JP2007244143A - Cable leading structure of actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cable leading structure of an actuator which can shorten the length of a housing and shorten the length of an entire apparatus. <P>SOLUTION: In the cable leading structure of the actuator in which a slider is reciprocated using a driving mechanism provided in the housing to reciprocating an operated body attached on the slider, a cable connector 22 connected to a driving unit 1B of the driving mechanism is built in the end surface side of the housing 2, a concave 23a is formed on the lower surface side of a detachably attached terminal cover 23 for closing the end surface side of a housing 2B, and a leading hole 23b of a cable 24 to be used for leading the cable 24 connected to the cable connector 22 to the bottom surface side of the actuator 1 is formed on the concave 23a. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a cable drawing structure for an actuator.

  In general, a single-axis robot actuator used as an industrial robot uses a servo motor or the like as a drive source, and a ball screw connected to the drive source is provided in an operation region. The ball nut is screwed in a state in which the rotation of the ball nut is restricted, and a slider is attached to the ball nut. Various devices that are operated in the operating region are mounted on the slider.

  In this type of single-axis robot actuator, the ball screw is rotated in the same direction by rotating the servo motor in an appropriate direction, and the slider is moved in an appropriate direction via a ball nut that moves as the ball screw rotates. be able to.

  The location where the servo motor is installed is covered by a housing, and the end surface of the housing is closed by a cover. Inside the cover, a detection means for detecting the rotation amount of the servo motor is installed. The cable drawn from the servo motor and the detection means is drawn to the outside from a through portion formed in the cover. And the bushing is inserted in the penetration part of the cable in order to obtain sealing such as waterproofing, or a filler is filled.

  Further, inside the cover, the cables are routed with a certain length. This is because since the cable is integrated inside the cover, the cover cannot be removed if there is no allowance for the length of the cable when the cover is separated from the housing during maintenance and inspection.

Therefore, a prior art is known in which cables are bundled using a wire drawing tool and pulled out to the outside (Patent Document 1).
According to this prior art, since the cables are bundled by the wiring drawing tool, the cover can be easily attached and detached, and the maintenance and inspection work can be easily performed.
Japanese Patent No. 3466295

  However, according to the above-mentioned prior art, since the wire drawing tool jumps out of the cover, a space in the full length direction is required for drawing the motor cable out of the actuator, and a relay connector is required outside the actuator when the cable is extended. It was. For this reason, there is a drawback that the total length becomes longer than the operation range of the movable slider of the single-axis robot actuator. In addition, when the cable is extended, there is a problem that a relay connector exists outside the actuator, which is in the way.

  An object of the present invention is to solve the above-mentioned problems, and to provide a cable drawing structure for an actuator that can reduce the length of the housing and the size of the entire apparatus.

In order to solve the above-described problems, the present invention provides a cable pulling structure for an actuator that reciprocates a slider by a drive mechanism provided in the housing and reciprocates an object to be operated mounted on the slider. A cable connector connected to the drive portion of the drive mechanism is built in the end surface side, and a recess is formed on the lower surface side of the removable terminal cover that closes the end surface side of the housing, and the cable connector is formed in the recess The cable connection hole is formed on the bottom surface side of the actuator to form a cable extraction hole.
According to the present invention, one end of a cable of the actuator is connected side by side with a cable connector in the actuator terminal cover, and the other end is connected to a drive controller that sends a drive signal to the drive mechanism.
Furthermore, the present invention lies in that the actuator side connector of the cable is composed of a plurality of small connectors, and the lengths of the lead wires of the cables connected to the small connectors are arranged alternately.

According to the first aspect, the dead space can be minimized and the total length of the actuator can be shortened with respect to the movable slider operating range.
According to the second aspect, the overall length of the actuator can be shortened, and since there is no relay connector outside the actuator even when the motor cable is extended, wiring is simple and simple.
According to the third aspect, since the cable can be easily inserted into the flexible conduit or the like, the wiring can be easily routed through the extension cable.

Embodiments shown in the drawings will be described in detail below with reference to the drawings.
1 to 5 show a single-axis robot actuator, and FIG. 6 shows a movable slider. FIGS. 7A, 7B, and 8C show the slider body, and FIGS. 9A, 9B, and 10 show the sliding members.

  1 to 5 show a single-axis robot actuator, which is composed of a mechanism unit 1A and a drive unit 1B of the actuator 1. FIG.

  The mechanism portion 1A has a ball screw shaft 3 and a ball screw nut 4 built in a housing 2A, and a movable slider 5 that moves together with the ball screw nut 4 is provided on the upper surface of the housing 2A. The housing 2A includes a long linear guide rail 6 constituting the bottom surface, a pair of side covers 7 provided on both sides of the linear guide rail 6, and the linear guide rail 6 and the pair of side covers 7 in the front-rear direction. A flange 8 and a bracket 9 mounted on both sides, and a band-like shape disposed along the opening groove 2a of the housing 2A so as to close the gap between the upper surfaces of the pair of side covers 7 between the flange 8 and the bracket 9. It consists of a stainless steel sheet 10.

  One end of the ball screw shaft 3 is supported by the flange 8 via a rotary bearing 11, and the other end is supported by a bracket 9 via a rotary bearing 12. The other end of the ball screw shaft 3 is connected via a coupling 13 to a rotation shaft 14a of a servo motor 14 provided in the drive unit 1B.

The movable slider 5 slides along the longitudinal direction on the upper surface of the housing 2A. As shown in FIG. 6, the movable slider 5 is disposed on the upper surface of the stainless steel sheet 10 and the lower portion is opened. A box-shaped table cover 15, a sliding member 16 slidably mounted on the stainless steel sheet 10, and a slider main body that holds the sliding member 16 and supports the object to be operated through the upper surface of the table cover 15. 17. The slider body 17 is provided integrally with a linear guide block 18 slidably disposed along the linear guide rail 6, and reciprocates along the ball screw shaft 3 as the ball screw nut 4 moves. It works.
As shown in FIGS. 7 (a), (b), (c) and FIGS. 8 (a), (b), the slider body 17 has support columns 17a erected at the four corners of a substantially rectangular upper surface, and the front-rear direction of the upper surface. Is provided with a trapezoidal convex surface portion 17b. The pair of front and rear struts 17a are provided so as to sandwich both sides of the convex surface portion 17b, and the front struts 17a and the rear struts 17a are connected by connecting members 17c. A mounting portion 17d such as a screw hole for supporting the object to be operated is provided on the upper surface of the column 17a. The stainless steel sheet 10 is assembled through a gap 17f between the convex portion 17b of the slider body 17 and the connecting member 17c (see FIG. 6).

  As shown in FIGS. 9A, 9B, and 10, the sliding member 16 is formed by resin molding, and the rectangular frame portion 16a and the intermediate positions of both side portions of the frame portion 16a are mutually positioned. It is comprised with the connection part 16b to connect. The front and rear frame portions 16a are provided with arc-shaped sliding portions 19a and 19b that slidably contact the upper surface of the stainless steel sheet 10, and the upper surface of the connecting portion 16b at the intermediate position is provided on the lower surface of the stainless steel sheet 10. An arcuate sliding portion 19c that is slidably contacted is provided. The stainless steel sheet 10 is assembled through the upper surface of the sliding portion 19c on both sides through the lower surface side of the sliding portions 19a and 19b.

The lower surface side of the connecting portion 16b provided with the sliding portion 19c is formed in an arc shape, and a concave line 17e corresponding to the arc-shaped portion 19d is formed on the upper surface of the convex surface portion 17b of the slider body 17 in the width direction. Are formed along.
As shown in FIG. 6, the table cover 15 is assembled to the slider body 17 so as to cover the slide member 16. Opening holes 15a are formed at the four corners of the upper surface of the table cover 15 so as to correspond to the columns 17a of the slider body 17, and the tips of the columns 17a are assembled in the opening holes 15a. The object to be operated is assembled to the mounting portion 17d at the tip of the column 17a. Two mounting holes 15b are formed on both sides of the center portion of the upper surface of the table cover 15, and screws (not shown) are threaded into the screw holes 17g formed in the connecting member 17c of the slider body 17 through the mounting holes 15b. is doing.
The flange 8 and the bracket 9 are provided with sheet pressers 20 and 21 for pressing the front and rear ends of the stainless sheet 10.

The motor 14 provided in the drive unit 1B is housed in a housing 2B, and a terminal cover 23 for housing a cable connector 22 that sends electric power and drive signals to the motor 14 at the rear end of the housing 2B. It is detachably attached.
The terminal cover 23 is formed in a box shape so as to form a fixed space with the rear end of the motor 14, and a recess 23a is formed by cutting out one side of the lower side, and a cable 24 is formed on the lower surface side of the recess 23a. An insertion hole 23b is formed to pass through.

  As shown in FIG. 11, a connector 25 connected to the cable connector 22 is attached to one end of the cable 24. The connector 25 includes a plurality of small connectors, and these connectors are attached to a plurality of lead wires 24a and 24b whose lengths are changed alternately. The cable 24 is pulled out from the insertion hole 23b of the terminal cover 23 toward the bottom surface side, and the connector 26 at the other end is connected to a drive controller side connector 27 that sends a drive signal to the drive mechanism. The cable 24 is disposed side by side in the cable connector 22 and the terminal cover 23, and the thickness of the terminal cover 23 is kept to a minimum.

According to the above configuration, when a drive signal is sent from the drive controller via the cable 24, the drive signal is sent to the motor 14 through the cable connector 22, and the motor 14 is rotationally driven. The rotation of the motor 14 is transmitted to the ball screw shaft 3 through the coupling 13, and the ball screw nut 4 moves along the ball screw shaft 3 as the ball screw shaft 3 rotates. Then, the slider body 17 that moves integrally with the ball screw nut 4 starts moving together with the linear guide block 18 that is slidably disposed along the linear guide rail 6. In this way, the movable slider 5 moves, and the operated object mounted on the movable slider 5 is moved. The movable slider 5 slides inside the table cover 15 while supporting the stainless steel sheet 10 with the sliding member 16 and holding the stainless steel sheet 10 by the sliding portions 19 a, 19 b, and 19 c of the sliding member 16. The stainless steel sheet 10 is assembled through the lower surface side of the sliding portion 19a, the upper surface side of the sliding portion 19c, and the lower surface side of the sliding portion 19b.
Thus, the movable slider 5 is reciprocated along the ball screw shaft 3 to reciprocate the object to be operated.

  On the other hand, the cable 24 is connected by connecting the connector 25 from above to the cable connector 22 installed with the terminal cover 23 removed and facing upward, and extending the cable 24 in the width direction. It is bent downward from the width direction and pulled out from the insertion hole 23b of the terminal cover 23 toward the bottom surface. Then, the terminal cover 23 is put on the outside of the cable connector 22 and the cable 24 and screwed. The cable 24 is drawn out from an insertion hole 23b formed on the lower surface side of the recess 23a of the terminal cover 23. The cable connector 22 and the cable 24 are arranged without being arranged in the longitudinal direction of the actuator 1, the cable 24 is extended from the upper surface of the cable connector 22 in the width direction of the actuator 1, and the cable 24 is directed downward from the middle. Pull out from the insertion hole 23b toward the bottom. Thus, since the thickness of the terminal cover 23 can be minimized, the actuator 1 can be downsized.

  Thus, since it can connect to a drive controller, without using a relay connector in the middle of the cable 24, size reduction of the actuator 1 can be achieved. Further, the connecting connector 25 is composed of a plurality of small connectors 25, and these connectors 25 are attached to a plurality of lead wires 24a and 24b whose lengths are alternately changed as shown in FIG. Since the cable 24 can be easily inserted into a flexible conduit or the like, the wiring can be easily routed through the extension cable.

  Further, since the small connector 25 on the extension cable side has a structure in which the lengths of the lead wires 24a and 24b from the cable sheath end to the plurality of connectors are alternately arranged, the connectors 22 and 25 can be connected to each other. Yes. As shown in FIG. 11, the other end on the opposite side of the extension cable 24 is connected to the connector 27 of the drive controller via the connection connector “26. Thus, a relay connector connection is provided between the actuator 1 and the drive controller. No structure is possible.

  Note that the present invention is not limited to the above-described embodiment. For example, the direction in which the cable 24 is pulled out is not limited to the direction of the bottom surface, but can be pulled out in the side surface direction or upward.

It is a top view which shows embodiment of the cable drawer structure of the actuator of this invention. It is a front view which shows embodiment of the cable drawer structure of the actuator of this invention. It is the sectional view on the AA line of FIG. FIG. 3 is a sectional view taken along line BB in FIG. 2. It is CC sectional view taken on the line of FIG. It is a perspective view which shows the movable slider of FIG. The slider main body is shown, (a) is a plan view, (b) is a front view, and (c) is a right side view. (A) is the DD sectional view taken on the line of FIG.7 (b), (b) is the EE sectional view taken on the line of Fig.7 (a). A sliding member is shown, (a) is a top view, (b) is a bottom view. It is the FF sectional view taken on the line of Fig.9 (a). It is a conceptual diagram which shows an extension cable.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Actuator 1A Mechanism part 1B Drive part 2A, 2B Housing 3 Ball screw shaft 4 Ball screw nut 5 Movable slider 6 Linear guide rail 7 Side cover 8 Flange 9 Bracket 10 Stainless steel sheet (sheet)
11, 12 Rotary bearing 13 Coupling 14 Servo motor (motor)
DESCRIPTION OF SYMBOLS 15 Table cover 16 Sliding member 17 Slider main body 18 Linear guide block 19a, 19b, 19c Sliding part 20, 21 Sheet pressing 22 Cable connector 23 Terminal cover 23a Recess 23b Insertion hole 24 Cable 24a, 24b Lead wire 25, 26 Connector

Claims (3)

  In a cable lead-out structure of an actuator that reciprocates a slider by a drive mechanism provided in the housing and reciprocates an object to be operated mounted on the slider, the drive unit of the drive mechanism is connected to the end surface side of the housing A recessed portion is formed on the lower surface side of the removable terminal cover that closes the end surface side of the housing, and the cable connected to the cable connector is pulled out to the bottom surface side of the actuator. A cable drawing structure for an actuator, wherein a cable drawing hole is formed.   The actuator according to claim 1, wherein one end of a cable of the actuator is connected side by side with a cable connector in the actuator terminal cover, and the other end is connected to a drive controller that sends a drive signal to the drive mechanism. Cable drawer structure.   The actuator cable according to claim 1 or 2, wherein the actuator side connector of the cable is composed of a plurality of small connectors, and the lengths of the lead wires of the cables connected to the small connectors are arranged alternately. Drawer structure.

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