JP2015152111A - actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator which moves supports associatively with a moving body moving axially through rotation of a rotary shaft such as a feed screw, wherein the actuator has a compact constitution in which the supports are stably moved associatively with the moving body.SOLUTION: An actuator includes: a support pair which comprises an upstream support capable of moving axially and freely while supporting a rotary shaft axially upstream from the moving body and a downstream support capable of moving axially and freely while supporting the rotary shaft axially downstream; a unit which has a long-sized unit body extending in a moving direction parallel with the axial direction, and moves the support pair axially as the unit body moves in the moving direction associatively with a movement of the moving body while supporting the upstream support and downstream support by the unit body; a rail member which extends in the moving direction; and at least one slide member which can move freely in the moving direction along the rail member while holding the unit body.

Description

  The present invention relates to an actuator that moves a moving body attached to a rotating shaft extending in the axial direction in the axial direction in accordance with the rotation of the rotating shaft.

  Conventionally, a feed nut is screwed onto a feed screw such as a ball screw that is pivotally supported by bearing members at both ends, and a slider is attached to the feed nut, and the feed screw and the slider are used as a moving body according to the rotation of the feed screw. Actuators that move in the axial direction are widely used. In such an actuator, if the rotation speed of the feed screw (the number of revolutions per second) matches the natural frequency of the feed screw, the feed screw may resonate, causing problems such as noise or damage to the feed screw. Are known. Therefore, in the invention described in Patent Document 1, the support bracket is moved at a speed that is half the moving speed of the slider in conjunction with the movement of the slider while the feed screw is supported by the support bracket.

Japanese Patent No. 3221804

  In the invention described in Patent Document 1, in order to move the support bracket in the movement direction parallel to the axial direction in conjunction with the movement of the slider, a pulley is attached to each support bracket and each bearing member, and a belt is attached between the pulleys. Winding. Then, the movement of the slider is transmitted to each support bracket and driven by the action of the pulley and the belt. Here, in order to stably move each support bracket and improve driving efficiency and followability, it is necessary to provide guide means for guiding the side of the support bracket to which the driving force is transmitted in the moving direction. desirable. However, simply adding a conventionally well-known linear guide structure as the guide means increases the load on the motor, which is the drive source of the actuator, due to the increase in size of the apparatus.

  The present invention has been made in view of the above problems, and in an actuator that moves a support in conjunction with a moving body that moves in the axial direction by rotation of a rotation shaft such as a feed screw, the support can be stably moved with a compact configuration. The purpose is to provide technology that can be moved in conjunction with the body.

  The present invention provides an actuator that moves a moving body in the axial direction along the rotation axis by rotating a rotating shaft that extends in the axial direction in response to a rotational driving force, and is provided on the upstream side in the axial direction with respect to the moving body. A support pair consisting of an upstream support that supports the rotating shaft and is movable in the axial direction and a downstream support that supports the rotating shaft on the downstream side of the axial direction and is movable in the axial direction, and a moving direction parallel to the axial direction The unit main body moves in the movement direction in conjunction with the movement of the moving body while holding the upstream support and the downstream support in the unit main body and moves the support pair in the axial direction. A unit, a rail member extending in the moving direction, and at least one slide member movable in the moving direction along the rail member while holding the unit main body. It is characterized in.

  In the invention configured as described above, the unit main body is held by the slide member and is movable along the rail member. The unit moves the unit body in conjunction with the movement of the moving body while holding the support pair (upstream support and downstream support) in the unit body, and thereby moves the support pair in the axial direction. Thus, the support pair moves in conjunction with the movement of the moving body while being stably guided by the rail member through the unit body.

  According to this invention, since the slide member is provided so as to be movable in the movement direction along the rail member while holding the unit body holding the support pair, the slide member is moved via the unit body in conjunction with the movement of the moving body. The support pair can be moved stably in the axial direction. In addition, the apparatus can be made compact by adopting such a configuration that combines the interlocking means and the guide means.

It is a perspective view which shows 1st Embodiment of the actuator to which this invention is applied. It is an AA arrow directional view in FIG. It is a figure which shows the structure of a unit. It is a fragmentary perspective view which shows a part of structure of a unit main body. It is a partial notch figure which shows the attachment state of the unit main body to a 2nd guide mechanism. It is a fragmentary perspective view which shows the connection relation of a unit and a mobile body. It is a figure which shows typically the connection relation and operation | movement of a unit, an actuator main body, and a moving body. It is a perspective view which shows 2nd Embodiment of the actuator to which this invention is applied. It is a BB arrow directional view in FIG. It is a figure which shows typically the connection relation of a unit, an actuator main body, and a moving body. It is a figure which shows the modification of a fixture normally. It is a figure which shows the modification of a unit main body typically. It is a figure which shows 3rd Embodiment of the actuator to which this invention is applied.

  FIG. 1 is a perspective view showing a first embodiment of an actuator to which the present invention is applied. FIG. 2 is a view taken along the line AA in FIG. In both figures and the following figures, the longitudinal direction of the actuator is the X direction, the width direction of the actuator is the Y direction (perpendicular to the X direction), and the height direction of the actuator is the Z direction (the X direction and the Y direction). XYZ orthogonal coordinate axes that are orthogonal to each other are shown as appropriate. Further, the arrow side of each coordinate axis is appropriately referred to as a positive side, and the opposite side of each coordinate axis arrow is appropriately referred to as a negative side.

  The actuator 1 is a single-axis robot including a single rotating shaft 2 and a moving body 3 that moves as the rotating shaft 2 rotates. The actuator 1 includes an actuator body 10 made of an alloy steel such as stainless steel or a metal (light metal) such as aluminum. The actuator body 10 is composed of a base portion having a long plate shape extending in the X direction. The components of the actuator 1 including the rotating shaft 2 and the motor M are attached to the upper surface of the actuator body 10.

  The rotary shaft 2 is a feed screw such as a ball screw that linearly extends in an axial direction parallel to the X direction, and is arranged at the center in the Y direction on the upper surface of the actuator body 10. Further, on the upper surface of the actuator body 10, the bearing members 4U and 4D are fixed to be spaced apart from each other in the X direction, and respectively support the upstream end portion and the downstream end portion of the rotation shaft 2 in the X direction. For this reason, the rotating shaft 2 is rotatably held in a state of being separated from the upper surface of the actuator body 10 by a predetermined distance in the height direction Z.

  A rotary drive shaft (not shown) of the motor M is connected to the downstream end portion of the rotary shaft 2 in the X direction via a coupling (not shown). For this reason, when the motor M operates according to the drive signal given to the actuator 1, the rotational driving force generated by the motor M is given to the downstream end portion in the X direction of the rotating shaft 2, that is, the (+ X) direction side end portion. The rotation shaft 2 rotates around the rotation center line extending in the axial direction X.

  A male screw is formed on the rotary shaft 2, and a feed nut 31 is screwed onto the rotary shaft 2, and a slider 32 is attached to the feed nut 31. For this reason, as the rotary shaft 2 rotates, the feed nut 31 and the slider 32 integrally move along the rotary shaft 2 in the X direction as the movable body 3. In addition, the first guide mechanism 5 is provided on the upper surface of the actuator body 10 in order to stably move the movable body 3.

  The first guide mechanism 5 includes rail fixing bases 511 and 512, two guide rails 521 and 522, moving body sliders 531 and 532, and support sliders 54U, 54D, 55U, and 55D. . On the upstream side in the width direction Y with respect to the rotation axis 2, that is, on the (−Y) direction side, a rail fixing base 511 extending in the X direction is fixed to the upper surface of the actuator body 10, and further on the rail fixing base 511 521 extends in the X direction. As shown in FIG. 1, a support slider 54D, a moving body slider 531 and a support slider 54U are slidably attached to the guide rail 521 from the motor M side in the X direction. On the other hand, also on the (+ Y) direction side with respect to the rotating shaft 2, the rail fixing base 512 is fixed to the upper surface of the actuator body 10 and the guide rail 522 is on the rail fixing base 512, as in the (−Y) direction side. Further, a support slider 55D, a moving body slider 532, and a support slider 55U are attached to the guide rail 522 from the motor M side so as to be slidable in the X direction.

  Of these sliders, the moving body 3 is attached to the moving body sliders 531 and 532. More specifically, as shown in FIG. 1, the (−Y) side end and the (+ Y) side end of the slider 32 constituting the moving body 3 are fixed to the upper surfaces of the moving body sliders 531 and 532, respectively. . The moving body 3 is guided by the first guide mechanism 5 in the X direction while being supported by the first guide mechanism 5 in a so-called both-end-supported state so as to be reciprocally movable.

  On the other hand, supports 61U and 61D are attached to support sliders 54U and 54D among the remaining sliders. These supports 61U and 61D are components of the resonance suppression mechanism 6 and are located upstream and downstream in the axial direction X with respect to the moving body 3, respectively. The upstream support 61U and the downstream support 61D are integrally movable in the X direction while being held by a unit 62 that is also a component of the resonance suppression mechanism 6. Supports 71U and 71D are attached to the support sliders 55U and 55D, respectively. These supports 71U and 71D are components of the resonance suppression mechanism 7, and are positioned on the upstream side and the downstream side in the axial direction X with respect to the moving body 3, respectively. The upstream support 71U and the downstream support 71D are integrally movable in the X direction while being held by a unit 72 that is also a component of the resonance suppression mechanism 7. These supports 61U, 61D, 71U, 71D are configured to be able to support the rotating shaft 2 in order to prevent resonance of the rotating shaft 2 in the same manner as the support bracket described in Patent Document 1. Since the basic configurations of these supports 61U, 61D, 71U, 71D are all the same, the configuration of the support 61D will be described next with reference to FIGS. 1 and 2, while the other supports are the same or Corresponding reference numerals are given and description of the configuration is omitted.

  The support 61D has a frame 611 and a shaft contact portion 612. The frame 611 is made of, for example, alloy steel such as stainless steel or metal (light metal) such as aluminum, and has a substantially L shape in plan view from above as shown in FIG. In the frame 611, the base end portion is attached to the upper surface of the support slider 54D as described above, and the shaft contact portion 612 is attached to the lower surface of the shaft facing portion protruding in the Y direction from the base end portion.

  As shown in FIG. 2, the shaft contact portion 612 includes two divided bushes 612a and 612b screwed to the shaft facing portion from both sides in the X direction. Each divided bush 612a, 612b is composed of a pair of semicircular members. Each semicircular member is made of, for example, resin and has a contact portion that is cut out in a semicircular shape. The two semicircular members forming a pair in this way engage with the rotating shaft 2 from both sides in the Z direction while contacting the rotating shaft 2 at the contact portion. Thus, the shaft contact portion 612 can move in the X direction along the rotation shaft 2 while contacting the rotation shaft 2 at the contact portions of the two divided bushes 612a and 612b. Incidentally, a slight clearance (play) is provided between the divided bushes 612a and 612b and the rotary shaft 2.

  The support 61D is reciprocally movable while being guided in the X direction by the first guide mechanism 5 as described above. However, the lower portion of the support 61D on the Y direction side, that is, the divided bush 612b is held by the unit 62. Yes. The support 61U is configured similarly to the support 61D, and is held by the unit 62 at a position spaced from the support 61D in the (−X) direction. Therefore, as described below, when the unit 62 moves in the X direction in conjunction with the movement of the moving body 3, the support 61U and the support 61D are integrated with the unit 62 in the X direction while maintaining a constant separation distance. Moving. The supports 71D and 71U are also configured in the same manner as the supports 61D and 61U, and are held by the unit 72 as described following the unit 62, and also move in the X direction in conjunction with the movement of the moving body 3.

  FIG. 3 is a diagram showing the configuration of the unit. FIG. 3A shows a state in which the unit is attached to the actuator body 10 via the second guide mechanism, while FIG. 3B shows a state before the attachment. Show. FIG. 4 is a partial perspective view showing a part of the configuration of the unit main body. FIG. 4A is a view seen from the (+ Z) direction, and FIG. 4B is a view seen from the (−Z) direction. It is a figure. Further, FIG. 5 is a partially cutaway view showing a state in which the unit main body is attached to the second guide mechanism. Hereinafter, the configuration of the units 62 and 72 will be described in this order with reference to FIGS. 2 to 5.

  As shown in FIG. 3, the unit 62 includes an elongated unit main body 621 extending in the X direction, a pair of pulleys 622 and 623 that are spaced apart from each other in the direction X and are rotatable with respect to the unit main body 621. And an endless wire 624 that is hung between the pair of pulleys 622 and 623. The unit main body 621 connects the first pulley support portion 621a that rotatably supports the pulley 622, the second pulley support portion 621b that rotatably supports the pulley 623, and the pulley support portions 621a and 621b. And a connecting portion 621c. Among these components, the pulley support portions 621a and 621b are formed of a long member having a substantially inverted U-shaped YZ cross section, as shown in FIGS. For example, a thin plate-shaped metal plate in which both ends in the width direction Y are bent downward or a resin material is injection-molded can be used as the pulley support portions 621a and 621b. On the other hand, as shown in FIG. 4B, the connecting portion 621c has a slab shape that enters a recess formed on the back side of the pulley support portions 621a and 621b, and is formed of a metal material or a resin material. Then, the coupling portion 621c is fastened and integrated with the pulley support portions 621a and 621b with a plurality of screws in a state where the coupling portion 621c is fitted in the recesses of the pulley support portions 621a and 621b, and extends as a whole in the X direction. An elongated unit body 621 is formed.

  In the present embodiment, the pulley support portion 621a is provided with a long hole 621d extending in the X direction as a screw hole for inserting a fastening screw, and the pulley support portion 621a is connected to the connecting portion 621c in the X direction. It can be attached to move freely. For this reason, after adjusting the position of the pulley support portion 621a in the X direction with respect to the connection portion 621c, the pulley support portion 621a can be attached to the connection portion 621c, and the distance between the first pulley support portion 621a and the second pulley support portion 621b is adjusted by the position adjustment. As a result, the tension of the wire 624 can be adjusted.

  Note that reference numerals 621U and 621D in FIG. 3 indicate an upstream holding portion and a downstream holding portion of the unit main body 621, respectively. The upstream support portion 621U holds the upstream support 61U positioned on the upstream side in the axial direction X with respect to the moving body 3, and the downstream holding portion 621D positions the downstream side positioned on the downstream side in the axial direction X with respect to the moving body 3. Holds the support 61D. Reference numeral 621M denotes an intermediate part of the unit main body 621 located between the upstream holding part 621U and the downstream holding part 621D. Further, reference numeral 621T is a portion of the unit main body 621 sandwiched between a pair of pulleys 622 and 623, and receives a tension from the wire 624. Therefore, in this specification, the part 621T is referred to as a “tension acting part”.

  As shown in FIG. 3, the unit 72 is the same as the unit 62 except that the length of the second pulley support portion 721 b is shorter than that of the unit 62. That is, in the unit 72, the first pulley support part 721a and the second pulley support part 721b are connected by the connection part 723, and an elongated unit body 721 extending in the X direction is formed. The pulleys 722 and 723 are rotatably attached to the upper surfaces of the pulley support portions 721a and 721b, respectively, and a wire 724 is suspended between the pair of pulleys 722 and 723. Further, reference numerals 721U, 721D, 721M, and 721T in FIG. 3 indicate an upstream holding portion, a downstream holding portion, an intermediate portion, and a tension acting portion of the unit main body 721, respectively.

  The units 62 and 72 configured as described above are supported by the resin sliders 811 and 812 of the second guide mechanism 8 in a state of being arranged in the Y direction. As shown in FIG. 2, the second guide mechanism 8 is provided in a space sandwiched between the rotating shaft 2 and the actuator body 10. More specifically, the second guide mechanism 8 is fixed to the upper surface of the actuator body 10 such that a guide rail 82 extending in the X direction is sandwiched between the rail fixing bases 511 and 512. The guide rail 82 has two guide grooves 821 and 822 extending in the X direction while opening upward. These guide grooves 821 and 822 are arranged in the Y direction. The guide groove 821 is located immediately below the (−Y) side end of the supports 71D and 71U, while the guide groove 822 is the supports 61D and 61U. It is located directly under the (+ Y) side end portion.

  As shown in FIG. 2, each guide groove 821, 822 has an opening dimension in the Y direction that is narrower than that inside the groove. On the other hand, the resin sliders 811 and 812 are formed of a long member having a substantially T-shaped YZ cross section, and can be fitted into the guide grooves 821 and 822 from the end surfaces of the guide grooves 821 and 822 in the X direction. . More specifically, the resin sliders 811 and 812 have three parts, a lower end part, an intermediate part, and an upper end part. As shown in FIG. 5, the dimensions of each part are the same in the X direction. However, they are different from each other in the Y direction. That is, in the resin sliders 811 and 812, the dimension in the Y direction of the lower end is slightly narrower than the groove inner dimension of the guide grooves 821 and 822 and wider than the opening dimension. Further, the Y-direction dimension of the intermediate portion is narrower than the opening dimensions of the guide grooves 821 and 822, and the Y-direction dimension of the upper end portion is larger than the opening dimensions of the guide grooves 821 and 822. Then, the two resin sliders 811 are fitted into the guide groove 821 with the upper end protruding upward from the guide groove 821 and the lower end and the intermediate portion being fitted into the inside and opening of the guide groove 821, respectively. Thus, it is slidable in the X direction along the guide groove 821. In addition, two resin sliders 812 are fitted into the guide grooves 822 in the same state as the resin slider 811, and are slidable in the X direction along the guide grooves 822. Accordingly, the resin sliders 811 and 812 can be moved only in the X direction along the guide grooves 821 and 822 in a state where the resin sliders 811 and 812 are firmly engaged with the guide grooves 821 and 822, respectively, and are restricted from moving in directions other than the X direction. It has become. For this reason, the resin sliders 811 and 812 are not detached from the guide grooves 821 and 822, respectively, not only when the lower surface of the actuator body 10 is mounted on a horizontal plane but also when it is mounted on a vertical surface or a ceiling surface. , And slides while being guided by the guide grooves 821 and 822.

  The unit main body 621 is attached to the two resin sliders 811 configured as described above. More specifically, as can be seen from FIG. 3, the two resin bodies are aligned so that the unit main body 621 is aligned with the pair of pulleys 622 and 623 in the direction of the rotation axis of the pulleys 622 and 623, that is, in the Z direction. All the sliders 811 are connected to the intermediate portion 621M of the unit main body 621 and hold the unit main body 621. As a result, it is possible to prevent the unit main body 621 from being deformed into a bow shape due to its own drooping, warping, bending, or the like. That is, in the unit main body 621, the upstream holding portion 621U and the downstream holding portion 621D are not only connected to the supports 61U and 61D, respectively, but the intermediate portion 621M is also connected to the resin slider 811. Arcuate deformation can be effectively prevented.

  In the present embodiment, one of the two resin sliders 811 is attached to the tension acting portion 621T of the unit main body 621 as shown in FIG. As described above, since the tension acting portion 621T is connected to one of the resin sliders 811 to restrict the displacement in the Z direction, it is possible to effectively prevent the tension acting portion 621T from being bow-shaped by the tension generated by the wire 624. can do. The other is attached to a position near the pulley 623. The unit main body 621 has a male screw forming region of the rotating shaft 2, that is, about 2/3 of the moving stroke of the moving body 3, and the arcuate deformation of the unit main body 621 is effective by the two resin sliders 811. The unit 62 and the supports 61D and 61U are integrally movable in the X direction while being prevented.

  A unit main body 721 is attached to the two resin sliders 812. As shown in FIG. 3B, each of these resin sliders 812 is attached to the unit main body 721 at an overlapping portion between the intermediate portion 721M of the unit main body 721 and the tension acting portion 721T. For this reason, similarly to the unit main body 621 side, the bow deformation of the unit main body 721 is effectively prevented. The unit main body 721 is shorter than the unit main body 621 and has a length of about 移動 of the moving stroke of the moving body 3. The resin slider 812 effectively prevents the unit main body 721 from being deformed in an arc shape. However, the unit 72 and the supports 71D and 71U are integrally movable in the X direction stably. In the present embodiment, the two guide grooves 821D and 821U are provided for the guide rail 82, but two guide rails having one guide groove may be provided instead of the guide rail 82. . This also applies to embodiments described later. In this embodiment, both units 62 and 72 are supported by two resin sliders, but the number of resin sliders is not limited to this and is arbitrary.

  As described above, the units 62 and 72 can be independently moved in the X direction. However, in order to effectively prevent the resonance of the rotary shaft 2 by the supports 61D, 61U, 71D, and 71U, the moving body 3, The units 62 and 72 and the actuator body 10 are connected as follows. Hereinafter, with reference to FIGS. 3, 6, and 7, the connection relationship and the operation of each unit accompanying the movement of the moving body will be described.

  FIG. 6 is a partial perspective view showing the connection relationship between the unit and the moving body. FIG. 7 is a diagram schematically showing the connection relation and operation of the unit, the actuator body, and the moving body. In FIG. 7, the symbol CP indicates the connection position between the unit 72 and the moving body 3, the vertical direction indicates the passage of time, the horizontal direction indicates the position in the X direction, and each dotted line indicates the (−X) direction. The movement of each part according to the movement of the moving body 3 is shown. In particular, the slope of the dotted line corresponds to the moving speed, indicating that the moving speed becomes slower as the slope becomes steeper.

  As shown in FIGS. 3 and 7, the units 62 and 72 are arranged in the arrangement direction Y orthogonal to the axial direction X. In the unit 62, a part of the wire 624 is fixed to the actuator body 10 by the fixing bracket 11 on the upstream side in the arrangement direction Y, that is, the (−Y) direction side with respect to the pair of pulleys 622 and 623. Further, in the unit 72, a part of the wire 724 on the downstream side in the arrangement direction Y with respect to the pair of pulleys 722 and 723, that is, in the (+ Y) direction side, is connected to the slider of the moving body 3 by the connection fitting 12 as shown in FIG. 32. Further, the units 62 and 72 are adjacent to each other, and in the unit 62 positioned upstream in the arrangement direction Y, the downstream side of the arrangement direction Y with respect to the pair of pulleys 622 and 23, that is, the (+ Y) direction side. A part of the wire 624 is connected to the unit main body 721 of the unit 72 by the connecting fitting 13, and the unit 72 is connected to the pair of pulleys 722 and 723 on the upstream side in the arrangement direction Y, that is, on the (−Y) direction side. A part of 724 is connected to the unit main body 621 of the unit 62 by the connecting metal fitting 14.

  In the units 62 and 72 configured as described above, when the movable body 3 moves in the (−X) direction, for example, by the rotation of the rotation shaft 2, the pair of pulleys 722 and 723 rotate counterclockwise on the paper surface of FIG. 7. At the same time, while the pair of pulleys 622 and 623 rotate counterclockwise at a lower rotational speed than the pulleys 722 and 723, both the units 62 and 72 move in the (−X) direction in conjunction with the moving body 3. However, since the above connection relationship is established, the moving speed of the unit 62 is 1/3 of the moving speed of the moving body 3 and the moving speed of the unit 72 is the moving speed of the moving body 3 as shown by the dotted line in FIG. 2/3. Accordingly, the moving speeds of the supports 61D and 61U held by the unit 62 become 1/3 of the moving speed of the moving body 3, and the moving speeds of the supports 71D and 71U held by the unit 72 are equal to the moving speed of the moving body 3. 2/3. Thus, in this embodiment, the units 62 and 72 function as a speed reducer. Accordingly, as shown in the column “Support and moving body slide” in FIG. 7, as the moving body 3 moves in the (−X) direction, on the upstream side of the moving body 3 (the right-hand side in FIG. 7). While the intervals between the upstream end (bearing 4U), the supports 61U and 71U and the moving body 3 of the rotating shaft 2 are gradually narrowed, the downstream side of the rotating shaft 2 (the left hand side in the figure) is downstream of the rotating shaft 2. The distance between the end (bearing 4D), the supports 61D and 71D, and the moving body 3 gradually increases. The resonance of the rotating shaft 2 is effectively suppressed by the movement of the four supports 61D, 61U, 71D, and 71U.

  As described above, according to the present embodiment, the unit main body 621 is held by the resin slider 811 and is movable along the guide rail 82. Then, the unit 62 moves the unit body 621 in conjunction with the movement of the moving body 3 while holding the support pair (upstream support 61U and downstream support 61D) by the unit body 621, and thereby moves the support pair in the axial direction Z. Move to.

  Thus, in this embodiment, the unit 62 guides the support pair in the movement direction X at a position different from the first guide mechanism 5 as well as interlocking means for interlocking the support pair with the movement of the moving body 3. It also functions as part of the means. Therefore, it has a compact configuration and can be moved in conjunction with the movement of the moving body 3 while stably guiding the support pair with excellent driving efficiency while suppressing the load acting on the motor M. Moreover, such an effect is the same also in the support pair (upstream support 71U and downstream support 71D) and the unit 72 side.

  Further, as the interlocking means for moving the supports 61U, 61D, 71U, 71D in conjunction with the movement of the moving body 3, in this embodiment, two units 62, 72 having the same basic configuration are used and the units 62, 72 are used. The actuator body 10 and the moving body 3 are connected as described above. Since such interlocking means is used, it is possible to smoothly move the supports 61U, 61D, 71U, 71D accompanying the movement of the moving body 3 with low energy. As a result, the load acting on the motor M can be suppressed, and the increase in size of the actuator 1 can be suppressed despite the increase in the number of supports.

  In addition, since the unit 62 (72) is configured to be able to adjust the distance between the first pulley support portion 621a (721a) and the second pulley support portion 621b (721b), the tension of the wire 624 (724) is adjusted. It is possible. For this reason, an appropriate tension is applied to the wire 624 (724) in the unit 62 (72), and the unit main body 621 (721) can be moved favorably. As a result, the function of suppressing the occurrence of resonance can be stably exhibited.

  Further, as described above, not only the support pair is held by the upstream holding portions 621U and 721U and the downstream holding portions 621D and 721D of the unit main bodies 621 and 721, but the intermediate portions 621M and 721M are connected to the resin sliders 811 and 812. Therefore, it is possible to effectively prevent the unit main bodies 621 and 721 from being bent, warped, or bowed, such as drooping. As a result, the support pair can be stably moved in conjunction with the movement of the moving body 3.

  Further, the resin slider 811 is movable along the guide groove 821 in a state where the resin slider 811 is always firmly engaged with the guide groove 821. The same applies to the unit 72. For this reason, the actuator 1 can be smoothly operated regardless of the mounting posture of the actuator 1 (horizontal mounting, vertical mounting, wall hanging, ceiling mounting, etc.).

  In the units 62 and 72, since the wire is hung between the pulleys, the unit main body is easily deformed like a bow under the tension of the wire. However, since the resin sliders 811 and 812 are attached to the tension action portions 621T and 721T of the unit main bodies 621 and 721 as shown in FIG. 3B, the above-described deformation is suppressed and a desired wire tension is secured. The actuator 1 can be operated smoothly.

  Further, as shown in FIG. 2, the units 62 and 72 and the second guide mechanism 8 are provided using a space sandwiched between the rotating shaft 2 and the actuator body 10. For this reason, it is possible to prevent the dimension in the width direction Y of the actuator 1 from increasing despite the provision of the interlocking means.

  FIG. 8 is a perspective view showing a second embodiment of an actuator to which the present invention is applied. Moreover, FIG. 9 is a BB line arrow view in FIG. FIG. 10 is a diagram schematically showing a connection relationship between the unit, the actuator body, and the moving body. There are two points in which the second embodiment differs greatly from the first embodiment. First, the first point is that one additional resonance suppression mechanism is added to provide three, that is, a pair of supports 91U and 91D and a unit 92 are added. The second point is that all supports 61U, 61D, 71U, 71D, 91U, 91D and the moving body 3 are supported in a cantilevered manner so as to be movable in the X direction by the first guide mechanism 5. Since the other configurations are basically the same, the following description will focus on the differences, and the same components will be denoted by the same reference numerals and description thereof will be omitted.

  In the first guide mechanism 5, on the upstream side in the width direction Y with respect to the rotation shaft 2, that is, on the (−Y) direction side, a rail fixing base 511 extending in the X direction is fixed to the upper surface of the actuator body 10, and the rail A guide rail 521 extends in the X direction on the fixed base 511. As shown in FIG. 8, the support sliders 56D, 57D, and 58D, the moving body sliders (not shown), and the support sliders 58U, 57U, and 56U slide in the X direction from the motor M side with respect to the guide rail 521. It is attached movably.

  And as shown in FIG. 8, the (-Y) direction side edge part of the moving body 3 is attached with respect to the slider for moving bodies among these sliders, and the moving body 3 is supported in what is called a cantilever state. The first guide mechanism 5 can reciprocate while being guided in the X direction. On the other hand, among the remaining sliders, supports 61D, 91D, 71D, 71U, 91U, and 61U are attached to support sliders 56D, 57D, 58D, 58U, 57U, and 56U, respectively. Among these, the supports 91U and 91D are components of the resonance suppression mechanism 9, and are positioned on the upstream side and the downstream side in the axial direction X with respect to the moving body 3, respectively. The upstream support 91U and the downstream support 91D can be moved integrally in the X direction while being held by the unit 92. The supports 91U and 91D are configured to be able to support the rotating shaft 2 in the same manner as the supports 61U, 61D, 71U, and 71D, and the basic configuration thereof is the same as the supports 61U, 61D, 71U, and 71D.

  The unit 92, which is the other component of the resonance suppression mechanism 9, has units 62, 72, except that the unit body 921 has a length in the X direction shorter than that of the unit 62 and longer than that of the unit 72. Basically the same. That is, the unit 92 includes an elongated unit main body 921 extending in the X direction, a pair of pulleys 922 and 923 (FIG. 10) that are spaced apart from each other in the direction X and are rotatable with respect to the unit main body 921. And a wire 924 (FIG. 10) hung between the pulleys 922 and 923.

  The unit 92 is disposed so as to be sandwiched between the units 62 and 72 in the Y direction, and the units 62, 92, and 72 are arranged in the Y direction, respectively, and the resin sliders 811, 813, 812 is supported. Also in the second embodiment, as shown in FIG. 9, the second guide mechanism 8 has these units 62, 72, and 92 provided in a space sandwiched between the rotating shaft 2 and the actuator body 10. More specifically, in the second guide mechanism 8, a guide rail 82 extending in the X direction is fixed to the upper surface of the actuator body 10 below the rotary shaft 2. The guide rail 82 has three guide grooves 821, 823, and 822 extending in the X direction. These guide grooves 821, 823, and 822 are arranged in the Y direction, the guide groove 821 is located immediately below the (+ Y) side end of the supports 61D and 61U, and the guide groove 822 is the supports 71D and 71U. The guide groove 823 is located immediately below the (+ Y) side end of the supports 91D and 91U. The structure of each guide groove 821, 823, 822 and the engagement state with the resin sliders 811, 813, 812 are the same as those in the first embodiment.

  The unit main body 621 is attached to the two resin sliders 811. This unit main body 621 has a male screw forming region of the rotary shaft 2, that is, about 3/4 of the moving stroke of the moving body 3, and is formed on the upper surface of the upstream end portion in the X direction and the lower end portion in the X direction. Supports 61U and 61D are fixed respectively. The unit 62 and the supports 61D and 61U are integrally movable in the X direction by the resin slider 811. A unit main body 921 is attached to the two resin sliders 813. This unit main body 921 is shorter than the unit main body 621 and has a length of about 2/4 (= 1/2) of the moving stroke of the moving body 3, and an upstream holding portion (not shown) of the unit main body 921. Supports 91U and 91D are respectively fixed to the upper surfaces of the downstream holding portions (not shown). An intermediate portion (not shown) of the unit main body 921 is held by a resin slider 813, and the unit 92 and the supports 91D and 91U are integrally movable in the X direction by the resin slider 813. Further, a unit main body 721 is attached to the two resin sliders 812. The unit main body 721 is shorter than the unit main body 921 and has a length of about ¼ of the moving stroke of the moving body 3, and supports 71U on the upper surface of the upstream end portion in the X direction and the lower end portion in the X direction. , 71D are fixed. The unit 72 and the supports 71D and 71U are integrally movable in the X direction by the resin slider 812.

  As described above, the units 62 and 72 and the unit 92 can move independently in the X direction, but the supports 61D, 91D, 71D, 71U, 91U, and 71U effectively prevent resonance of the rotating shaft 2. Therefore, the movable body 3, the unit 62, the unit 92, the unit 72, and the actuator body 10 are connected as follows. Hereinafter, the connection relationship will be described with reference to FIG.

  In the second embodiment, among the three units 62, 92, 72 arranged in the Y direction, the unit 62 located on the most upstream side, that is, the (−Y) direction side, is paired as in the first embodiment. A part of the wire 624 is fixed to the actuator body 10 by the fixing bracket 11 on the upstream side in the arrangement direction Y, that is, the (−Y) direction side with respect to the pulleys 622 and 623. Further, in the unit 72 located on the most downstream side, that is, on the (+ Y) direction side, similarly to the first embodiment, on the downstream side in the arrangement direction Y, that is, on the (+ Y) direction side with respect to the pair of pulleys 722 and 723. A part of the wire 724 is connected to the slider 32 of the moving body 3 by the connecting fitting 12.

  Then, two sets adjacent to each other in the arrangement direction Y, that is, a combination of the unit 62 and the unit 92 and a combination of the unit 92 and the unit 72 are connected as shown in FIG. That is, the unit 62 and the unit 92 are adjacent to each other, and in the unit 62 positioned upstream in the arrangement direction Y, the downstream side in the arrangement direction Y, that is, the (+ Y) direction side with respect to the pair of pulleys 622 and 623. Then, a part of the wire 624 is connected to the unit main body 921 of the unit 92 by the connecting bracket 15, and the unit 92 is upstream of the pair of pulleys 922 and 923 in the arrangement direction Y, that is, on the (−Y) direction side. A part of the wire 924 is connected to the unit main body 621 of the unit 62 by the connecting fitting 16.

  Further, the units 92 and 72 are adjacent to each other, and in the unit 92 positioned upstream in the arrangement direction Y, the unit 92 and 72 are located downstream of the pair of pulleys 922 and 923 in the arrangement direction Y, that is, in the (+ Y) direction side. A part of the wire 924 is connected to the unit main body 721 of the unit 72 by the connecting bracket 17, and the unit 72 is connected to the pair of pulleys 722 and 723 on the upstream side in the arrangement direction Y, that is, on the (−Y) direction side. A part of 724 is connected to the unit main body 921 of the unit 92 by the connecting metal fitting 18.

  In the units 62, 92, and 72 configured as described above, when the movable body 3 moves in the (−X) direction, for example, by the rotation of the rotation shaft 2, the pair of pulleys 722 and 723 are rotated counterclockwise on the paper surface of FIG. The pair of pulleys 922 and 923 rotate counterclockwise at a lower rotational speed than the pulleys 722 and 723, and the pair of pulleys 622 and 623 rotate counterclockwise at a lower rotational speed than the pulleys 922 and 923. However, the unit 62, the unit 92, and the unit 72 move in the (−X) direction in conjunction with the moving body 3. However, since the above connection relationship is established, the unit 62 is 1/4 of the moving speed of the moving body 3, and the moving speed of the unit 92 is 2/4 (= 1/2) of the moving speed of the moving body 3. The moving speed of the unit 72 is 3/4 of the moving speed of the moving body 3. Accordingly, the moving speed of the supports 61D and 61U held in the unit 62 is also ¾ of the moving speed of the moving body 3, and the moving speed of the supports 91D and 91U held in the unit 92 is also the same as the moving speed of the moving body 3. 2/4 (= 1/2), and the moving speed of the supports 71D and 71U held by the unit 72 is also 3/4 of the moving speed of the moving body 3. Thus, in this embodiment, units 62, 92, and 72 function as a reduction gear. Therefore, with the movement of the moving body 3 in the (−X) direction, for example, the upstream end portion (bearing 4U) of the rotating shaft 2, the support 61U, 91U, 71U and the distance between the moving body 3 on the upstream side of the moving body 3. Is gradually narrowed, while the downstream end (bearing 4D) of the rotating shaft 2, the supports 61D, 92D, 71D and the distance between the moving body 3 gradually increase on the downstream side of the moving body 3. The resonance of the rotating shaft 2 is effectively suppressed by the movement of the six supports 61D, 61U, 92D, 92U, 71D, and 71U.

  As described above, according to the second embodiment, since the support pair is added more than in the first embodiment, the resonance suppression effect can be further enhanced. Moreover, although the unit 92 is added as the support pair is added, the unit 92 has the same basic configuration as the units 62 and 72 used in the first embodiment. It is possible to drive the support well by constructing a similar connection relationship. When two or more resonance suppression mechanisms are added from the first embodiment, units having the same configuration may be added and a connection relationship similar to that in the first embodiment may be established.

  The unit main body 921 is held by a resin slider 813 and is movable along the guide rail 82. The unit 92 moves the unit main body 921 in conjunction with the movement of the moving body 3 while holding the support pair (upstream support 91U and downstream support 91D) by the unit main body 921, and thereby the support pair is moved in the axial direction Z. Move to. Therefore, the same effect as the first embodiment can be obtained.

  Although not shown in the drawings, the unit main body 921 not only holds the upstream holding portion and the downstream holding portion support pair but also connects the intermediate portion to the resin slider 813. It is possible to effectively prevent bow deformation such as bending, warping, and drooping. As a result, the support pair can be stably moved in conjunction with the movement of the moving body 3.

  In addition, since the resin slider 813 is attached to a tension acting portion (not shown) of the unit main body 921, the above-mentioned bow deformation can be suppressed and a desired wire tension can be ensured to make the actuator 1 operate smoothly.

  By the way, in the above embodiment, a part of the unit 62 is fixed to the actuator body 10 by the fixing bracket 11, and a part of the unit 72 is connected to the slider 32 of the moving body 3 by the connecting bracket 12. For this reason, when the movement of the unit starts or stops, an impact is applied to the unit, and the actuator 1 may vibrate. The same applies to the connection between the units using the connection fittings 13 to 18. Therefore, in order to mitigate this impact, so-called play may be provided in the fixed portion or the connecting portion. For example, as shown in FIG. 11, the fixture 11 may be constituted by a main body fixing member 111, a wire holding member 112, and a compression spring 113. In the fixing bracket 11, the base end portion of the main body fixing member 111 is attached to the actuator main body 10. In addition, rod-shaped protrusions projecting in the (+ X) direction and the (−X) direction are provided in parallel to the wires 624 of the unit 62 at the distal end portion extending from the base end portion of the main body fixing member 111 to the unit 62 side.

  On the other hand, in the wire holding member 112, two engaging portions are extended from the holding portion that holds the wire 624 toward the main body fixing member 111. Each engaging portion is provided with a through hole, and a rod-like protrusion is inserted into and freely inserted into each through hole. For this reason, although the wire holding member 112 is movable with respect to the main body fixing member 111 by about half of the separation interval between the two engaging portions, the movement in the X direction beyond that, and the Y direction and Z Directional movement is restricted. In addition, a compression spring is extrapolated to the rod-shaped protrusion between the distal end of the main body fixing member 111 and the engaging portion of the wire holding member 112 to apply an urging force in the X direction to reduce the impact force.

  In these embodiments, the resin sliders 811, 812, and 813 correspond to an example of the “slide member” of the present invention. By using a resin material, the load of the motor M is reduced by reducing the weight of the slide member. Although shown, a slider formed of a material other than a resin material, for example, a metal material may be used as the “slide member” of the present invention.

  The present invention is not limited to the above-described embodiment, and various modifications can be made to the above-described one without departing from the spirit of the present invention. For example, in the above embodiment, the YZ section of the unit body is finished in a substantially inverted U shape from the viewpoint of reducing the weight and securing the rigidity of the unit bodies 621, 721, and 921, but the sectional shape of the unit body is limited to this. It is not something. For example, as shown in FIG. 12A, it may be finished in a substantially H shape. Further, for example, as shown in FIGS. 12B to 12D, a hollow portion may be provided inside the unit main body.

  In the above embodiment, as shown in FIGS. 2 and 9, the plurality of pulleys are arranged in the Y direction with the rotation axis parallel to the Z direction. It can be changed as appropriate. For example, a plurality of pulleys may be arranged in the Y direction such that the rotation axis is parallel to the Y direction. In addition, the plurality of pulleys may be arranged in the height direction Z with the rotation axis parallel to the Z direction. In this case, a plurality of units are stacked in the height direction Z.

  In the above embodiment, for example, in the first embodiment, the units 62 and 72 constitute one unit group, and the four supports 61U, 61D, 71U, and 71D are moved in conjunction with the moving body 3. It is composed. Here, the one unit group may be arranged on the (+ Y) direction side of the moving body 3 and another unit group may be arranged on the (−Y) direction side. In this case, four units as a whole are arranged. Thus, a plurality of supports are moved in conjunction with the moving body 3, and a large number of supports can be moved more stably. Of course, the number of units in each unit group is not limited to “2”, and may be three or more.

  In each of the above embodiments, each unit uses a pulley as the “rotating member” of the present invention and a wire as the “endless cord” of the present invention. The combination of “is not limited to this. For example, a combination of a sprocket and a chain, a combination of a pulley and a belt, and the like are included.

  In the first embodiment, the resin sliders 811 and 812 are configured to be slidable in the X direction along the guide grooves 821 and 822 formed in the guide rail 82, respectively. For example, a guide rail 83 having a substantially I-shaped YZ cross section as shown in FIG. 13 may be used (third embodiment). In the third embodiment, a groove 812 a having a shape that can be fitted to the upper portion 831 of the guide rail 83 is extended in the X direction at the center of the bottom surface of the resin slider 812, and the resin slider 812 is in the X direction of the guide rail 83. It is slidably fitted on the upper portion 831 of the guide rail 83 from the end face side. Thereby, it can prevent effectively that a foreign material mixes into a sliding part, and can move the unit 72 to a X direction stably. Further, in the figure, only the guide mechanism on the unit 72 side is shown, but in the third embodiment, a guide mechanism having the same configuration is also provided on the unit 62 side, and the unit 62 is stably placed in the X direction. It can be moved. Needless to say, such a guide mechanism may be applied to the second embodiment and other embodiments.

  In the above embodiment, each unit main body 621, 721, 921 is held by two resin sliders. However, the number of resin sliders is not limited to “2”, and may be any natural number of 1 or more. is there. Further, the shape of the resin slider is not limited to that in the above embodiment, and is arbitrary as long as it is slidable along the guide rail.

  In the first embodiment, as shown in FIG. 3, in the unit 62, only one of the two resin slides 811 is attached to the tension acting portion 621T of the unit main body 621, whereas in the unit 72, the two resin slides are attached. Although all of 812 are attached to the tension acting part 721T of the unit main body 721, one or more resin sliders may be attached to the tension acting part.

  In the above embodiment, the two main supports are held by the unit main body in any resonance suppression mechanism, but the number of supports in each resonance suppression mechanism is not limited to this and is arbitrary. Further, the number of supports may be different for each resonance suppression mechanism.

  In the first embodiment, the present invention is applied to an actuator including two resonance suppression mechanisms, and in the second embodiment, the present invention is applied to an actuator including three resonance suppression mechanisms. The application target of the present invention is not limited to these. That is, the present invention can also be applied to an actuator provided with one or four or more resonance suppression mechanisms.

  The present invention is applicable to all actuators that move a moving body in the axial direction along the rotational axis by rotating a rotational shaft extending in the axial direction in response to a rotational driving force.

DESCRIPTION OF SYMBOLS 1 ... Actuator 2 ... Rotating shaft 3 ... Moving body 10 ... Actuator main body 61D, 61U, 91D, 91U, 71D, 71U ... Support 62 ... (the most upstream) unit 72 ... (the most downstream) unit 82 ... Guide rail (rail) Element)
92 ... (intermediate) units 621, 721, 921 ... unit main bodies 621a, 721a ... first pulley support parts 621b, 721b ... second pulley support parts 621c, 721c ... connection parts 621D ... downstream holding parts 621M ... intermediate parts 621T ... Tension acting part 621U ... Upstream holding part 622, 623, 722, 723, 922, 923 ... Pulley 624, 724, 924 ... Wire 811, 812, 813 ... Resin slider (sliding member)
X: Axial direction, moving direction

Claims (8)

An actuator that moves a moving body in the axial direction along the rotational axis by rotating a rotational shaft extending in the axial direction in response to a rotational driving force,
An upstream support that is movable in the axial direction while supporting the rotating shaft on the upstream side in the axial direction with respect to the moving body, and is movable in the axial direction while supporting the rotating shaft on the downstream side in the axial direction. A support pair consisting of various downstream supports,
The unit main body has an elongated unit main body extending in a moving direction parallel to the axial direction, and the unit main body moves in conjunction with the movement of the moving body while holding the upstream support and the downstream support by the unit main body. A unit that moves the support pair in the axial direction by moving in the direction;
A rail member extending in the moving direction;
An actuator comprising: at least one slide member movable in the movement direction along the rail member while holding the unit main body. The actuator according to claim 1,
The unit main body has an upstream holding part for holding the upstream support, a downstream holding part for holding the downstream support, and an intermediate part located between the upstream holding part and the downstream holding part,
At least one of the slide members is an actuator that holds the intermediate portion of the unit body. The actuator according to claim 2,
All of the slide members are actuators that hold the intermediate portion of the unit body. The actuator according to any one of claims 1 to 3,
The slide member is an actuator provided to be movable only in the moving direction in a state in which movement in a direction other than the moving direction is restricted. The actuator according to any one of claims 1 to 4,
A pair of rotating members that are rotatably attached to the unit main body while being separated from each other in the moving direction, and an endless cord suspended between the pair of rotating members; Linking means for transmitting the moving motion of the moving body to the unit body and interlocking with the movement of the moving body;
At least one of the slide members is an actuator that holds a tension acting portion that is sandwiched between the pair of rotating members of the unit main body and receives tension by the endless cord. The actuator according to claim 5, wherein
All of the slide members are actuators that hold the tension acting part of the unit body. The actuator according to claim 5 or 6,
An actuator in which the pair of rotating members and the slide member are aligned in a straight line when the unit main body is viewed from the direction of the rotation axis of the rotating member. The actuator according to any one of claims 1 to 7,
The slide member is an actuator formed of a resin material.

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