JP2005095264A - Moving object linear driving mechanism - Google Patents
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- PNEYBMLMFCGWSK-UHFFFAOYSA-N aluminium oxide Inorganic materials [O-2].[O-2].[O-2].[Al+3].[Al+3] PNEYBMLMFCGWSK-UHFFFAOYSA-N 0.000 description 1
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Abstract
Description
本発明は、生産機械の単軸アクチュエータや記録装置や医療用装置内などに搭載される移動体リニア駆動機構の改良に関する。 The present invention relates to an improvement of a moving body linear drive mechanism mounted in a single-axis actuator, a recording device, a medical device, or the like of a production machine.
一般に，回転型モータを駆動源として移動体を直線移動させる機構では，駆動源の駆動力を移動体へ伝達する手段としてリードスクリュウを用い，移動体に内設されたネジと前記リードスクリュウが噛み合うとリードスクリュウの回転に応じて移動体が前進または後退の直線移動を行うように構成されている。また，駆動源の駆動力を移動体へ伝達する手段として，リードスクリュウとネジの構成の代わりにスチールベルトを採用し，移動体をこのベルトに固定して直線運動へ変換する例もある。 In general, in a mechanism for linearly moving a moving body using a rotary motor as a driving source, a lead screw is used as means for transmitting the driving force of the driving source to the moving body, and the screw installed in the moving body meshes with the lead screw. The moving body is configured to move forward or backward in accordance with the rotation of the lead screw. There is also an example in which a steel belt is used instead of the lead screw and screw as a means for transmitting the driving force of the driving source to the moving body, and the moving body is fixed to this belt and converted into linear motion.
この駆動源として特に安価な移動体リニア駆動機構ではステッピングモータが採用される例が多い。ステッピングモータは，開ループ制御で移動体の位置決めが可能であり，デジタル制御装置で簡単に制御できるなど装置構成上で多くの長所を備えているが，反面，トルク特性を超えた運転を行うと脱調現象を発生し，結果として駆動力が伝達されている移動体も目的とした位置へ移動できないことになる。 In many cases, a stepping motor is employed as a drive source for a particularly inexpensive mobile linear drive mechanism. A stepping motor has many advantages in terms of device configuration, such as positioning of a moving body with open loop control and easy control with a digital control device, but on the other hand, if operation exceeding the torque characteristics is performed A step-out phenomenon occurs, and as a result, the moving body to which the driving force is transmitted cannot move to the target position.
しかし，生産機械の単軸アクチュエータや記録装置や医療用装置で，上記のような脱調現象で移動体の正確な位置を失うことは極めて重大な問題であり，随時移動体の移動状況をモニタし，万が一移動体が予定された移動から逸脱した場合には緊急停止や警報発生などの異常処理が必要となる。 However, losing the exact position of a moving body due to the above-mentioned step-out phenomenon in a single-axis actuator, recording device, or medical device of a production machine is a very serious problem. However, if the mobile body deviates from the planned movement, an abnormal process such as an emergency stop or alarm is required.
この改善策として，従来の技術による移動体リニア駆動機構を搭載した装置は，特許文献１に開示された従来例では移動体リニア駆動機構と別体に光学反射式リニアエンコーダを搭載したり，特許文献２に開示された従来例では移動体リニア駆動機構と別体に抵抗式リニアポテンショメータを搭載して移動体の現在位置や移動速度など移動状況をモニタしている。つまり，これら従来例では，駆動源の駆動力を移動体へ伝達する手段としてリードスクリュウを用い，移動体に内設されたネジと前記リードスクリュウが噛み合うとリードスクリュウの回転に応じて移動体が直線移動し，移動体の移動状況は，移動体リニア駆動機構と別体に配置されたリニアエンコーダやリニアポテンショメータでモニタする構成となっている。
解決しようとする問題点は，移動体の移動状況をモニタする移動モニタ信号発生手段が移動体リニア駆動機構と別体に配置されているため，移動体の移動を予め所定のパターンで移動しているかどうかのモニタ機能を，簡素で且つ安価な構成で実現できない点である。 The problem to be solved is that the moving monitor signal generating means for monitoring the moving state of the moving body is arranged separately from the moving body linear drive mechanism, so that the moving body moves in a predetermined pattern in advance. The monitoring function of whether or not there is a simple and inexpensive configuration is not possible.
本発明は，駆動源の駆動力を移動体へ伝達する手段，すなわち薄板のベルトに移動体の移動状況をモニタする移動モニタ信号発生手段を一体に設けていることを最も主要な特徴とする。 The main feature of the present invention is that a means for transmitting the driving force of the driving source to the moving body, that is, a movement monitor signal generating means for monitoring the moving state of the moving body is integrally provided on a thin belt.
本発明の移動体リニア駆動機構は，駆動源の駆動力を移動体へ伝達する手段そのものに移動状況をモニタする移動モニタ信号発生手段を一体に設けているため，従来，移動体リニア駆動機構と別体で設けていた移動モニタ信号発生手段を廃止することが可能となり，機構の簡素化が図られるとともに組み立て作業や調整作業の繁雑さを解消し，以て安価な移動体リニア駆動機構を提供できるという利点がある。 Since the moving body linear drive mechanism of the present invention is integrally provided with the moving monitor signal generating means for monitoring the moving state in the means for transmitting the driving force of the driving source to the moving body itself, It is possible to eliminate the moving monitor signal generation means provided separately, simplifying the mechanism and eliminating the complexity of assembly work and adjustment work, thus providing an inexpensive mobile linear drive mechanism There is an advantage that you can.
万が一移動体が予定された移動から逸脱した場合には緊急停止や警報発生などの異常処理を実行するために随時移動体の移動状況をモニタするという目的を，簡素で且つ安価な構成で移動体リニア駆動機能を損なわずに実現した。 In the unlikely event that the mobile body deviates from the planned movement, the mobile body shall be monitored with a simple and inexpensive structure for the purpose of monitoring the moving state of the mobile body at any time in order to execute an abnormal process such as an emergency stop or alarm. Realized without impairing the linear drive function.
図１は，本発明機構の１実施例の概略図であって，１は薄板状のベルト，２は所定の幅を持ち所定のピッチで設けられた複数のスリット穴，３は光学式にスリット穴を検出する光学式センサ，４はモータの駆動力をベルト１へ伝達する駆動プーリ，５は駆動源のモータ，６は移動体，７は移動体６の直線移動を案内するガイド，８は駆動プーリ４と所定の距離を隔てて対に配設されたアイドラプーリ，９は光学式センサの信号処理回路である。 FIG. 1 is a schematic view of an embodiment of the mechanism of the present invention, in which 1 is a thin belt, 2 is a plurality of slit holes having a predetermined width and provided at a predetermined pitch, and 3 is an optically slit. An optical sensor for detecting a hole, 4 is a driving pulley for transmitting the driving force of the motor to the belt 1, 5 is a motor of a driving source, 6 is a moving body, 7 is a guide for guiding the linear movement of the moving body 6, and 8 is Reference numeral 9 denotes an idler pulley disposed in pairs with a predetermined distance from the drive pulley 4, and a signal processing circuit of the optical sensor.
同図で，モータ５の出力軸１３に連結された駆動プーリ４が回転されてベルト１が矢印Ｍの方向に移動すると，移動体６は矢印Ｍと反対方向に直線移動する。ベルト１には所定の幅を持ち所定のピッチでスリット穴２が連続的に繰り返し設けられており，ベルト１を挟み込むように設置された透過型光学センサ３がスリット穴２の有無によって内部で光の透過と遮断が繰り返されるので，ベルト１の移動に応じて光学センサ３から発生された移動状況モニタ信号が信号処理回路９を経てパルス状に１相エンコーダ信号Ａを出力することになる。尚，スリット穴２は特段ベルト１の全範囲に設ける必要はなく，その設置位置や設置範囲は，移動体６の目的とする移動距離に応じて限定された範囲に設けてもよい。 In the figure, when the driving pulley 4 connected to the output shaft 13 of the motor 5 is rotated and the belt 1 moves in the direction of the arrow M, the moving body 6 moves linearly in the direction opposite to the arrow M. The belt 1 has a predetermined width and a slit hole 2 continuously and repeatedly provided at a predetermined pitch, and a transmission type optical sensor 3 installed so as to sandwich the belt 1 is light-transmitted depending on the presence or absence of the slit hole 2. Since the transmission and blocking of the signal are repeated, the movement status monitor signal generated from the optical sensor 3 according to the movement of the belt 1 outputs the one-phase encoder signal A in a pulsed manner through the signal processing circuit 9. The slit hole 2 does not need to be provided in the entire range of the special belt 1, and its installation position and installation range may be provided in a limited range according to the intended movement distance of the moving body 6.
図２は，モータ５の出力軸１３に連結されベルト１を駆動するのに好適な駆動プーリ４の構成を説明する図である。駆動プーリ４の軸中心にはモータ５の出力軸１３と連結するために取り付け穴１２が設けられている。また，駆動プーリ４の外周部には，表面の摩擦力を大きくするためランダムな凹凸１０が設けてある。この凹凸１０は，微小な酸化アルミナを接着方式で固着したり，人工ダイヤモンド粉を溶着して実現している。この結果，駆動プーリ４とベルト１の両者間に滑りを発生することなくモータ５の駆動力を移動体６へ正しく伝達できることになる。 FIG. 2 is a diagram illustrating the configuration of the drive pulley 4 that is connected to the output shaft 13 of the motor 5 and is suitable for driving the belt 1. A mounting hole 12 is provided at the shaft center of the drive pulley 4 to connect with the output shaft 13 of the motor 5. In addition, random irregularities 10 are provided on the outer peripheral portion of the drive pulley 4 in order to increase the frictional force on the surface. The unevenness 10 is realized by adhering minute alumina oxide by an adhesive method or welding artificial diamond powder. As a result, the driving force of the motor 5 can be correctly transmitted to the moving body 6 without causing slippage between the driving pulley 4 and the belt 1.
図１の例では，移動状況モニタ信号として１相のエンコーダ信号を得る構成であるが，この場合は，ベルト１の移動有無すなわち移動体６の移動有無のみを検出することが可能である。しかし，本発明の移動体リニア駆動機構を搭載した応用装置の目的によっては，移動体６の移動方向を含めて移動状況のモニタを必要とする場合がある。図３は，そのような要求に応えるため光学的センサ１５を追加し，信号処理回路１４から２相のエンコーダ信号ＡおよびＢを得るように構成した例である。光学センサ３と光学センサ１５は，スリット穴２の検出位相が１周期ＴのＴ／４となる距離だけずらして設置したり，同様の位相を発生するインデックス板（図示せず）を追加して２相信号を発生できるようにしてある。 In the example of FIG. 1, a one-phase encoder signal is obtained as the movement status monitor signal. In this case, however, it is possible to detect only whether the belt 1 has moved, that is, whether the moving body 6 has moved. However, depending on the purpose of the application apparatus equipped with the moving body linear drive mechanism of the present invention, it may be necessary to monitor the moving state including the moving direction of the moving body 6. FIG. 3 shows an example in which an optical sensor 15 is added to meet such a requirement, and two-phase encoder signals A and B are obtained from the signal processing circuit 14. The optical sensor 3 and the optical sensor 15 are installed by being shifted by a distance at which the detection phase of the slit hole 2 is T / 4 of one cycle T, or an index plate (not shown) that generates a similar phase is added. A two-phase signal can be generated.
これまでベルト１にスリット穴２を設ける例を説明したが，光学的な信号を得る他の方法を説明する。ベルト１に光を反射する素材を採用し且つスリット穴部の穴加工を廃止してスリット穴と同様の幅とピッチで黒色の光吸収性帯状マークを印刷し，光学センサ３に反射型光学センサを採用すれば，ベルト１の移動に応じて光吸収性帯状マークの有無によって反射型光学センサ部で光の吸収と反射が繰り返され，前記説明と全く同様の機能を実現できる。尚，この構成の場合は，光吸収性帯状マークをベルト１の外周側すなわち駆動プーリ４に設けられた凹凸１０との噛み合いを避けた側に設けた方がより好ましい。 Although the example which provided the slit hole 2 in the belt 1 was demonstrated so far, the other method of obtaining an optical signal is demonstrated. The belt 1 is made of a material that reflects light, the hole processing of the slit hole is abolished, and a black light-absorbing belt mark is printed with the same width and pitch as the slit hole. Is adopted, the absorption and reflection of light are repeated in the reflective optical sensor unit according to the presence or absence of the light-absorbing belt-like mark according to the movement of the belt 1, and the same function as described above can be realized. In the case of this configuration, it is more preferable that the light-absorbing belt-like mark is provided on the outer peripheral side of the belt 1, that is, on the side avoiding meshing with the unevenness 10 provided on the drive pulley 4.
更に他の変形例として，ベルト１に磁性材料を採用し，前記光吸収性帯状マークの有無をＮＳ極の磁極マークに置き換え，光学式センサを磁気センサへ置き換えて信号処理回路９の内部構成を適切に変更すれば，移動体６の移動に応じてベルト１が移動し同時にパルス状の磁極変化信号が得られるので，これまでの説明と同様の移動状況モニタ信号を得られる。 As still another modification, a magnetic material is used for the belt 1, the presence or absence of the light-absorbing belt mark is replaced with a magnetic pole mark of NS pole, and the optical sensor is replaced with a magnetic sensor, so that the signal processing circuit 9 has an internal configuration. If appropriately changed, the belt 1 is moved in accordance with the movement of the moving body 6 and a pulse-shaped magnetic pole change signal is obtained at the same time. Therefore, the same movement status monitor signal as described above can be obtained.
更に，ベルト１に磁性材料を採用し，図１の説明で述べたように，ベルト１に所定の幅を持ち所定のピッチでスリット穴２が連続的に繰り返し設けておいて，このスリット穴２に対向するように感磁性素子を配置すれば，感磁性素子とベルト１との間隙がスリット穴２の存在で変化するのでベルト１の移動に応じて磁気抵抗が変化し，感磁性素子から図１で示したエンコーダ信号Ａと同様の信号が得られる。尚，駆動源のモータは，ステッピングモータにこだわらず，直流モータや種々のモータを使用してもよい。 Further, a magnetic material is used for the belt 1 and, as described in the explanation of FIG. 1, the slit hole 2 is continuously provided repeatedly at a predetermined pitch with a predetermined width. If the magnetic sensitive element is arranged so as to face the belt 1, the gap between the magnetic sensitive element and the belt 1 changes due to the presence of the slit hole 2. A signal similar to the encoder signal A indicated by 1 is obtained. The drive source motor is not limited to the stepping motor, and a DC motor or various motors may be used.
図４は，本発明の移動体リニア駆動機構の制御に用いられる制御装置の一例のブロック図を示している。３は光学式センサ，９は信号処理回路，４１はマイクロプロセッサ，４２はモータ５のモータドライバ，４３は移動体６に載置されるエンドエフェクタのドライバ，４４は前記エンドエフェクタとして設けられたハンド機構，４５は操作キー，４６は表示灯，４７は非常停止ボタンを示している。 FIG. 4 shows a block diagram of an example of a control device used for controlling the mobile linear drive mechanism of the present invention. 3 is an optical sensor, 9 is a signal processing circuit, 41 is a microprocessor, 42 is a motor driver for the motor 5, 43 is a driver for an end effector placed on the moving body 6, and 44 is a hand provided as the end effector. The mechanism, 45 is an operation key, 46 is an indicator lamp, and 47 is an emergency stop button.
マイクロプロセッサ４１は，オペレータのから操作キー４５で入力された信号を受け取るとモータドライバ４２に所定の駆動指令を送出してモータ５を駆動し，ベルト１すなわち移動体６がこの駆動指令通りに移動しているか，光学式センサ３の信号を信号処理回路９経由で入力して随時モニタする。もしもモニタした信号が期待された状況通りに推移している場合は，所定のシーケンスでハンド機構４４を駆動して作業を継続し，もしもモニタした信号が期待された状況と異なる状態を示した場合は，直ちにモータ５の駆動を停止して表示灯４６に異常警報を表示する。また，オペレータが装置の異常動作に気がついて非常停止ボタン４７が押された場合も，前記と同様に異常処理が実行される。尚，この制御装置について光学式センサ３を使用した例で説明したが，このセンサを磁気センサに置き換えた場合でも，同様に機能させることが可能なことは明白である。 When the microprocessor 41 receives a signal input from the operator with the operation key 45, the microprocessor 41 sends a predetermined drive command to the motor driver 42 to drive the motor 5, and the belt 1, that is, the moving body 6 moves according to this drive command. The signal of the optical sensor 3 is input via the signal processing circuit 9 and monitored as needed. If the monitored signal is changing as expected, the hand mechanism 44 is driven in a predetermined sequence and the operation is continued, and if the monitored signal shows a state different from the expected situation Immediately stops driving the motor 5 and displays an abnormality alarm on the indicator lamp 46. Also, when the operator notices an abnormal operation of the apparatus and presses the emergency stop button 47, the abnormality process is executed as described above. Although this control apparatus has been described with an example in which the optical sensor 3 is used, it is obvious that even when this sensor is replaced with a magnetic sensor, it can function in the same manner.
以上のように本発明では，駆動源の駆動力を移動体へ伝達する手段そのものに移動状況をモニタする移動モニタ信号発生手段を一体に設けているため，従来，移動体リニア駆動機構と別体で設けていた移動モニタ信号発生手段を廃止することが可能となり，機構の簡素化が図られるとともに組み立て作業や調整作業の繁雑さを解消し，以て安価な移動体リニア駆動機構を提供できるという点でおおいに役立つものである。 As described above, in the present invention, since the movement monitor signal generating means for monitoring the movement state is integrally provided in the means for transmitting the driving force of the drive source to the moving body, it has been conventionally separated from the moving body linear drive mechanism. It is possible to eliminate the movement monitor signal generation means provided in, thereby simplifying the mechanism and eliminating the complexity of assembly work and adjustment work, thereby providing an inexpensive mobile linear drive mechanism. It ’s a great help in terms.
移動体にハンド機構などを付加して生産機械の単軸アクチュエータに利用でき，移動体に記録ヘッド部や記録ペンを付加すれば記録装置に利用でき，移動体部にシリンジのプランジャ把持機構を付加すればシリンジポンプなどの医療用装置に利用でき，簡素な構成で移動状況モニタを備えた直線移動が不可欠な用途にも適用できる。 It can be used as a single-axis actuator for production machines by adding a hand mechanism to the moving body, and can be used for a recording device by adding a recording head or recording pen to the moving body, and a syringe plunger gripping mechanism is added to the moving body. It can be used in medical devices such as syringe pumps, and can be applied to applications where linear movement with a simple configuration and movement status monitor is indispensable.
１ ベルト
２ スリット穴
３ 光学式センサ
４ 駆動プーリ
５ モータ
６ 移動体
DESCRIPTION OF SYMBOLS 1 Belt 2 Slit hole 3 Optical sensor 4 Drive pulley 5 Motor 6 Moving body
Claims (5)
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003330807A JP2005095264A (en) | 2003-09-24 | 2003-09-24 | Moving object linear driving mechanism |
| DE102004041411A DE102004041411A1 (en) | 2003-09-24 | 2004-08-26 | Linear drive arrangement for a movable body |
| US10/933,396 US20050064971A1 (en) | 2003-09-24 | 2004-09-03 | Movable-body linear drive assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003330807A JP2005095264A (en) | 2003-09-24 | 2003-09-24 | Moving object linear driving mechanism |
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| Publication Number | Publication Date |
|---|---|
| JP2005095264A true JP2005095264A (en) | 2005-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2003330807A Pending JP2005095264A (en) | 2003-09-24 | 2003-09-24 | Moving object linear driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2005095264A (en) |
-
2003
- 2003-09-24 JP JP2003330807A patent/JP2005095264A/en active Pending
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| A621 | Written request for application examination |
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