JP2008240773A - Free-running actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inexpensively-manufacturable and extremely easily-handleable free-running actuator having a simplified structure, capable of enabling two-dimensional or three-dimensional movement of a target to be conveyed. <P>SOLUTION: The free-running actuator comprises a drive slider 3 movable along the X-direction, a drive means 5 for arbitrarily advancing/retreating the drive slider 3, a guide block 1 on which a movable body is mounted, a guide member 2 for guiding the guide block 1 in a direction including an X-direction component, and a transmission member 6 for connecting the guide block 1 and the drive slider 3 to each other so as to transmit an amount of movement of the drive slider 3 in the X-direction to the guide block 1. The transmission member 6 is expandable in a direction perpendicular to the X-direction. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a free-running actuator capable of guiding an object along an arbitrary route including a straight line and a curved line and giving an arbitrary amount of movement. The present invention relates to a free-running actuator that can be widely used for various purposes.

  Conventionally, various types of uniaxial actuators that provide translational motion in one direction with respect to an object have been proposed. Various types of two-dimensional actuators have been proposed, in which two uniaxial actuators are combined to position an object in a two-dimensional plane, and three dimensional actuators are combined to position an object in a three-dimensional space. Yes.

  However, since these two-dimensional actuators and three-dimensional actuators are configured by combining a plurality of single-axis actuators, their structures are complicated, production costs are high, and compactness is difficult to achieve. In addition, since control parameters exist for each uniaxial actuator, the control of each uniaxial actuator has to be complicated when the target is guided along a predetermined locus in the three-dimensional space. For this reason, a three-dimensional actuator combined with a single-axis actuator simply determines the target object, apart from applications such as machine tools that require high-precision guidance and positioning of the target object in a three-dimensional space. It was unsuitable for applications that wanted to move along the trajectory.

  On the other hand, as a device that guides an object along a predetermined arcuate locus in a two-dimensional plane without using a single-axis actuator, a turning table device using a curved rail is known (Japanese Patent Laid-Open No. 2003-117812). . In this turning table device, the table moves along an arcuate locus along a curved rail having a constant curvature, while the table is driven by a ball screw. In a ball screw, a nut member screwed to a screw shaft performs a linear reciprocating motion according to the rotation of the screw shaft. In order to convert the linear reciprocating motion of the nut member into a turning motion of the table, the nut member is a leaf spring. It is joined with the table via. That is, a change in the distance between the nut member and the table is absorbed by the elastic deformation of the leaf spring, and a turning motion is given to the table by the linear reciprocation of the nut member.

Further, as another conventional technique for giving a turning motion to a table using a curved rail, a timing belt is attached along the curved rail, while a pulley and a motor for rotationally driving the table are mounted on the table. Is known in which a table is self-propelled by meshing with a timing belt (JP-A-8-52630).
JP 2003-117812 A JP-A-8-52630

  However, in the prior art disclosed in Japanese Patent Application Laid-Open No. 2003-117812, the table that performs the turning motion and the nut member of the ball screw are coupled by a leaf spring, and therefore the table is swung from the relationship with the amount of elastic deformation of the leaf spring. It was difficult to set a large range of motion.

  Moreover, in the prior art disclosed in Japanese Patent Laid-Open No. 8-52630, it is necessary to mount a motor on the table, which increases the weight of the table, deteriorates its mobility, and increases the size of the table itself. There was a point.

  In particular, when an actuator is used for decorative purposes such as a window display instead of an application that requires the accuracy of movement of the target object, such as a machine tool or a conveying device, the target object is simple and low cost. However, it is important that various two-dimensional or three-dimensional motions can be given, and a simple actuator that satisfies such requirements has not yet been proposed.

  The present invention has been made in view of such problems, and the object of the present invention is to easily give a two-dimensional or three-dimensional motion to an object to be transported, In addition, it is an object of the present invention to provide a free-running actuator that has a simple configuration, can be produced at low cost, and is extremely easy to handle.

  In order to achieve the above object, a free-running actuator of the present invention includes a drive slider that can move along the X direction, a drive unit that gives an arbitrary amount of advance / retreat to the drive slider, and a guide that mounts a movable body. A block, a guide member for guiding the guide block in a direction including an X-direction component, and connecting the guide block and the drive slider to transmit the X-direction movement amount of the drive slider to the guide block; It is comprised from the transmission member which can be expanded-contracted about the orthogonal direction.

  According to such technical means, if the guide member guides the guide block in the direction of movement of the drive slider, that is, the direction including the component in the X direction, the guide member is arbitrary in a two-dimensional plane or a three-dimensional space. Any guide can be used as long as it guides the guide block along the trajectory. In this case, when the guide block is guided on an arbitrary trajectory by the guide member, the distance between the guide block and the drive slider moving in the X direction changes sequentially, but the guide block and the drive slider are connected. When the transmission means expands and contracts in the direction orthogonal to the X direction, the coupling state of the guide block and the drive slider is maintained, and the amount of movement of the drive slider in the X direction is transmitted to the guide block so that the guide block moves along the guide member. Can be moved. Therefore, according to the present invention, the guide block can be moved along the path of the guide member guiding the guide block.

  Further, the structure of the guide block and the guide member can be arbitrarily selected according to the movement accuracy required for the movable body that is the object to be conveyed. While a simple metal shaft is used, the guide block can be a synthetic resin block that is loosely fitted to the metal shaft. If the guide block needs to move accurately, for example, a curvilinear rail formed with a ball rolling groove is selected as the guide member, while the guide block rolls the ball rolling groove. It is possible to employ one having an infinitely circulating ball. That is, according to the present invention, the combination of the guide member and the guide block can be selected from various types according to the required movement accuracy, and a simple and low-cost free-running actuator can be obtained. is there.

  The free-running actuator of the present invention will be described in detail with reference to the accompanying drawings.

  1 and 2 are perspective views showing a first embodiment of the universal traveling actuator of the present invention. This free-running actuator includes a guide block 1 that can fix a movable body that is a conveyance object, a track rail 2 that serves as a guide member for guiding the guide block 1, and a reciprocating motion along the arrow X direction shown in the figure. The drive slider 3 includes a free drive slider 3, a ball screw 5 as drive means for moving the drive slider 3 forward and backward according to the amount of rotation of the motor 4, and a transmission member 6 that connects the drive slider 3 and the guide block 1. ing. These components are arranged on the fixed base 7 as a unit.

  The track rail 2 includes a linear guide rail 2A formed in a linear shape and a curved guide rail 2B formed in an arc shape with a predetermined curvature, and the guide block 1 includes the linear guide rail 2A and the linear guide rail 2A. It can move freely along the curved guide rail 2B without limitation. In the example shown in FIG. 1, the linear guide rail 2 </ b> A is arranged with its longitudinal direction coinciding with the X direction.

  FIG. 2 is a perspective view showing an example of the guide block 1 and shows a state assembled to the linear guide rail 2A. The straight guide rail 2A has a substantially rectangular cross section, and a total of four ball rolling grooves 20 along which the balls 10 roll are formed along the longitudinal direction. The curved guide rail 2B is also formed with four ball rolling grooves continuous with the ball rolling groove 20 of the linear guide rail 2A. Further, bolt mounting holes 21 are formed in the linear guide rail 2A at appropriate intervals in the longitudinal direction, and the linear guide rail 2A is fixed to the fixed base by a fixing bolt (not shown) inserted into the bolt mounting hole 21. 7 is disposed.

  On the other hand, the guide block 1 has an infinite circulation path 11 for the ball 10, and the ball rolls in the infinite circulation path so that the guide block 1 moves along the straight guide rail 2A and the curved guide rail 2B. It is configured to be able to move freely. The guide block 1 has a mounting surface 12 of the movable body and a tap hole 13 into which a fixing bolt of the movable body is screwed. The movable body fixed to the mounting surface 12 can be freely moved along the track rail 1. Can be guided to.

  A specific configuration for continuously moving the guide block having the infinite circulation path of the ball along the linear guide rail and the curved guide rail is disclosed in Japanese Patent Laid-Open No. 2000-346065.

  A support shaft 30 is disposed on the fixed base 7 in parallel with the linear guide rail 2 </ b> A, and the drive slider 3 is fitted to the support shaft 30. The support shaft 30 can be a round shaft or a spline shaft. The support shaft 30 is constructed on the fixed base 7 by a pair of L-shaped brackets 31 so that the driving slider 3 made of synthetic resin can freely move in the X direction along the support shaft 30. Further, a screw shaft 50 constituting the ball screw 5 is rotatably supported on the bracket 31, and the screw shaft 50 is disposed in parallel with the support shaft 30. On the other hand, a nut member screwed to the screw shaft 50 is built in the drive slider 3, and the screw shaft 50 penetrates the drive slider 3 in a state of being screwed to the nut member.

  The motor 4 is coupled to the screw shaft 50 via a coupling. When the rotation of the motor 4 is transmitted to the screw shaft 50, the drive slider 3 incorporating the nut member responds to the rotation of the screw shaft. It moves in the X direction. At this time, the guide shaft 30 guides the drive slider 3 and applies a load other than the X direction acting on the drive slider 3.

  FIG. 3 is an enlarged perspective view showing a coupling state of the drive slider 3 and the guide block 1. The drive slider 3 and the guide block 1 are coupled to each other by a transmission member 6 that can expand and contract in a direction orthogonal to the X direction, and the movement of the drive slider 3 along the X direction is transmitted to the guide block 1. ing. In the first embodiment, the transmission member 6 is a pantograph type link mechanism. This link mechanism is composed of a plurality of links 60 and a plurality of pins 61 as nodes, and is configured such that the entire link mechanism expands and contracts when the link 60 swings with respect to each pin 61. . The guide block 1 is coupled by a single pin 61a, while the drive slider 3 is coupled by a fixed pin 61b and a moving pin 61c. The drive slider 3 is formed with a long hole 31 for guiding the moving pin 61c. When the distance between the fixed pin 61b and the moving pin 61c is changed by the swing of the link 60, the moving pin 61c is formed inside the long hole 31. The transmission member 6 is allowed to expand and contract.

  In the universal traveling actuator of the first embodiment configured as described above, when the motor 4 is rotated to advance and retract the drive slider 3 along the X direction, the movement of the drive slider 3 is transmitted via the transmission member 6. It is transmitted to the guide block 1 and the guide block 1 moves along the track rail 2.

  At this time, if the guide block 1 is traveling on the linear guide rail 2A, the linear guide rail 2A is disposed along the X direction. The movement in the X direction is transmitted to the guide block 1 as it is. As a result, the guide block 1 moves in the X direction on the straight guide rail 2A.

  On the other hand, when the guide block 1 is transferred from the straight guide rail 2A to the curved guide rail 2B, the moving direction of the guide block 1 includes components other than the X direction. 3 in the X direction is transmitted to the guide block 1. As a result, the guide block 1 can travel along the curved guide rail 2B.

  While the guide block 1 is traveling on the curved guide rail 2B, the distance between the drive slider 3 and the guide block 1 changes continuously, and the rate of change depends on the curvature of the curved guide rail 2B. I can say that. However, the transmission member 6 in the first embodiment freely expands and contracts, so that even if the distance between the drive slider 3 and the guide block 1 changes greatly, the drive slider 3 moves in the X direction following it. It is possible to transmit to the guide block 1.

  However, when the movement direction of the guide block 1 is orthogonal to the movement direction of the drive slider 3, that is, the X direction, the movement of the drive slider 3 cannot be transmitted to the guide block 1, and the movement of the guide block 1 is locked. Will end up. From this point of view, in the first embodiment, as long as the guide block 1 is guided by the track rail 2 in the direction including the X direction component, the guide slider 1 is moved back and forth by the linear reciprocating motion of the drive slider 3. It can be driven along.

  Therefore, according to this universal travel actuator, the guide block 1 is moved along various routes by changing the combination of the linear guide rail 2A and the curved guide rail 2B in the track rail 2, and mounted on the guide block 1 It is possible to freely guide the movable body along the route.

  FIG. 4 shows a second embodiment of a free running actuator to which the present invention is applied.

  The free-running actuator of the second embodiment also has a guide block 8 that can fix the movable body M as a conveyance object, a guide shaft 9 as a guide member that guides the guide block 8, and an arrow line shown in the figure. A drive slider 3 that can reciprocate along the X direction, a ball screw 5 as drive means for moving the drive slider 3 back and forth according to the amount of rotation of the motor 4, and the drive slider 3 and the guide block 8 are connected. The transmission member 6 is configured. These components are arranged on the fixed base 70 as a unit.

  In the first embodiment described above, the track rail 2 is disposed on the fixed base 7 and used as a guide member for the guide block 3. In the second embodiment, the guide shaft 9 is disposed above the fixed base 70. And the guide block 8 is configured to move along a predetermined track along the guide shaft 9. The configurations of the drive slider 3, the ball screw 5, and the transmission member 6 are the same as those in the first embodiment.

  The guide shaft 9 is obtained by bending a round bar into an arc shape, and is installed on a fixed base 70 via a pair of brackets 71. A screw shaft 50 of the ball screw 5 is rotatably disposed along the X direction immediately below the guide shaft 9, and the screw shaft 50 is connected to the motor 4 via a coupling 40. FIG. 5 is an enlarged perspective view showing a state where the movable body M is removed from the guide block 3. As shown in this figure, the guide block 8 has a recess in which the guide shaft 9 is loosely fitted, and is assembled so as to straddle the guide shaft 9. The guide block 8 is connected to the drive slider 3 via a transmission member 6 formed of a pantograph-type link mechanism as in the first embodiment.

  The coupling structure of the transmission member 6 to the drive slider 3 is the same as that of the first embodiment.

  4 and FIG. 5 is configured so that two guide blocks 8 are assembled to one guide shaft 9. In the figure, one guide block 8 is provided. Only drawn. In addition, although two ball screws 5 and a motor 4 are arranged in parallel on the fixed base 70, the ball screw 5 located on the back side in the drawing is for driving the guide block 8 not shown. The drive slider 3 that is reciprocated by the ball screw 5 is also not shown in the drawing.

  Also in the free running actuator of the second embodiment configured as described above, when the motor 4 is rotated to advance and retract the drive slider 3 along the X direction, the movement of the drive slider 3 is transmitted via the transmission member 6. Is transmitted to the guide block 8, and the guide block 8 moves along the guide shaft 9.

  At this time, the guide shaft is formed in an arc shape, and when the guide block 1 moves along the guide shaft, the distance between the guide block and the drive slider always changes. However, when the transmission member 6 expands and contracts to absorb the change in distance, the movement of the drive slider 3 in the X direction is transmitted to the guide block 8, and as a result, the guide block 8 travels along the guide shaft 9. be able to.

  Therefore, according to this universal traveling actuator, by changing the shape of the guide shaft 9, the guide block 8 is moved along a path that matches the shape of the guide shaft 9, and the movable body mounted on the guide block 8 is moved. It is possible to guide freely along the route.

  In particular, since the guide shaft 9 and the guide block 8 have a very simple structure in the free running actuator of the second embodiment, it can be manufactured more easily and cheaply than the first embodiment. It can be used for various applications as well as industrial applications. For example, if a decorative object such as an object is mounted as a movable body on the guide block, a window display in which the object moves three-dimensionally along a predetermined path can be manufactured. An actuator can be used.

  FIG. 6 shows another example of the transmission member 6.

  In the above-described free running actuators of the first embodiment and the second embodiment, a link mechanism is employed as the transmission member 6, but the transmission member 62 shown in FIG. 6 is made of a thin metal plate. The transmission member 62 has flexibility to be freely deformed in a direction perpendicular to the surface, and can be formed of, for example, a stainless steel thin plate. The transmission member 62 made of a thin metal plate is attached to the drive slider 3 and the guide block 1 in a posture in which a direction parallel to the plate surface is matched with the moving direction of the drive slider 3. The transmission member 62 is swingably attached to the guide block 1 by pins 63, while being fixed to the drive slider 3 by a plurality of pins 64 so as not to be displaced. In the example illustrated in FIG. 6, the configuration other than the transmission member 62 is the same as that of the first embodiment described above.

  Since the transmission member 62 made of a thin metal plate is not easily deformed in the direction parallel to the plate surface, when the drive slider 3 moves in the X direction along the support shaft 30 as the screw shaft 50 rotates, The amount of movement in the X direction is transmitted to the guide block 1 via the transmission member 62, and the guide block 1 moves along the track rail 2.

  When the guide block 1 moves from the linear guide rail 2A of the track rail 2 to the curved guide rail 2B, the guide block 1 rotates with respect to the transmission member 62 around the pin 63, and the posture of the guide block 1 changes. While the transmission member 62 made of a thin metal plate is bent, a change in the distance between the guide block 1 and the drive slider 3 is absorbed.

  As a result, only the amount of movement of the drive slider 3 in the X direction is transmitted to the guide block 1, and the guide block 1 can be freely moved along the track rail 2 in which a linear region and a curved region are mixed. .

It is a perspective view which shows 1st Embodiment of the universal traveling actuator of this invention. It is a partially notched perspective view which shows the structure of the guide block in 1st Embodiment. It is an expansion perspective view which shows the detail of the transmission means in 1st Embodiment. It is a perspective view which shows 2nd Embodiment of the universal traveling actuator of this invention. It is an expansion perspective view which shows the state which removed the movable body M from the guide block 3 in 2nd Embodiment. It is a perspective view which shows the other example of the transmission member in this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1,8 ... Guide block, 2 ... Track rail, 3 ... Drive slider, 5 ... Ball screw, 6,62 ... Transmission member, 7,70 ... Fixed base

Claims (6)

A drive slider that can move along the X direction, a drive unit that gives an arbitrary advance / retreat amount to the drive slider, a guide block that mounts a movable body, and guides the guide block in a direction that includes an X direction component. A guide member, and the guide block and the drive slider are connected to transmit the amount of movement of the drive slider in the X direction to the guide block, and the transmission member is extendable in a direction orthogonal to the X direction. Characteristic free running actuator. The universal travel actuator according to claim 1, wherein the transmission member is a pantograph type link mechanism. The transmission member is made of a thin metal plate having flexibility, and is fixed to the drive slider so that the direction parallel to the plate surface coincides with the X direction, while being attached to the guide block so as to be swingable. The universal travel actuator according to claim 1, wherein The drive means includes a screw shaft that is disposed along the X direction and is given an arbitrary amount of rotation by a motor, and a nut member that is fixed to the drive slider and is screwed to the screw shaft. The universal travel actuator according to claim 1. 2. The guide member according to claim 1, wherein the guide member is a guide shaft that is curved in an arc shape with an arbitrary curvature and is installed in a moving range of the drive slider, and the guide block is loosely fitted to the guide shaft. Free-running actuator as described. The guide member is a guide rail that is laid on a fixed base and includes a curved region and a straight region, and the guide block is assembled to the guide rail through a number of balls that circulate infinitely. The freely traveling actuator according to claim 1.

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