JP2018084244A - Uniaxial actuator device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To adjust tension of a timing belt with a compact structure.SOLUTION: A uniaxial actuator 10 comprises a slide table 11, and a slide table moving structure that moves the slide table 11. The slide table moving structure is configured by combining a ball screw mechanism 20 and a linear motion guide mechanism 30. A tension adjustment part 50 that adjusts tension of a timing belt 43 is provided at a position between a motor 2 and the uniaxial actuator 10. The tension adjustment part 50 comprises a stepped uneven block 51 that adjusts the tension of the timing belt 43. In addition, a guide 60A provided on a uniaxial actuator bracket 18 is extended to a motor bracket 5, and forms a guide mechanism 60 with a guide 60B provided on the motor bracket 5.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a uniaxial actuator device that inputs a driving force from an output shaft of a motor to an input shaft of a uniaxial actuator via a timing belt.

  As this type of single-axis actuator device, for example, techniques disclosed in Patent Documents 1 and 2 are disclosed. As described in these documents, in this type of single-axis actuator device, a timing belt is bridged between the output shaft of the motor and the input shaft of the single-axis actuator, and the driving force from the output shaft of the motor is Input to the input shaft.

JP 2014-70698 A (FIG. 2, paragraph 0031) Japanese Patent Laying-Open No. 2005-321062 (FIG. 1, paragraphs 0025 and 29)

However, in the technique described in Patent Document 1, the timing belt is described as “attached in a tensioned state”, but the structure for adjusting the tension of the timing belt is unknown from the disclosure of the same document. is there. For this reason, there is room for consideration in appropriately adjusting the tension of the timing belt.
On the other hand, in the technique described in Patent Document 2, a timing belt mechanism having a timing belt is accommodated in a folding box, and a motor is attached to the folding box via an L metal fitting. An adjustment screw is attached to the outer surface of the L bracket so that the tension of the timing belt can be adjusted by tightening the adjustment screw and pressing the tip of the adjustment screw against the outer surface of the folded box. It has become.

However, the technique described in Patent Document 2 has a problem in that the external dimensions of the uniaxial actuator device are increased because the adjustment screw projects from the outer surface of the L metal fitting. Also, the protruding adjustment screw may interfere with other members. Further, although the adjustment position is held by the force pressed by the adjustment screw, the adjustment screw may be loosened due to vibration or change with time.
Therefore, the present invention has been made paying attention to such problems, and an object thereof is to provide a uniaxial actuator device capable of adjusting the tension of the timing belt with a compact configuration.

In order to solve the above problems, a uniaxial actuator device according to one aspect of the present invention includes a uniaxial actuator having a slide table, a slide table moving structure in which a ball screw mechanism and a linear guide mechanism are combined, and the uniaxial A motor having an output shaft arranged in parallel with the input shaft of the actuator, and a timing belt mechanism that connects the output shaft of the motor and the input shaft of the uniaxial actuator, from the output shaft of the motor by the timing belt mechanism Drive force is input to the input shaft of the single-axis actuator via a timing belt, and the slide table is moved by the ball screw mechanism while being guided by the linear motion guide mechanism on one axis. In front of the motor and the single-axis actuator. It characterized by having a tension adjusting unit for adjusting the tension of the timing belt.

  According to the uniaxial actuator device according to one aspect of the present invention, since the tension adjusting unit that adjusts the tension of the timing belt is provided, the tension of the timing belt can be appropriately adjusted. And since this tension adjustment part is provided in the position between a motor and a uniaxial actuator, a tension adjustment part does not affect the external dimension of a uniaxial actuator apparatus. Therefore, the single-axis actuator device can be made compact while making it possible to adjust the tension of the timing belt.

Here, in the uniaxial actuator device according to an aspect of the present invention, the tension adjusting unit includes an adjusting bolt for adjusting the tension of the timing belt and a lock nut for fixing the position of the adjusting bolt. preferable.
If it is such a structure, the tension | tensile_strength of a timing belt can be adjusted with an adjustment volt | bolt, and also the position of the adjustment volt | bolt after adjustment can be fixed with a lock nut. Therefore, it is suitable for preventing or suppressing loosening of the adjusting bolt due to vibration or change with time.

  As described above, according to the present invention, the tension of the timing belt can be adjusted with a compact configuration.

1 is a schematic plan view illustrating an embodiment of a uniaxial actuator device according to an aspect of the present invention. It is a front view of FIG. It is a left view of FIG. FIG. 2 is a right side view of FIG. 1, and shows a state where a casing surrounding the timing belt mechanism is removed. It is an enlarged view of the ZZ cross section of FIG.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate. The drawings are schematic. For this reason, it should be noted that the relationship between the thickness and the planar dimension, the ratio, and the like are different from the actual ones, and the dimensional relationship and the ratio are different between the drawings. Further, the following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, structure, and arrangement of components. Etc. are not specified in the following embodiments.

As shown in FIG. 1, the uniaxial actuator device 1 includes a motor 2, a uniaxial actuator 10, and a timing belt mechanism 40. The motor 2 has its own flange 3 attached to the motor bracket 5 with bolts 9. The motor 2 has an output shaft 4 on one end surface, and the output shaft 4 extends to the opposite side of the motor bracket 5.
The uniaxial actuator 10 includes a slide table 11 and a slide table moving structure that moves the slide table 11. The slide table moving structure is configured by combining a ball screw mechanism 20 and a linear motion guide mechanism 30.

Specifically, the uniaxial actuator 1 of the present embodiment includes a long casing 12 having a substantially U-shaped recess 12u extending in the longitudinal direction at the center of the upper surface. Bearing blocks 13 and 14 are mounted on both ends of the housing 12, respectively. In the recess 12u of the housing 12, the guide rail 31 of the linear guide mechanism 30 is fixed to the bottom surface 12d of the recess 12u over substantially the entire length in the longitudinal direction.
On the guide rail 31, a slider 32 of the linear motion guide mechanism 30 is laid across a rolling element (not shown) as shown in a cross section of the housing 12 in FIG. A rolling element circulation mechanism (not shown) for circulating the rolling elements is provided in the slider 32.

A block-shaped slide table 11 is fixed to the upper portion of the slider 32. The slide table 11 is slidable along the guide rail 31 integrally with the slider 32 of the linear motion guide mechanism 30. 5 shows a dust-proof cover member that covers the gap between the slide table 11 and the opening of the recess 12u of the housing 12, but the cover member is not shown in FIG.
Further, as shown in FIG. 5, a circular through hole 11b is formed in the center of the slide table 11 at a position above the slider 32 along the axial direction. A cylindrical ball is formed in the through hole 11b. A screw nut 22 is fixed. A long screw shaft 21 passes through the ball screw nut 22 along the axial direction.

As shown in FIG. 1, the screw shaft 21 is provided in the recess 12 u of the housing 12, and both ends thereof are rotatably supported by bearing blocks 13 and 14 provided at both longitudinal ends of the housing 12. Has been. A screw groove is formed on the outer peripheral surface of the screw shaft 21. On the other hand, a thread groove (not shown) facing the thread groove of the screw shaft 21 is formed on the inner peripheral surface of the ball screw nut 22 shown in FIG. The screw shaft 21 and the ball screw nut 22 are screwed together via a plurality of balls (not shown) that are rotatably arranged between both screw grooves. The ball screw nut 22 is provided with a ball circulation mechanism (not shown) for circulating a plurality of balls.

Here, the screw shaft 21 is an input shaft of the uniaxial actuator 10. As shown in FIG. 1, in this embodiment, the screw shaft 21 has an input portion 21n at the end on the bearing block 14 side fixed to the uniaxial actuator bracket 18 side, and this input portion 21n is the bearing block. 14 projects to the timing belt mechanism 40 side.
As shown in FIG. 4, the bearing block 14 that supports the input portion 21n is attached to the uniaxial actuator bracket 18 with bolts 21k. The uniaxial actuator bracket 18 is attached to the motor bracket 5 with four bracket fixing bolts 6. As shown in FIG. 3, the motor bracket 5 is provided with female screws 7 equally distributed around the position of the axis line CL2 shown in FIG. 1, as shown in FIG. Further, the guide 60 </ b> A provided in the uniaxial actuator bracket 18 extends to the motor bracket 5 and forms a guide 60 </ b> B and a guide mechanism 60 provided in the motor bracket 5.

  In addition, the uniaxial actuator bracket 18 is disposed at a position facing each female screw 7 (see FIG. 1) of the motor bracket 5 in the tensioning direction H (horizontal direction in FIG. 4) of the timing belt 43 as shown in FIG. Along each of the long holes 8, the long holes 8 extend. Thus, the two brackets 5 and 18 facing each other can be firmly fixed by further tightening the four bracket fixing bolts 6 after adjustment by a tension adjusting unit 50 described later. Further, the guide mechanism 60 allows the motor bracket 5 to be adjusted by a tension adjusting unit 50 described later without shaking.

With the above configuration, as shown in FIG. 1, the axis CL <b> 2 of the output shaft 4 of the motor 2 is arranged in parallel with the axis CL <b> 1 of the screw shaft 21 that is the input shaft of the uniaxial actuator 10. The timing belt mechanism 40 connects the output shaft 4 of the motor 2 and the screw shaft 21 that is the input shaft of the uniaxial actuator 10 so as to transmit a driving force.
In this embodiment, the timing belt mechanism 40 includes a drive pulley 41 that is coaxially fixed to the output shaft 4 of the motor 2, a driven pulley 42 that is coaxially fixed to the input portion 21 n of the screw shaft 21, And a timing belt 43 that spans the driven pulley 42. The periphery of the timing belt mechanism 40 is entirely covered with a detachable casing 44 formed in a rectangular parallelepiped box shape.

In the uniaxial actuator device 1, the input unit 21 n of the uniaxial actuator 10 and the output shaft 4 of the motor 2 are connected to each other via a timing belt 43, and the output shaft of the motor 2 is connected by the timing belt mechanism 40. 4 is input to the screw shaft 21 of the uniaxial actuator 10.
Thus, when the rotational driving force is input to the screw shaft 21 that is the input shaft, the rotational driving force is converted into a propulsive force in the linear direction of the ball screw nut 22 by the ball screw mechanism 20. The slide table 11 provided integrally is moved by the ball screw mechanism 20 while being guided by the linear guide mechanism 30 on one axis CL1.

  Here, as shown in FIGS. 1 and 3, the uniaxial actuator device 1 includes a tension adjusting unit 50 that adjusts the tension of the timing belt 43 of the timing belt mechanism 40 at a position between the motor 2 and the uniaxial actuator 10. It has. The tension adjusting unit 50 according to the present embodiment includes an adjusting bolt 51 that adjusts the tension of the timing belt 43 and a lock nut 53 that fixes the position of the adjusting bolt 51.

Specifically, the tension adjusting unit 50 includes a rectangular parallelepiped mounting block 54 for holding the tension adjusting bolt 51. The base end portion of the mounting block 54 is fixed to the end portion of the motor bracket 5 near the uniaxial actuator with two upper and lower mounting bolts 55 (see FIG. 3), and horizontally toward the opposite side of the timing belt mechanism 40. It is overhanging.
A female screw 54 f is formed along the extending direction H of the timing belt 43 on the distal end side of the mounting block 54. One end of the tension adjusting bolt 51 is screwed into the female screw 54f. The tension adjusting bolt 51 is a screw rod in which a male screw 51m is formed over the entire length. Two nuts 56 and 57 are screwed onto the tension adjusting bolt 51. One of the two nuts 56 and 57 is a tension adjusting nut 56.

  The tension adjustment nut 56 is fixed so as to abut on the side surface 14 m of the bearing block 14 of the uniaxial actuator 10 (the surface facing the motor 2). The tension is adjusted. The other nut 53 is a lock nut. The lock nut 53 is fixed so as to come into contact with the side surface 54m of the mounting block 54, so that the positions of the tension adjusting nut 56 and the adjusting bolt 51 can be held more reliably.

  A base portion of the mounting block 54 is provided with an inlay fitting portion 54k for fitting the motor bracket 5 and the uniaxial actuator bracket 18 together. The inlay fitting portion 54k allows the motor bracket 5 and the uniaxial actuator bracket 18 to move in the extending direction H of the timing belt 43 while facing the motor bracket 5 and the uniaxial actuator bracket 18. In the direction perpendicular to the stretching direction H, there is a fitting structure that restrains mutual movement.

  As a result, the tension adjusting unit 50 resists the belt reaction force of the timing belt stretched by the tension due to the tightening of the tension adjusting bolt 51 by the fitting structure of the spigot fitting portion 54k, and the output shaft 4 of the motor 2 Is maintained by the tension adjusting unit 50 so that the distance L between the axis CL2 of the screw shaft 21 and the axis CL1 of the screw shaft 21 that is the input shaft of the uniaxial actuator 10 does not change due to the rotation and vibration of the motor 2. The two-axis parallelism with the screw shaft 21 that is the input shaft of the uniaxial actuator 10 can be maintained.

Next, a method of tensioning the timing belt 43 by the tension adjusting unit 50 of the uniaxial actuator device 1 and the operation and effect will be described.
When adjusting the tension of the timing belt 43 with the single-axis actuator device 1, first, the operator temporarily tightens the four bracket fixing bolts 6, and the motor bracket with respect to the extending direction H of the timing belt 43. 5 and the uniaxial actuator bracket 18 are allowed to move relative to each other.

  Next, the operator tightens the tension adjusting nut 56 so as to contact the side surface 14 m of the bearing block 14 of the single-axis actuator 10. Thereby, the motor bracket 5 and the uniaxial actuator bracket 18 slide relative to each other in the tensioning direction H within the adjustment range of the long hole 8 by the tension of the tension adjustment bolt 51 by tightening the tension adjustment bolt 51. Therefore, the tension of the timing belt 43 can be adjusted. The operator determines a position where the tension of the timing belt 43 becomes an appropriate tension by tightening the tension adjusting bolt 51, and fixes the tension adjusting nut 56 at the position.

  Next, the operator tightens the lock nut 53 so that the lock nut 53 comes into contact with the side surface 54m of the mounting block 54, and holds the position of the tension adjusting nut 56 and the adjusting bolt 51 more reliably. Next, the operator finally tightens the four bracket fixing bolts 6 with a predetermined torque while confirming that the tension of the timing belt 43 is an appropriate tension. Thereby, this uniaxial actuator device 1 can stretch the timing belt 43 with an appropriate tension.

  As described above, the uniaxial actuator device 1 includes the tension adjusting unit 50 that adjusts the tension of the timing belt 43, so that the tension of the timing belt 43 can be appropriately adjusted. According to the uniaxial actuator device 1, since the tension adjusting unit 50 is provided at a position between the motor 2 and the uniaxial actuator 10, the tension adjusting unit 50 affects the outer dimensions of the uniaxial actuator device 1. Never give. Therefore, according to the uniaxial actuator device 1, the uniaxial actuator device 1 can be configured in a compact manner while the tension of the timing belt 43 can be adjusted.

  Further, the tension adjusting unit 50 includes an adjusting bolt 51 that adjusts the tension of the timing belt 43 and a lock nut 53 that fixes the position of the adjusting bolt 51. The tension can be adjusted, and the position of the adjustment bolt 51 after adjustment can be more reliably fixed by the lock nut 53. Therefore, this single-axis actuator device 1 is suitable for preventing or suppressing loosening of the adjusting bolt 51 due to vibration, change with time, or the like.

  Further, in the single axis actuator device 1, an inlay fitting portion 54 k is provided at a base portion of the mounting block 54, and the inlay fitting portion 54 k is arranged in the direction H in which the timing belt 43 is stretched, and the motor bracket 5 and the single axis actuator bracket 18. The motor bracket 5 and the uniaxial actuator bracket 18 have a fitting structure that restrains the mutual movement in a facing direction.

Therefore, according to the uniaxial actuator device 1, the output shaft 4 of the motor 2 is resisted against the belt reaction force of the timing belt 43 stretched by the tension adjustment bolt 51 during the stretching operation of the timing belt 43. And parallelism of the screw shaft 21 of the uniaxial actuator 10 can be maintained.
As described above, according to the uniaxial actuator device 1, the tension of the timing belt 43 can be adjusted with a compact configuration. The single-axis actuator device according to the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Single axis actuator apparatus 2 Motor 3 Flange 4 Output shaft 5 Motor bracket 6 Bracket fixing bolt 7 Female screw 8 Elongate hole 9 Bolt 10 Single axis actuator 11 Slide table 12 Housing 13 Bearing block 14 Bearing block 18 Single axis actuator bracket 20 Ball screw mechanism 21 Screw Axis (input shaft)
22 ball screw nut 30 linear motion guide mechanism 31 guide rail 32 slider 40 timing belt mechanism 41 driving pulley 42 driven pulley 43 timing belt 44 casing 50 tension adjusting portion 51 adjusting bolt 53 lock nut 54 mounting block 55 mounting bolt 56 tension adjusting nut 60 Guide mechanism

Claims (2)

A uniaxial actuator having a slide table, a slide table moving structure in which a ball screw mechanism and a linear motion guide mechanism are combined, a motor having an output shaft arranged in parallel with an input shaft of the uniaxial actuator, A timing belt mechanism connecting the output shaft and the input shaft of the uniaxial actuator;
A driving force from the output shaft of the motor is input to the input shaft of the single-axis actuator via the timing belt by the timing belt mechanism, and the slide table is guided by the linear motion guide mechanism on one axis. A uniaxial actuator device moved by a ball screw mechanism,
A uniaxial actuator device comprising a tension adjusting section for adjusting the tension of the timing belt at a position between the motor and the uniaxial actuator.   2. The uniaxial actuator device according to claim 1, wherein the tension adjusting unit includes an adjusting bolt that adjusts a tension of the timing belt and a lock nut that fixes a position of the adjusting bolt.

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