JP2008114995A - Carrying device - Google Patents

Carrying device Download PDF

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Publication number
JP2008114995A
JP2008114995A JP2006301387A JP2006301387A JP2008114995A JP 2008114995 A JP2008114995 A JP 2008114995A JP 2006301387 A JP2006301387 A JP 2006301387A JP 2006301387 A JP2006301387 A JP 2006301387A JP 2008114995 A JP2008114995 A JP 2008114995A
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ball screw
carrier
parallel
motor
flange
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JP5162882B2 (en
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Kazuyoshi Nogami
和義 野上
Shigeo Matsushita
茂生 松下
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a carrying device allowing high-speed carrying by reducing a load acting on every ball screw by half, and capable of rapidly and safely carrying a heavy load. <P>SOLUTION: This carrying device equipped with a ball screw mechanism is provided with: a carrier 21 for mounting a carrying object 24 thereon; a flange for attaching the carrier 21 thereto; first and second nuts 16 and 17 for attaching the flange; first and second ball screws 10 and 11 for straightly moving the first and second nuts 16 and 17, respectively; first and second rotation drive means 14 and 15 for rotating the first and second ball screws 10 and 11, respectively; guide means 22 and 23 for guiding the carrier 21; and a fixation base 1 for fixing the guide means 22 and 23 thereto. In the carrying device, the first and second ball screws are arranged in parallel with each other. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、ボールネジ駆動の搬送装置に関する。   The present invention relates to a ball screw drive conveying device.

従来のボールネジ駆動による搬送装置は、１組のボールネジ機構でキャリアを移動させている（例えば、特許文献１参照）。
特開平４−１３６７０５号公報（第２頁、図１） In a conventional conveying device using a ball screw drive, a carrier is moved by a set of ball screw mechanisms (see, for example, Patent Document 1).
JP-A-4-136705 (second page, FIG. 1)

従来の搬送装置は、重量物を高速搬送する場合には、ボールネジおよび駆動モータが大型化することに伴い、システム全体が大型化していた。また、ボールネジ容量に限界があるため、高速搬送には適していなかった。
本発明はこのような問題点に鑑みてなされたものであり、２つのボールネジを並列に配置し、高速かつ安全にすることができる搬送装置を提供することを目的とする。 In the conventional transfer device, when a heavy object is transferred at a high speed, the entire system is increased in size as the ball screw and the drive motor are increased in size. Further, since the capacity of the ball screw is limited, it is not suitable for high-speed conveyance.
The present invention has been made in view of such a problem, and an object of the present invention is to provide a conveying apparatus in which two ball screws are arranged in parallel and can be made fast and safe.

上記問題を解決するため、本発明は、次のように構成したのである。
請求項１に記載の発明は、ボールネジ機構を備えた搬送装置において、搬送物を載置するためのキャリアと、前記キャリアを取り付けるためのフランジと、前記フランジを取り付けるための第１および第２のナットと、前記第１および第２のナットをそれぞれ直動させるための第１および第２のボールネジと、前記第１および第２のボールネジをそれぞれ回転させるための第１および第２の回転駆動手段と、前記キャリアを案内するためのガイド手段と、前記ガイド手段が固定される固定ベースと、を備え、前記第１および第２のボールネジが互いに並列に配置されたことを特徴とするものである。
また、請求項２に記載の発明は、前記固定ベース面に垂直な軸をａ１、ａ２、前記固定ベース面に平行で前記ａ１、ａ２に垂直な軸をｂ１、ｂ２、前記ａ１、ａ２と前記ｂ１、ｂ２に垂直な軸をｃ１、ｃ２、前記ａ１、ａ２に平行な軸をｅ１、ｅ２、前記ｂ１、ｂ２に平行な軸をｄ１、ｄ２としたとき、前記第１のモータおよび前記第１のボールネジは、前記ａ１周りに回転可能であり、前記第２のモータおよび前記第２のボールネジは、前記ａ２周りに回転可能であり、前記フランジは、前記第１および第２のナットにそれぞれ取り付けられた前記ｄ１周りに回転可能なハウジングを介して取り付けられるとともに、前記前記ｅ１、ｅ２に平行な軸ｆ周りに回転可能であることを特徴とするものである。
また、請求項３に記載の発明は、前記モータと前記ボールネジとを備えた直動駆動装置に代えて、エアシリンダ、油圧シリンダ、リニアモータ又はラックピニオンのいずれかを備えたことを特徴とするものである。 In order to solve the above problem, the present invention is configured as follows.
According to the first aspect of the present invention, there is provided a conveying device including a ball screw mechanism, a carrier for placing a conveyance object, a flange for attaching the carrier, and first and second for attaching the flange. A nut, first and second ball screws for linearly moving the first and second nuts, respectively, and first and second rotation driving means for rotating the first and second ball screws, respectively. And a guide means for guiding the carrier and a fixed base to which the guide means is fixed, wherein the first and second ball screws are arranged in parallel with each other. .
In the invention according to claim 2, the axes perpendicular to the fixed base surface are a1 and a2, the axes parallel to the fixed base surface and perpendicular to the a1 and a2 are b1, b2, the a1 and a2, and the When the axes perpendicular to b1 and b2 are c1 and c2, the axes parallel to the a1 and a2 are e1 and e2, and the axes parallel to the b1 and b2 are d1 and d2, the first motor and the first And the second motor and the second ball screw are rotatable around the a2, and the flange is attached to the first and second nuts, respectively. It is attached through a housing that is rotatable around the above-mentioned d1, and is rotatable around an axis f parallel to the above-mentioned e1 and e2.
The invention according to claim 3 is characterized in that, instead of the linear motion drive device including the motor and the ball screw, any one of an air cylinder, a hydraulic cylinder, a linear motor, or a rack and pinion is provided. Is.

本願発明によると、ボールネジ１本当たりに作用する負荷を半減させ、高速搬送を可能とすることができる。 According to the present invention, the load acting on one ball screw can be halved and high-speed conveyance can be achieved.

以下、本発明の実施の形態について図を参照して説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１は本実施例である搬送装置の上面構成図、図２は側面図、図３は正面図である。
図１、図２、図３において、地面に固定された固定ベース１である。
２、３は、固定ベース１面に垂直な軸ａ１、ａ２に回転自由に連結された２対のハウジングであり、それぞれ固定ベース１面に平行で軸ａ１、ａ２に垂直な軸ｂ１、ｂ２に回転自由に連結されたハウジング４、５を備えている。
ハウジング４、５にはそれぞれ回転軸ａ１、ａ２と回転軸軸ｂ１、ｂ２に垂直な軸ｃ１、ｃ２上に、ベアリング６、７、８、９により回転自由に支持されたボールネジ１０、１１を有する。ボールネジ１０、１１はそれぞれカップリング１２、１３によりモータ１４、１５と連結され、モータ１４、１５はそれぞれハウジング４、５に固定され、モータ１４、１５によりボールネジ１０、１１を駆動する。
ボールネジ１０、１１に備え付けられたナット１６、１７は回転軸ｂ１、ｂ２に平行な回転軸ｄ１、ｄ２に回転自由に連結されたハウジング１８、１９を有し、ハウジング１８、１９は、回転軸ａ１、ａ２に平行な回転軸ｅ１、ｅ２に回転自由にフランジ２０に連結される。
フランジ２０は回転軸ｅ１、ｅ２に平行な軸ｆに回転自由にキャリア２１に連結され、キャリア２１はリニアガイド２２、２３によって固定ベース１に連結される。搬送物２４はキャリア２１に固定され、モータ１４、１５の駆動により固定ベース１上に設けられたリニアガイド２２、２３の長手方向軸ｇ上の移動を可能とする。 FIG. 1 is a top view of a transfer apparatus according to this embodiment, FIG. 2 is a side view, and FIG. 3 is a front view.
1, FIG. 2 and FIG. 3, a fixed base 1 fixed to the ground.
Reference numerals 2 and 3 denote two pairs of housings rotatably connected to the axes a1 and a2 perpendicular to the surface of the fixed base 1, and are respectively connected to the axes b1 and b2 parallel to the surface of the fixed base 1 and perpendicular to the axes a1 and a2. Housings 4 and 5 are rotatably connected.
The housings 4 and 5 have ball screws 10 and 11 that are rotatably supported by bearings 6, 7, 8, and 9 on axes c1 and c2 that are perpendicular to the rotation axes a1 and a2 and the rotation axis b1 and b2, respectively. . The ball screws 10 and 11 are connected to motors 14 and 15 by couplings 12 and 13, respectively. The motors 14 and 15 are fixed to the housings 4 and 5, respectively, and the ball screws 10 and 11 are driven by the motors 14 and 15.
The nuts 16 and 17 provided on the ball screws 10 and 11 have housings 18 and 19 rotatably connected to rotation axes d1 and d2 parallel to the rotation axes b1 and b2, respectively. , A2 are connected to the flange 20 so as to be freely rotatable about rotation axes e1 and e2 parallel to a2.
The flange 20 is rotatably connected to a carrier 21 on an axis f parallel to the rotation axes e1 and e2, and the carrier 21 is connected to the fixed base 1 by linear guides 22 and 23. The conveyed product 24 is fixed to the carrier 21 and allows the linear guides 22 and 23 provided on the fixed base 1 to move on the longitudinal axis g by driving the motors 14 and 15.

次に、その動作について説明する。
前記モータ１４、１５が同期して駆動する状態では、ナット１６、１７が同じ動作をするため、搬送物は軸ｇ上を移動する。
一方、モータ１５が止まっている状態で、モータ１４のみを駆動した場合には、図４に示すように、モータ１５とナット１７の距離ｒ１を保ったまま回転軸ａ２回りにθ１だけ回転する。フランジ２０は回転軸ｅ２回りにθ２回転することで、回転軸ｅ１、ｅ２の距離ｒ２を一定に保つため、ボールネジ１０は回転軸ａ１回りにθ３だけ回転するが、キャリア２１はリニアガイド２２、２３により軸ｇ上にしか可動できないためキャリア２１はＬ１だけ移動する。 Next, the operation will be described.
In the state where the motors 14 and 15 are driven synchronously, the nuts 16 and 17 perform the same operation, so that the conveyed product moves on the axis g.
On the other hand, when only the motor 14 is driven while the motor 15 is stopped, as shown in FIG. 4, the motor 15 and the nut 17 are rotated by θ1 around the rotation axis a2 while maintaining the distance r1 between the motor 15 and the nut 17. Since the flange 20 rotates θ2 around the rotation axis e2, the distance r2 between the rotation axes e1 and e2 is kept constant, so that the ball screw 10 rotates about θ3 around the rotation axis a1, but the carrier 21 is linear guides 22, 23. Can move only on the axis g, so that the carrier 21 moves by L1.

また、図５に示すように、ハウジング３の組付けにＬ２の取り付け誤差が生じた場合でもボールネジとナット１７はそれぞれ回転軸ｂ２、ｄ２に回転自由に連結されているため、回転軸ｄ２回りにボールネジがθ４傾いて取り付けることが可能である。そのためボールネジ１０、１１の取り付けに誤差が生じた場合でも前記動作が可能である。   Further, as shown in FIG. 5, even when the mounting error of L2 occurs in the assembly of the housing 3, the ball screw and the nut 17 are rotatably connected to the rotary shafts b2 and d2, respectively. The ball screw can be attached with an inclination of θ4. Therefore, even when an error occurs in the mounting of the ball screws 10 and 11, the above operation is possible.

なお、前記モータと前記ボールネジとを備えた直動駆動装置に代えて、エアシリンダ、油圧シリンダ、リニアモータ又はラックピニオンを備えた直動駆動装置としても良い。   Note that, instead of the linear drive device including the motor and the ball screw, a linear drive device including an air cylinder, a hydraulic cylinder, a linear motor, or a rack and pinion may be used.

以上のように、２つのボールネジを並列に配置しているので、高速ボールネジ１本当たりに作用する負荷を半減させ、高速搬送することができる。
また、各ボールネジおよびキャリアは所定方向に回転することができるので、同期誤差や取り付け誤差が存在する場合、さらには、非常停止時の停止位置ズレが発生する場合であっても、搬送が可能である。 As described above, since the two ball screws are arranged in parallel, the load acting on one high-speed ball screw can be halved and high-speed conveyance can be performed.
In addition, since each ball screw and carrier can rotate in a predetermined direction, it can be transported even if there is a synchronization error or mounting error, or even when a stop position shift occurs during an emergency stop. is there.

本発明の第１実施例を示す搬送装置の上面図The top view of the conveying apparatus which shows 1st Example of this invention 本発明の第１実施例を示す搬送装置の側面図The side view of the conveying apparatus which shows 1st Example of this invention 本発明の第１実施例を示す搬送装置の正面図The front view of the conveying apparatus which shows 1st Example of this invention 本発明の第１実施例を示す搬送装置の動作上面図Operational top view of the transfer apparatus showing the first embodiment of the present invention 本発明の第１実施例を示す搬送装置の組付け図Assembly diagram of transport apparatus showing first embodiment of the present invention

符号の説明Explanation of symbols

１ 固定ベース
２、３、４、５、１８、１９ ハウジング
６、７、８、９ ベアリング
１０、１１ ボールネジ
１２、１３ カップリング
１４、１５ モータ
１２、１３ リスト
１６、１７ ナット
２０ フランジ
２１ キャリア
２２、２３ リニアガイド
２４ 搬送物 1 fixed base 2, 3, 4, 5, 18, 19 housing 6, 7, 8, 9 bearing 10, 11 ball screw 12, 13 coupling 14, 15 motor 12, 13 wrist 16, 17 nut 20 flange 21 carrier 22, 23 Linear guide 24 Conveyed material

Claims (3)

ボールネジ機構を備えた搬送装置において、
搬送物を載置するためのキャリアと、前記キャリアを取り付けるためのフランジと、
前記フランジを取り付けるための第１および第２のナットと、
前記第１および第２のナットをそれぞれ直動させるための第１および第２のボールネジと、
前記第１および第２のボールネジをそれぞれ回転させるための第１および第２の回転駆動手段と、
前記キャリアを案内するためのガイド手段と、
前記ガイド手段が固定される固定ベースと、を備え、
前記第１および第２のボールネジが互いに並列に配置されたことを特徴とする搬送装置。 In a transfer device equipped with a ball screw mechanism,
A carrier for placing a conveyed product, a flange for mounting the carrier,
First and second nuts for mounting the flange;
First and second ball screws for linearly moving the first and second nuts, respectively;
First and second rotation drive means for rotating the first and second ball screws, respectively;
Guide means for guiding the carrier;
A fixing base to which the guide means is fixed,
A conveying apparatus, wherein the first and second ball screws are arranged in parallel to each other. 前記固定ベース面に垂直な軸をａ１、ａ２、前記固定ベース面に平行で前記ａ１、ａ２に垂直な軸をｂ１、ｂ２、前記ａ１、ａ２と前記ｂ１、ｂ２に垂直な軸をｃ１、ｃ２、前記ａ１、ａ２に平行な軸をｅ１、ｅ２、前記ｂ１、ｂ２に平行な軸をｄ１、ｄ２としたとき、
前記第１のモータおよび前記第１のボールネジは、前記ａ１周りに回転可能であり、
前記第２のモータおよび前記第２のボールネジは、前記ａ２周りに回転可能であり、
前記フランジは、前記第１および第２のナットにそれぞれ取り付けられた前記ｄ１周りに回転可能なハウジングを介して取り付けられるとともに、前記前記ｅ１、ｅ２に平行な軸ｆ周りに回転可能であることを特徴とする請求項１記載の搬送装置。 The axes perpendicular to the fixed base surface are a1 and a2, the axes parallel to the fixed base surface and perpendicular to the a1 and a2 are b1 and b2, and the axes perpendicular to the a1 and a2 and b1 and b2 are c1 and c2. When the axes parallel to the a1 and a2 are e1 and e2, and the axes parallel to the b1 and b2 are d1 and d2,
The first motor and the first ball screw are rotatable around the a1,
The second motor and the second ball screw are rotatable around the a2,
The flange is attached through a housing rotatable around the d1 attached to the first and second nuts, respectively, and is rotatable around an axis f parallel to the e1 and e2. The transport apparatus according to claim 1, wherein 前記モータと前記ボールネジとを備えた直動駆動装置に代えて、
エアシリンダ、油圧シリンダ、リニアモータ又はラックピニオンのいずれかを備えた直動駆動装置としたことを特徴とする請求項１乃至２いずれかに記載の搬送装置。 Instead of a linear drive device comprising the motor and the ball screw,
The conveying apparatus according to any one of claims 1 to 2, wherein the conveying apparatus is a linear motion driving apparatus including any one of an air cylinder, a hydraulic cylinder, a linear motor, and a rack and pinion.
JP2006301387A 2006-11-07 2006-11-07 Transport device Active JP5162882B2 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009130910A1 (en) 2008-04-25 2009-10-29 日本曹達株式会社 Granular pesticide composition and method of producing the same
US20150343630A1 (en) * 2012-03-29 2015-12-03 Ulvac, Inc. Articulated robot, and conveying device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51160879U (en) * 1975-06-16 1976-12-21
JPS5244988A (en) * 1975-10-07 1977-04-08 Yasunari Hirata Accumulate conveyor
JPH04136705A (en) * 1990-09-28 1992-05-11 Hitachi Denshi Ltd Positioning stage

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS51160879U (en) * 1975-06-16 1976-12-21
JPS5244988A (en) * 1975-10-07 1977-04-08 Yasunari Hirata Accumulate conveyor
JPH04136705A (en) * 1990-09-28 1992-05-11 Hitachi Denshi Ltd Positioning stage

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009130910A1 (en) 2008-04-25 2009-10-29 日本曹達株式会社 Granular pesticide composition and method of producing the same
US20150343630A1 (en) * 2012-03-29 2015-12-03 Ulvac, Inc. Articulated robot, and conveying device
US9561586B2 (en) * 2012-03-29 2017-02-07 Ulvac, Inc. Articulated robot, and conveying device

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