 by a bolt 278 in a groove 246 parallel to the side surface. The case where the connection is made using is shown. In the fifth embodiment shown in FIG. 18, the second columnar member 286 connected to one side of the first columnar member 284 is connected to the groove 246 parallel to the side using one bolt 278 as compared with FIG. They are different.

  As described above, in the connecting means according to the structure of the actuator of the present invention, it is possible to increase the number of side surfaces by forming the end sections of the columnar member, the actuator, and the like into a polygon such as a square or a hexagon. . Of course, the shape may be circular or substantially circular. Therefore, a desired groove portion is defined on the side surface, a bolt is loosely fitted in the groove portion, and the bolt is loosened, so that the connection can be easily performed in multiple directions.

  As described above, in the actuator structure 210 according to this assembly example, the case where the actuator structure 210 is assembled in a chair shape and the three actuators 214, 216, and 218 are arranged and the work 222 is transported has been described. A structure is formed by various combinations using a plurality of columnar members 212, actuators, and the like, and the structure enables the workpiece to be conveyed vertically and vertically.

  Next, as in FIG. 12, an example of assembling the structure of the actuator is shown in FIGS. Note that, in the second and subsequent assembly examples, the same components as those in the first assembly example are given the same reference numerals, and detailed description thereof will be omitted.

  19 shows a second assembly example of the actuator structure 288, and shows a state where the control box 290 for the electric actuator and the filter / regulator / lubricator controller 292 are provided in the first assembly example of FIG. Note that a compressor, a dehumidifier, an aftercooler, and the like (not shown) may be integrated and inserted into each actuator block. In this case, they are integrated or connected in the columnar member 212. Further, it is also possible to circulate and transmit the vacuum pressure using a suction device such as a well-known compressor or scroll compressor.

  20 and 21 show third and fourth examples of assembly of the actuator structures 294 and 296, respectively, showing a state where sequencers 298 and 300 with a programming board functioning as an actuator controller are attached to the structural member 12, respectively. . In FIG. 20, a mechanical hand 297 is attached to the tip of the cylinder 230. The sequencers 298 and 300 with a programming board are detachably attached to the structural member 12. A belt conveyor actuator 304 provided with an endless belt 302 is connected to the sequencers 298 and 300 with a programming board. The plate member 306 can be transported by the belt conveyor actuator 304. In FIGS. 20 and 21, transmission of various signals input to the sequencers 298 and 300 with a programming board, for example, an electric signal, a fluid pressure signal, and the like are performed by a fluid passage which is an internal passage of the actuator and the columnar member 212, respectively. 252, via the electrical signal path 279.

It is a perspective view of a 1st example concerning an actuator of the present invention. FIG. 2 is an exploded perspective view of FIG. 1. FIG. 6 is an exploded perspective view of a second embodiment according to the actuator of the present invention. It is a perspective view of a 3rd example concerning the actuator of the present invention. FIG. 13 is a perspective view of a fourth embodiment according to the actuator of the present invention. FIG. 6 is a perspective view of a moving member of the actuator shown in FIG. 5. FIG. 14 is a perspective view showing a moving member according to a fifth embodiment of the actuator of the present invention. FIG. 16 is a perspective view showing a moving member of a sixth embodiment according to the actuator of the present invention. FIG. 14 is a perspective view showing a moving member of a seventh embodiment according to the actuator of the present invention. FIG. 16 is a perspective view showing a moving member of an eighth embodiment according to the actuator of the present invention. FIG. 19 is a perspective view illustrating a moving member according to a ninth embodiment of the actuator of the present invention. It is a perspective view of the 1st example of assembly of the structure of the actuator concerning the present invention. 1 is a first embodiment of a connecting means of an actuator structure according to the present invention. FIG. 3 is an exploded perspective view showing a first embodiment of a connecting means of the actuator structure according to the present invention. 9 is a second embodiment of the connecting means of the actuator structure according to the present invention. It is a third embodiment of the connecting means of the structure of the actuator according to the present invention. It is a fourth embodiment of the connecting means of the structure of the actuator according to the present invention. It is a fifth embodiment of the connecting means of the actuator structure according to the present invention. It is a perspective view of the 2nd example of assembly of the structure of the actuator concerning the present invention. It is a perspective view of the 3rd example of assembly of the structure of the actuator concerning the present invention. It is a perspective view of the 4th example of assembly of the structure of the actuator concerning the present invention.

Explanation of reference numerals

10, 50, 62, 78, 214, 216, 218 ... Actuator 210, 288, 294, 296 ... Actuator structure 12, 52, 64 ... Structural member 14, 170 ... Motor 16, 112 ... Ball screw 18, 82, 106, 164, 236, 238, 240 ... moving body 20, 66, 68, 84, 100, 140, 152 ... moving member 36, 142, 156 ... frame part 46, 108, 158 ... guide part 80, 154 ... timing belt 90, 166: Motor pulley unit 92, 168: Idle pulley unit 116, 148, 188, 202 ... Connection part 160, 192 ... Table top 162 ... Slide table 182, 196 ... Rodless cylinder 212, 244 ... Column member 246 ... Groove part 252: fluid passage 258: bolt 279 ... Electrical signal path 290 ... Control box for actuator 292 ... Filter / regulator / lubricator controller 298, 300 ... Sequencer with programming board

Claims (4)

It consists of a columnar body formed in an U-shaped cross section having an opening by extrusion molding, a groove for mounting a guide frame is formed on the inner surface along the longitudinal direction, and other grooves are formed on the side surface along the longitudinal direction. A structural member formed, wherein a plurality of passages are formed along the longitudinal direction between the inner surface and the outer surface;
An AC servomotor disposed inside or outside the structural member and having and covered with an encoder;
A moving body having a concave portion that is displaced along the longitudinal direction of the structural member under the rotational driving action of the AC servomotor and engages with the guide frame;
A feed screw shaft for converting the rotational driving force of the AC servomotor into linear motion and transmitting the rotational driving force to the moving body;
With
A coupling member is omitted, the motor axis of the AC servomotor is the same as the feed screw axis, and a cover member for closing an opening of a structural member is provided at both ends orthogonal to the displacement direction of the moving body. A set of projections exposed to the outside from the space between the members is formed,
An actuator, wherein a plurality of the AC servomotors can be used, and a plurality of the AC servomotors can be integrally controlled by a sequencer included in CIM (Computer Integrated Manufacturing). The actuator according to claim 1,
An actuator, wherein a stepping motor is provided instead of the AC servomotor. The actuator according to claim 1,
The feed screw formed on the feed screw shaft may be any one of a ball screw, a string screw, and a trapezoidal screw. It is formed of a columnar body formed in an U-shaped cross section having an opening by extrusion molding, a groove portion for mounting a guide frame is formed on the inner surface along the longitudinal direction, and a mounting groove is formed on the outer surface along the longitudinal direction. A structural member in which a plurality of passages are formed along the longitudinal direction between the inner surface and the outer surface,
An AC servomotor having an encoder disposed inside or outside the structural member, and a concave portion displaced along a longitudinal direction of the structural member under the rotational driving action of the AC servomotor and engaged with the guide frame. And a feed screw shaft for converting the rotational driving force of the AC servomotor into a linear motion and transmitting the rotational driving force to the moving body, wherein the coupling member is omitted and the AC servomotor is omitted. The motor shaft is the same as the feed screw shaft, and is exposed to the outside from the space between the cover member closing the opening of the structural member and the structural member at both ends orthogonal to the displacement direction of the moving body. An actuator having a set of protrusions,
A column member formed of a column body having a plurality of outer surfaces formed with a connecting long groove extending in a longitudinal direction, and a column member formed in a three-dimensional shape by combining a plurality of the structural members,
Connecting means for connecting a plurality of the strut members or a plurality of the structural members and the strut members to construct a structure;
A plurality of AC servomotors provided on each structural member, a sequencer capable of integrally controlling the plurality of AC servomotors;
Wherein the sequencer is included in CIM (Computer Integrated Manufacturing).

Images