JP2022159885A - Ball screw shaft support structure and actuator - Google Patents

Abstract

To provide a ball screw shaft support structure that enables a high-speed operation by preventing deflection of a ball screw shaft by a simple and compact constitution so as to suppress vibrations and noises, when a plurality of sliders are provided, and an actuator.SOLUTION: A ball screw shaft support structure comprises: a ball screw shaft; a drive slider which is driven by the ball screw shaft; a free slider which is moved in conjunction with the drive slider; and a support member which is installed to be capable of being connected to/disconnected from the ball screw shaft, which is brought into pressure contact with the ball screw shaft by elastic means, and which is separated from the ball screw shaft against an urging force of the elastic means by the proximity of the drive slider or the free slider.SELECTED DRAWING: Figure 1

Description

The present invention relates to a ball screw shaft support structure and an actuator, and in particular, when a plurality of sliders are provided, it is possible to prevent deflection of the ball screw shaft with a simple and compact structure, thereby suppressing vibration and noise. It is related to the thing devised so that it can respond to high speed by doing.

Patent Documents 1 and 2, for example, disclose conventional ball screw shaft support structures and actuator configurations.
The feed screw device described in Patent Document 1 includes a square nut that is moved by a feed screw shaft, and a sub-block that is connected to the square nut by a connecting plate and moves in conjunction with the square nut. . The square nut and sub-block are guided by a linear guide mechanism. The sub-block is passed through by the feed screw shaft, and the feed screw shaft insertion hole of the sub-block is larger than the diameter of the feed screw so that the sub-block and the feed screw shaft do not come into contact with each other. ing.

The actuator described in Patent Literature 2 has a slider driven by a ball screw and two support brackets moved in conjunction with the slider. The support brackets are installed on both front and rear sides of the slider. The support bracket is provided with a support bush that is in slidable contact with the ball screw to support the ball screw. A pulley is installed on the support bracket, and a belt is wound around the pulley. Both ends of the belt are connected to the slider, and the center of the belt is fixed to the base. With such a configuration, the slider and the support bracket are moved together.

Japanese Utility Model Publication No. 1-64339 Japanese Patent No. 3221804

However, the conventional configuration described above has the following problems.
That is, in the feed screw device described in Patent Document 1, separate objects can be placed on the square nut and the sub-block, or a large object can be loaded across the square nut and the sub-block. However, if the feed screw shaft is lengthened, the feed screw shaft will flex, making it impossible to drive the square nut and sub-block at high speed. Therefore, as a method of driving at high speed, applying the support bracket described in Patent Document 2 is conceivable.
However, when the support bracket described in Patent Document 2 is applied to the feed screw device described in Patent Document 1, the square nut, the sub-block, and the plurality of support brackets are arranged on the feed screw shaft. , there is a problem that the movable range of the object to be conveyed is limited. Furthermore, there is also the problem that a mechanism with pulleys and belts for moving the support bracket in conjunction with the movement of the square nut and the sub-block is required, complicating the structure.

The present invention has been made based on these points, and its object is to prevent deflection of the ball screw shaft with a simple and compact structure when a plurality of sliders are provided. It is an object of the present invention to provide a ball screw shaft support structure and an actuator capable of suppressing vibration and noise and coping with high speed.

In order to solve the above problems, a ball screw shaft support structure according to claim 1 of the present invention comprises a ball screw shaft, a drive slider driven by the ball screw shaft, and a free slider moved in conjunction with the drive slider. , which is detachably attached to the ball screw shaft and pressed against the ball screw shaft by an elastic means, and is moved from the ball screw shaft against the urging force of the elastic means by the approach of the drive slider or the free slider. and spaced support members.
A ball screw shaft support structure according to claim 2 is characterized in that, in the ball screw shaft support structure according to claim 1, the free slider is provided with a free slider side support member for supporting the ball screw shaft. and
The ball screw shaft support structure according to claim 3 is the ball screw shaft support structure according to claim 2, wherein the drive slider and the free slider are provided with a common slider body, and the slider body of the drive slider is provided with a common slider body. A ball screw nut is installed, and the free slider side support member is installed on the slider body of the free slider.
A ball screw shaft support structure according to claim 4 is characterized in that, in the ball screw shaft support structure according to claim 1, the free slider side support member is a bush penetrated by the ball screw shaft. be.
The ball screw shaft support structure according to claim 5 is the ball screw shaft support structure according to claim 1, wherein the free slider has a support member passage recess through which the support member passes when approaching the support member. It is characterized by being provided.
Further, an actuator according to claim 6 is characterized in that the ball screw shaft support structure according to claims 1 to 5 is provided.

As described above, according to the ball screw shaft support structure according to claim 1 of the present invention, there is provided a ball screw shaft, a drive slider driven by the ball screw shaft, and a free slider moved in conjunction with the drive slider. A slider is detachably attached to the ball screw shaft and is pressed against the ball screw shaft by an elastic means. and a support member spaced apart from the shaft, so that when a plurality of sliders are provided, deflection of the ball screw shaft can be prevented with a simple and compact structure, vibration and noise can be suppressed, and high-speed operation can be achieved. .
According to the ball screw shaft support structure of claim 2, in the ball screw shaft support structure of claim 1, the free slider is provided with a free slider side support member for supporting the ball screw shaft. , the deflection of the ball screw shaft is reliably prevented, vibration and noise are suppressed, and high-speed operation is possible.
According to the ball screw shaft support structure of claim 3, in the ball screw shaft support structure of claim 2, the drive slider and the free slider are provided with a common slider body, and the slider of the drive slider is provided. Since the ball screw nut is installed on the main body and the free slider side support member is installed on the slider body of the free slider, the structure can be further simplified.
According to the ball screw shaft support structure of claim 4, in the ball screw shaft support structure of claim 1, the free slider side support member is a bush penetrated by the ball screw shaft. Can be simplified.
According to the ball screw shaft support structure of claim 5, in the ball screw shaft support structure of claim 1, the free slider has a support member passage through which the support member passes when approaching the support member. Since the concave portion is provided, the configuration can be further simplified.
Further, according to the actuator of claim 6, the ball screw shaft support structure of claims 1 to 5 is provided. Prevents shaft deflection, suppresses vibration and noise, and enables high-speed operation.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the 1st Embodiment of this invention, and is a perspective view of an actuator. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the 1st Embodiment of this invention, is a partial longitudinal cross-sectional view of an actuator, and is a figure which expanded the support member vicinity. FIG. 3 is a view showing the first embodiment of the present invention, and is a cross-sectional view taken along line III-III in FIG. 2. FIG. 1 is a diagram showing the first embodiment of the present invention, and is a partial perspective view enlarging the vicinity of a support member of an actuator. FIG. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 5A is an exploded perspective view of a drive slider, and FIG. 5B is an exploded perspective view of a free slider according to a first embodiment of the present invention; 1 is a diagram showing the first embodiment of the present invention, and is a perspective view of a ball screw shaft support structure. FIG. FIG. 2 is a view showing the first embodiment of the present invention, is a partial longitudinal sectional view of the actuator, and is an enlarged view of the vicinity of the support member when the free slider approaches the support member. FIG. 1 is a view showing the first embodiment of the present invention, is a partial perspective view of a state in which a part of an actuator is removed, and is an enlarged view of the vicinity of a support member when the free slider approaches the support member. FIG. FIG. 11 is a view showing the first embodiment of the present invention, and is a partial vertical cross-sectional view of the actuator, in which the roller of the free slider runs over the inclined surface on the side of the support member, and the support member begins to separate from the ball screw shaft. It is an enlarged view near the support member at the time. 1 is a view showing a first embodiment of the present invention, and is a partial vertical cross-sectional view of an actuator, in which the support member is separated from the ball screw shaft, and the receiving member and the lower surface side slide provided on the lower surface side of the free slider are provided. It is an enlarged view near the support member in the state that the member is in sliding contact. 1 is a view showing a first embodiment of the present invention, and is a partial longitudinal sectional view of an actuator, in which the rollers of the free slider and the rollers of the drive slider ride on both the front and rear inclined surfaces of the support member, is an enlarged view of the vicinity of the support member when is separated from the ball screw shaft. 1 is a view showing a first embodiment of the present invention, which is a partial vertical cross-sectional view of an actuator, in which the support member is separated from the ball screw shaft, and the receiving member and the lower surface side slide provided on the lower surface side of the drive slider are provided. It is an enlarged view near the support member in the state that the member is in sliding contact. FIG. 2 is a view showing the first embodiment of the present invention, is a partial longitudinal sectional view of the actuator, and is an enlarged view of the vicinity of the support member immediately after the slider has passed through the support member. FIG. 14(a) is a partial perspective view of a state in which a part of the actuator is removed, and FIG. 14(b) is a diagram showing a second embodiment of the present invention, and FIG. It is XIVb sectional drawing. 15(a) is a partial perspective view of a state in which a part of the actuator is removed, and FIG. 15(b) is a diagram showing a third embodiment of the present invention, and FIG. 15(b) is an XVb- It is XVb sectional drawing. 16(a) is a perspective view of a ball screw shaft support structure, FIG. 16(b) is a partially removed view of the ball screw shaft support structure, and FIG. (c) is a cross-sectional view taken along line XVIc--XVIc of FIG. 16(a). 17(a) is a perspective view of a ball screw shaft support structure, and FIG. 17(b) is a sectional view taken along line XVIIb-XVIIb of FIG. 17(a), showing a fifth embodiment of the present invention. 18(a) is a perspective view of a ball screw shaft support structure, and FIG. 18(b) is a cross-sectional view taken along line XVIIIb-XVIIIb of FIG. 18(a), showing a sixth embodiment of the present invention. It is a figure which shows the 7th Embodiment of this invention, and is a perspective view of an actuator. FIG. 10 is a cross-sectional view of an actuator, showing an eighth embodiment of the present invention.

A first embodiment of the present invention will be described below with reference to FIGS. 1 to 13. FIG. FIG. 1 is a perspective view showing the overall structure of an actuator 1 according to the first embodiment, FIG. 2 is a vertical cross-sectional view of essential parts, and FIG. 3 is a cross-sectional view taken along line III--III in FIG. As shown in FIGS. 1-3, there is a base 3 having a substantially U-shaped cross section. Guide rails 5, 5 are installed on both left and right inner side surfaces of the base 3. As shown in FIG. Guide grooves 7, 7 are formed in the guide rails 5, 5, respectively.

A ball screw shaft 9 is installed inside the base 3 . As shown in FIG. 1, a bearing portion 8a is provided on the front end side of the base 3 (lower left side in FIG. 1), and a bearing portion 8b is provided on the rear end side of the base 3 (upper right side in FIG. 2). be. The ball screw shaft 9 is supported by these bearings 8a and 8b. The ball screw shaft 9 is formed with a spiral groove 9a.

As shown in FIGS. 1 and 2, a driving slider 11 and a free slider 13 are interlocked and installed on the base 3 so as to be movable in the horizontal direction. The drive slider 11 and the free slider 13 have slider bodies 14 . The slider body 14 of the driving slider 11 and the slider body 14 of the free slider 13 are connected by a connecting member 16, so that when the driving slider 11 moves, the free slider 3 moves together. It's becoming The connecting member 16 is installed across both sides of the slider main body 14 of the driving slider 11 and the slider main body 14 of the free slider 13 in the width direction (the direction from the upper left to the lower right in FIG. 1), and is fixed by fixing bolts (not shown). It is fixed to the slider body 14 of the drive slider 11 and the slider body 14 of the free slider 13 .

End caps 15, 15 are provided at both ends of the slider body 14 in the width direction (upper left in FIG. 1) and in the front-rear direction (from the lower left to the upper right in FIG. 1). End caps 17, 17 are provided at both ends of the drive slider 11 in the width direction (lower right side in FIG. 1) of the slider main body 14 in the front-rear direction (from the lower left to the upper right in FIG. 1). installed (the end cap on the rear end side is not shown). A return path (not shown) is formed in the end caps 15 and 17 . On both sides of the slider body 14 of the drive slider 11 in the width direction (the direction from the upper left to the lower right in FIG. 1), no-load circulation paths (not shown) are formed. Guide grooves (not shown) are formed on both side surfaces of the driving slider 11 in the width direction (the direction from the upper left to the lower right in FIG. 1).

One unloaded circulation path (not shown) in the slider body 14 of the drive slider 11, a return path of the one end cap 15, a return path of the other end cap 15, and a guide of the one guide rail 5 Steel balls (not shown) roll and circulate in the space between the groove 7 and one guide groove (not shown) of the slider body 14 of the drive slider 11 . The other unloaded circulation path (not shown) in the slider body 14 of the driving slider 11, the return path of the one end cap 17, the return path of the other end cap 17, and the other guide rail 5 Steel balls (not shown) roll and circulate in the space between the guide groove 7 and the other guide groove (not shown) of the slider body 14 of the drive slider 11 . With such a configuration, the drive slider 11 is movable with respect to the base 3 .

Further, as shown in FIG. 2, a ball screw nut accommodating recess 27 is formed in the slider body 14 of the drive slider 11, and a ball screw nut 31 is accommodated in the ball screw nut accommodating recess 27. . The ball screw nut 31 has a ball screw nut body 33, an end cap 35 on the front end side (left side in FIG. 2), and an end cap 37 on the rear end side (right side in FIG. 2). The ball screw shaft 9 passes through the ball screw nut 31 . A spiral groove 39 is formed on the inner peripheral surface of the ball screw nut main body 33 . A no-load circulation path (not shown) is formed in the ball screw nut main body 33, and a return path (not shown) is formed in the end caps 35 and 37. As shown in FIG.

The unloaded circulation path (not shown) of the ball screw nut body 33, the return path (not shown) of the end caps 35 and 37, and the spiral groove 39 of the ball screw nut body 33 and the spiral groove 9a of the ball screw shaft 9 Steel balls 41 roll and circulate in the space between them.
A mounting flange portion 34 is provided on the ball screw nut main body 33 . As shown in FIG. 5A, the ball screw nut 31 is fixed by passing a fixing screw 36 through the mounting flange portion 34 and screwing it into the slider body 14 .
Further, as shown in FIG. 1, a motor 43 is installed on the rear end side of the base 3 (on the upper right side in FIG. 1). The motor 43 rotates and drives the ball screw shaft 9 . When the ball screw shaft 9 is rotated and driven, the drive slider 11 is moved in the longitudinal direction (horizontal direction in FIG. 2).

As shown in FIG. 2, front rollers made of resin as ball screw nut side rollers are provided on both sides in the width direction (both sides in the paper surface direction in FIG. 2) of the lower front end side (left side in FIG. 2) of the drive slider 11. 21, 21 are rotatably installed (the front roller 21 on the front side in FIG. 2 is not shown). Further, on both sides in the width direction (both sides in the paper surface direction in FIG. 2) of the lower rear end side (right side in FIG. 2) of the drive slider 11, resin rear rollers 23, 23 are rotatable as ball screw nut side rollers. (The rear roller 23 on the front side in FIG. 2 is not shown.). Further, plate-like lower surface side sliding members 25, 25 are installed on both width direction end sides (both sides in the paper plane direction in FIG. 2) of the lower side of the driving slider 11 (on the lower surface side on the front side in FIG. 2). The sliding member 25 is not shown.).

The free slider 13 has substantially the same structure as the driving slider 11, but instead of the ball screw nut 31, a bush 45 is installed as a free slider side support member. The bush 45 is a substantially cylindrical member, and has a through hole 46 formed in the center thereof, through which the ball screw shaft 9 is arranged. The bush 45 is housed in the ball screw nut housing recess 27, for example, as shown in FIG. 5(b). The bush 45 is fixed to the slider body 14 by a bush fixing member 47 and a fixing screw 48 . The bush fixing member 47 is composed of a substantially cylindrical insertion portion 49 accommodated in the ball screw nut accommodation recess 27 and a flange portion 50 arranged outside the entrance of the ball screw nut accommodation recess 27 . be. The diameter of the bush 45 is set smaller than the diameter of the ball screw nut housing recess 27, and the insertion portion 49 of the bush fixing member 47 is inserted into the gap between the bush 45 and the ball screw nut housing recess 27. inserted. The bush fixing member 47 is fixed by penetrating the fixing screw 48 through the flange portion 50 and screwing it into the slider body 14 .

Further, for example, as shown in FIGS. 2 and 4, the base 3 is formed with a support member accommodating concave portion 51 . A ball screw shaft support structure 52 is installed in the support member housing recess 51 . The ball screw shaft support structure 52 first includes a support member support member 53 . The support member support member 53 has a support member base 54 . Support member base mounting plates 55 , 55 are fixed to both front and rear end sides of the support member base 54 . Through holes 56 , 56 are formed at both ends of the support member base mounting plate 55 . The support member base mounting plates 55 , 55 are fixed to the support member base 54 by fixing screws 57 . The support member support member 53 has support member guide struts 58 , 58 . The support member guide struts 58, 58 are erected at both ends of the support member base 54 in the front-rear direction (horizontal direction in FIG. 2). The support member guide struts 58, 58 are fixed to the support member base 54 by fixing screws 59, 59. As shown in FIG.

As shown in FIG. 2, a support member base accommodation hole 60 is formed in the bottom of the support member accommodation recess 51, and the support member base 54 is installed in the support member base accommodation hole 60. As shown in FIG. ing.
By passing the fixing screw 61 through the through hole 56 of the support member base mounting plate 55 and screwing it into the base 3 , the support member base 54 and the support member supporting member 53 are attached to the base 3 . is fixed to As a result, the ball screw shaft support structure 52 can be attached to and detached from the support member accommodation recess 51 as one unit.
Further, the support member supporting member 53 has a coil spring 62 as an elastic means. The coil spring 62 is stretched between a support member 64 to be described later and the support member base 54 .
A U-shaped plate spring 63, which is part of a buffer mechanism to be described later, is installed at the center of the support member base 54 in the front-rear direction (horizontal direction in FIG. 2).

The ball screw shaft support structure 52 has a support member 64 . The support member 64 is installed inside the support member accommodating recess 51 and above the support member base 54 . As shown in FIG. 6, the support member 64 has a support member main body 65, and guide through holes 66, 66 are formed on both ends of the support member main body 65 in the front-rear direction (the direction from the lower left to the upper right in FIG. 6). is formed. Sliding bearings 67, 67 are press-fitted into the guide through-holes 66, 66, and the support member guiding struts 58, 58 are arranged so as to pass through the sliding bearings 67, 67. 67 and sliding contact. The support member 64 is vertically movable along the support member guide struts 58 , 58 . As shown in FIG. 2, a coil spring 62 as the elastic means is stretched between the support member 64 and the support member base 54 . The support member 64 is always pressed and urged toward the ball screw shaft 9 (upper side in FIG. 2) by the coil spring 62 .
As described above, the support member support member 53 includes the support member base 54, the support member base mounting plates 55, 55 fixed to the support member base 54, and the support member guide posts 58, 58. It is composed of a coil spring 62 that elastically supports the support member main body 65 .

On both sides of the upper surface of the support member body 65 in the front (lower left in FIG. 6) in the width direction (direction from upper left to lower right in FIG. 6), front side inclined surfaces 71, 71 are formed as support member side inclined surfaces. On both sides in the width direction (direction from upper left to lower right in FIG. 6) of the upper surface side of the support member main body 65 (upper right in FIG. 6), there are rear side inclined surfaces 73 as support member side inclined surfaces. , 73 are formed. The support member 64 includes, for example, front side cushioning materials 75 and rear side cushioning materials 77, 77 made of low-resilience rubber as support member side inclined surface cushioning materials. The front cushioning materials 75, 75 are installed on the front inclined surfaces 71, 71, and the rear cushioning materials 77, 77 are installed on the rear inclined surfaces 73, 73. As shown in FIG.

As shown in FIG. 7, the drive slider 11 and the free slider 13 move toward the support member 64 (left side in FIG. 7), and the front rollers 21, 21 of the free slider 13 move toward the rear inclined surface 73. As shown in FIG. , 73, the support member 64 is pressed and urged downward in FIG. Further, the drive slider 11 and the free slider 13 move from the side opposite to the direction shown in FIG. 7, the support member 64 is pressed and urged downward in FIG.

Further, the support member 64 has a support portion 81 . A support portion recess 79 is formed in the center of the upper surface side of the support member main body 65 , and the support portion 81 is installed in this support portion recess 79 . The support portion 81 includes, for example, a receiving member 83 made of POM (polyoxymethylene) and a cushioning material 87 for receiving member made of, for example, felt. The receiving member 83 is arranged on the upper surface side and receives the ball screw shaft 9 . The receiving member 83 is detachably installed in the support recess 79 via the cushioning material 87 for the receiving member.

Through holes 88, 88 with spot facings are formed in the receiving member 83, and the receiving member 83 is formed in the recessed portion 79 for the support section by passing bolts 89, 89 through the through holes 88, 88. It is fixed to the support member main body 65 by screwing it into the female threaded portions 68 , 68 . The receiving member cushioning material 87 is fixed together with the receiving member 83 by the bolts 89 , 89 . Set screws 84, 84 are screwed from the lower surface side of the support member main body 65 of the female threads 68, 68 formed in the support recess 79, and the screwing position of the set screws 84, 84 is set to By adjusting, the cushioning material 87 for the receiving member is prevented from being crushed more than necessary, and the height of the receiving member 83 is adjusted.

A concave portion 85 for receiving the ball screw shaft 9 is formed on the upper surface side of the receiving member 83 . Both sides (in FIG. 6) in the width direction of the concave portion 85 of the receiving member 83 are planar sliding portions 86 , 86 . As shown in FIG. 2, when the support member 64 is pressed and urged upward in FIG. The vicinity of the center is supported, and bending of the ball screw shaft 9 is prevented.
A front inclined surface 82a substantially continuous with the front inclined surfaces 71, 71 of the support member body 65 is formed in front of the receiving member 83, and a front inclined surface 82a is formed behind the receiving member 83. A rear sloping surface 82b substantially continuous with the rear sloping surfaces 73, 73 of 65 is formed.

The cushioning material 87 for the receiving member made of felt is for reducing the impact when the receiving member 83 collides with the ball screw shaft 9. , cushioning materials 91, 91 for support members made of low-resilience rubber are installed. These support member cushioning materials 91, 91 mitigate the impact when the support member 64 collides with the support member base 54. As shown in FIG.
As described above, the support member 64 includes the support member main body 65, the support portion 81 installed in the support member main body 65, the front inclined surfaces 71, 71 of the support member main body 65, and the rear inclined surface. It is composed of the front cushioning materials 75, 75 and the rear cushioning materials 77, 77 installed on the 73, 73. As shown in FIG.

Further, as shown in FIG. 2, a U-shaped leaf spring 63, which is a part of a buffer mechanism to be described later, is installed at the center of the support member base 54 in the front-rear direction (horizontal direction in FIG. 2). It is fixed to the support member base 54 by screws 96 , 96 . As shown in FIGS. 3 and 6, abutting members 93, 93, which are part of a buffer mechanism to be described later, are fixed to both sides of the support member 64 in the width direction (horizontal direction in FIG. 3). . The support member 64 is inserted between both ends of the plate spring 63 via the contact members 93, 93. As shown in FIG. A cushioning mechanism 95 is composed of the plate spring 63 and the contact members 93 , 93 . The buffer mechanism 95 buffers the upward movement of the support member 64 , that is, the movement of the support member 64 toward the ball screw shaft 9 .

Next, the operation of this first embodiment will be described.
As a mode of use, a single large object (not shown) is loaded straddling the drive slider 11 and the free slider 13, or separate objects (not shown) are loaded on the drive slider 11 and the free slider 13. It is possible that Further, since the driving slider 11 and the free slider 13 are connected by the connecting member 16, the load is distributed.

Next, operation will be described.
When the ball screw shaft 9 is rotated and driven by the motor 43, the driving slider 11 is moved forward and backward, and the free slider 13 connected to the driving slider 11 by the connecting member 16 is also moved in the same direction. When the drive slider 11 and the free slider 13 are separated from the support member 64, as shown in FIG. 2, the support member 64 is pressed and biased upward in FIG. The center portion of the ball screw shaft 9 is supported by the concave portion 85 of the receiving member 83 of the support portion 81 to prevent the ball screw shaft 9 from bending.

As shown in FIGS. 7 and 8, when the free slider 13 approaches the support member 64 from the right side in FIG. It comes into contact with the cushioning materials 77 and 77 and starts rolling. As a result, the support member 64 is pressed and urged toward the side opposite to the ball screw shaft 9 (lower side in FIG. 7) against the elastic force of the coil spring 62 , and the ball screw shaft is supported by the concave portion 85 of the receiving member 83 . 9 support is lifted. The impact when the front rollers 21, 21 collide with the rear cushioning members 77, 77 is relieved by the rear cushioning members 77, 77. As shown in FIG. FIG. 9 shows a state in which the free slider 13 has moved closer to the support member 64, and the support member 64 is pressed and urged further toward the side opposite to the ball screw shaft 9 (lower side in FIG. 9). .
When the free slider 13 moves further to the left in FIG. 9, the front rollers 21, 21 are brought into contact with the rear inclined surfaces 82b, 82b of the receiving member 83 and roll thereon. 86, 86 and rolls, and further contacts and rolls on the front inclined surfaces 82a, 82a of the receiving member 83. As shown in FIG.

As shown in FIG. 10, when the free slider 13 moves directly above the support member 64, the front rollers 21, 21 move away from the receiving member 83. 86 , 86 are in sliding contact with the lower surface side sliding members 25 , 25 of the free slider 13 . At this time, the support member 64 is pressed and urged downward. The impact when the support member 64 collides with the support member base 54 is mitigated by the support member cushioning materials 91 , 91 .

Next, the free slider 13 passes above the support member 64, and the rear rollers 23, 23 of the free slider 13 move toward the rear inclined surfaces 82b, 82b of the receiving member 83, the sliding portion 86, 86 and the front-side inclined surfaces 82 a , 82 a , the elastic force of the coil spring 62 pushes the support member 64 through the front-side cushioning materials 75 , 75 of the front-side inclined surfaces 71 , 71 . 10, and then the rear rollers 23, 23 of the free slider 13 tilt forward as shown in FIG. The front rollers 21, 21 of the drive slider 11 abut on the front cushioning members 75, 75 of the surfaces 71, 71 and the rear cushioning members 77, 77 of the rear inclined surfaces 73, 73, respectively.

11, the front rollers 21, 21 of the drive slider 11 roll against the rear inclined surfaces 82b, 82b of the receiving member 83, and then roll. It abuts on the sliding portions 86, 86 of the member 83 and rolls, and further abuts on the front side inclined surfaces 82a, 82a of the receiving member 83 and rolls.

As shown in FIG. 12, when the driving slider 11 moves directly above the support member 64, the front rollers 21, 21 of the driving slider 11 are separated from the receiving member 83, but the receiving member 83 of the support member 64 The sliding portions 86 , 86 of the drive slider 11 are in sliding contact with the lower surface side sliding members 25 , 25 of the drive slider 11 . At this time, the support member 64 is pressed and urged downward. The impact when the support member 64 collides with the support member base 54 is mitigated by the support member cushioning materials 91 , 91 .

Next, when the driving slider 11 passes above the support member 64, the rear rollers 23, 23 of the driving slider 11 move toward the rear inclined surfaces 82b, 82b of the receiving member 83 and the sliding portion 86. , 86, and the front inclined surfaces 82a, 82a, the support member 64 is pushed by the elastic force of the coil spring 62 via the front cushioning materials 75, 75 of the front inclined surfaces 71, 71. Although it is pressed and urged to the opposite side of the ball screw shaft 9 (lower side in FIG. 13) against the force, the pressing and urging is gradually released by the movement of the drive slider 11 . 13, when the driving slider 11 is moved to the left in FIG. 13, the support member 64 is again pressed and urged upward in FIG. A portion near the center of the ball screw shaft 9 is supported by the concave portion 85 of the receiving member 83, and the bending of the ball screw shaft 9 is prevented. The shock when the receiving member 83 contacts the ball screw shaft 9 again is buffered by the receiving member cushioning material 87 .
Further, the sudden rise of the support member 64 when it returns to the upper side is mitigated by the contact between the leaf spring 63 of the cushioning mechanism 95 and the contact member 93, which acts as a resistance, thereby preventing the generation of noise. is doing.

The same applies when the drive slider 11 and the free slider 13 approach and pass through the support member 64 from the opposite side to the direction shown in FIG. In this case, the rear rollers 23, 23 of the drive slider 11 are in contact with the front shock absorbers 75, 75 of the front inclined surfaces 71, 71 of the support member 64 and roll, so that the support member 64 acts as a coil spring. It will be pushed down against the biasing force of 62 .
Further, the ball screw shaft support structure 52 has a structure that can be attached to and detached from the support member accommodation recess 51 as one unit.

Also, the distance between the driving slider 11 and the free slider 13 is set according to the length of the connecting member 16 . If the distance between the drive slider 11 and the free slider 13 is large, the support member 64 supports the ball screw shaft 9 after one of the drive slider 11 and the free slider 13 passes through the support member 64. , the other of the drive slider 11 and the free slider 13 may pass through the support member 64.

Next, the effects of this first embodiment will be described.
First, when a plurality of sliders are provided, it is possible to prevent bending of the ball screw shaft 9 with a simple and compact configuration, suppress vibration and noise, and respond to high speed operation. That is, the drive slider 11 and the free slider 13 are installed, and the support member 64 provided with the receiving member 83 for supporting the ball screw shaft 9 is always biased toward the ball screw shaft 9 by the coil spring 62. The front rollers 21, 21 and the rear rollers 23, 23 of the drive slider 11 and the free slider 13, and the front inclined surfaces 71, 71 and the rear inclined surfaces 73, 73 of the support member 64 cooperate with each other to appropriately push down. because it is composed.

Further, since the free slider 13 is provided with a bush 45 as a free slider side support member, even if the support member 64 is pushed down by the free slider 13, the ball screw shaft 9 is reliably prevented from bending. Vibration and noise can be suppressed, and high-speed operation can be achieved.
Further, since the drive slider 11 and the free slider 13 have the slider body 14 having a common structure, the structure is further simplified.

Further, since the cushioning material 87 for the receiving member is interposed between the receiving member 83 and the support member main body 65, the shock when the receiving member 83 collides with the ball screw shaft 9 can be easily absorbed. can be mitigated by
Further, since the receiving member 83 is detachably installed, it can be easily replaced.
Further, since the cushioning material 87 for the receiving member is made of felt, the structure is simple and the cushioning effect and the sound absorbing effect are high.

Further, since the support member cushioning materials 91, 91 are also installed on the lower surface side of the support member 64, the impact when the support member 64 collides with the support member base 54 can be reduced. .
In addition, since the support member 64 is moved up and down by cooperation of the front roller 21, the rear roller 23, the front side inclined surfaces 71, 71, and the rear side inclined surfaces 73, 73, the up and down operation of the support member 64 is performed. It can be smooth.

Further, since front cushioning materials 75, 75 and rear cushioning materials 77, 77 are installed on the front inclined surfaces 71, 71 and the rear inclined surfaces 73, 73, the front rollers 21 and the rear rollers 23 can mitigate the impact of a collision.
The support member cushioning materials 91, 91, the front cushioning materials 75, 75, and the rear cushioning materials 77, 77 are made of, for example, low-resilience rubber, so that a high cushioning effect can be obtained with a simple structure. can be done.

Moreover, since the buffer mechanism 95 is provided, it is possible to prevent the support member 64 from abruptly rising, to mitigate the impact on the ball screw shaft 9, and to prevent noise. Further, since the cushioning mechanism 95 is composed of the leaf spring 63 and the contact members 93, 93, the configuration thereof is also simple.
Further, since one support member 64 is installed in the actuator 1, the structure is also simple.

Next, a second embodiment of the present invention will be described with reference to FIG.
As shown in FIG. 14, the actuator 101 according to the second embodiment is provided with the ball screw shaft support structure 52 as in the case of the first embodiment. On the lower side, instead of the front rollers 21, 21, front side inclined surface members 103, 103 are provided, and instead of the rear rollers 23, 23, rear side inclined surface members 105, 105 are provided.
The drive slider 11 (not shown in FIG. 14) is also provided with front inclined surface members 103, 103 and rear inclined surface members 105, 105 in the same manner as the free slider 13 described above.

The front-side inclined surface member 103 is, for example, a member provided with a ball screw nut-side inclined surface 107 parallel to the rear-side inclined surface 73 of the support member main body 65, as shown in FIG. 14(b). Further, the rear side inclined surface member 105 is a member provided with a ball screw nut side inclined surface 109 parallel to the front side inclined surface 71 of the support member main body 65 .

In the case of the second embodiment, the ball screw nut side inclined surface 107 of the front side inclined surface member 103 contacts the rear side inclined surface 73 of the support member main body 65, or the rear side inclined surface member The ball screw nut side inclined surface 109 of 105 comes into contact with the front side inclined surface 71 of the support member main body 65, so that the support member 64 is pushed downward.
Further, as shown in FIG. 6, a front cushioning material 75 and a rear cushioning material 77 are installed on the front inclined surface 71 and the rear inclined surface 73 of the support member main body 65. A cushioning material (not shown) may be provided on the surface 107 and the inclined surface 109 as well.
In addition, it is also conceivable to install cushioning materials (not shown) on the inclined surfaces 107 and 109 instead of installing cushioning materials on the front inclined surface 71 and the rear inclined surface 73 of the support member main body 65 . .
It should be noted that the same reference numerals are assigned to the configurations common to those of the first embodiment, and the description thereof will be omitted.

A third embodiment of the present invention will now be described with reference to FIG.
As shown in FIG. 15, the actuator 201 has front inclined surface members 103, 103 and rear inclined surface members 105, 105 below the free slider 13, as in the case of the second embodiment. A ball screw shaft support structure 203 is installed in the support member housing recess 51 of the base 3 .
Further, as in the case of the second embodiment described above, the drive slider 11 (not shown in FIG. 15) is also provided with front-side inclined surface members 103, 103 and rear-side inclined surface members 105, 105. As shown in FIG.

The ball screw shaft support structure 203 includes a support member 204 and a support member support member 53 . The support member 204 has a support member main body 205 . Guide through holes 207, 207 are formed at both ends of the support member main body 205 in the front-rear direction (the direction from the lower left to the upper right in FIG. 15(a)). Sliding bearings 209, 209 are press-fitted into the guide through holes 207, 207, and the support member guiding struts 58, 58 are arranged so as to pass through the sliding bearings 209, 209. It is designed to be in sliding contact with.

Support member side rollers 211, 211 are rotatably installed at both ends of the support member main body 205 in the width direction (the direction from the upper left to the lower right in FIG. 15(a)). In the case of the third embodiment, the support member side rollers 211, 211 are installed on the free slider 13 on the inclined surface 107 of the front side inclined surface member 103 and the inclined surface 109 of the rear side inclined surface member 105. The support member 204 is pressed downward and urged by being rolled in contact therewith.
Further, it is conceivable to install a cushioning material (not shown) on the inclined surface 107 or the inclined surface 109 .
It should be noted that the same reference numerals are assigned to the configurations common to those of the first embodiment, and the description thereof will be omitted.

A fourth embodiment of the present invention will now be described with reference to FIG.
In this fourth embodiment, a ball screw shaft support structure 301 as shown in FIG. 16 is used. This ball screw shaft support structure 301 has substantially the same configuration as the ball screw shaft support structure 52 in the above-described first and second embodiments, but instead of the buffer mechanism 95, a buffer mechanism 303 is provided. is provided.

The cushioning mechanism 303 includes a contact member 305 having a substantially U-shaped cross section fixed to the support member base 54, and a contact member 305 on both sides of the support member main body 65 in the width direction (horizontal direction in FIG. 16(c)). It is composed of leaf springs 307, 307 installed.
For example, as shown in FIG. 16(a), the support member 64 is arranged inside the contact member 305, and the tip sides of the leaf springs 307, 307 are shown in FIGS. 16(b) and 16(c). As shown in FIG.

According to the cushioning mechanism 303, the upward movement of the support member 64, that is, the motion of approaching the ball screw shaft 9 is cushioned, like the cushioning mechanism 95 of the first embodiment.

Next, a fifth embodiment of the present invention will be described with reference to FIG.
In this fifth embodiment, a ball screw shaft support structure 401 as shown in FIG. 17 is used. This ball screw shaft support structure 401 has substantially the same configuration as the ball screw shaft support structure 52 in the above-described first and second embodiments, but the width direction of the support member main body 65 (FIG. 17) Buffer mechanisms 403, 403 are provided on both sides of (b) middle left and right direction.

The buffer mechanism 403 has a damper mounting member 405 . As shown in FIG. 17( a ), stepped through holes 407 , 407 are provided in the center of the damper mounting member 405 . The damper mounting member 405 is fixed to the support member main body 65 by passing fixing screws 409 through the stepped through holes 407 and 407 and screwing the fixing screws 409 into the support member main body 65 .

As shown in FIG. 17(a), dampers 411, 411 are installed at both ends of the damper mounting member 405 in the front-rear direction. The damper 411 has a cylinder 413 and a rod 415 . Oil (not shown) is sealed in the cylinder 413 and a piston (not shown) is fixed to the end of the rod 415 on the inner side of the cylinder 413 . The lower end of the rod 415 shown in FIG. 17 is fixed to the base of an actuator (not shown). Therefore, when the support member 64 is moved vertically in FIG. 17, the cylinder 413 is moved relative to the rod 415 . At this time, the movement of the cylinder 413 and thus the support member 64 is buffered by the resistance of oil (not shown) in the cylinder 413 .

Next, a sixth embodiment of the present invention will be described with reference to FIG.
In this sixth embodiment, a ball screw shaft support structure 501 as shown in FIG. 18 is used. This ball screw shaft support structure 501 has substantially the same configuration as the ball screw shaft support structure 52 in the first and second embodiments described above, but a buffer mechanism 503 is provided in the support member base 54. is set up.

The cushioning mechanism 503 has a rectangular plate 505 fixed to the support member base 54 . Dampers 507 , 507 , 507 , 507 (damper 507 on the left end in FIG. 18A is not shown) are installed at respective corners of this plate 505 . The damper 507 has the same structure as the damper 411 of the fifth embodiment, and has a cylinder 509 and a rod 511 . The cylinder 509 is fixed to the plate 505, and the upper end of the rod 511 in FIG.
The damper 507 dampens the vertical movement of the support member 64 in FIG.

A seventh embodiment of the present invention will now be described with reference to FIG.
In the case of the first embodiment, the configuration in which one ball screw shaft support structure 52 is provided at one central location in the axial direction has been described as an example. In the case of 701, the ball screw shaft support structures 52, 52 are installed at two locations in the axial direction.
The rest of the configuration is the same as that of the first embodiment, and the same reference numerals are given to the same parts in the figure, and the description thereof will be omitted.

In the case of the seventh embodiment as well, the same actions and effects as in the case of the first embodiment are obtained, but in the case of the seventh embodiment, there is more power than in the case of the first embodiment. Even if the ball screw shaft 9 is long, it is possible to prevent the bending of the ball screw shaft 9, suppress vibration and noise, and operate at high speed.

Next, an eighth embodiment of the present invention will be described with reference to FIG.
A free slider 803 is installed in the actuator 801 according to the eighth embodiment. The free slider 803 has substantially the same structure as the free slider 13 in the first embodiment, but the slider main body 14 is formed with a recess 805 for supporting member passage, and the front rollers 21, 21 and the rear rollers 21, 21 are formed. Rollers 23, 23 are not provided. When the free slider 803 passes over the support member 64 , the support member 64 is not pushed down and passes through the support member passage recess 805 so that the support member 64 continues to support the ball screw shaft 9 . It's becoming
In the case of this eighth embodiment, a simpler configuration can be achieved.

The present invention is not limited to the first to eighth embodiments.
Various cases are conceivable for the number of drive sliders and free sliders.
Further, as the free slider side support member, various forms other than the bush are conceivable as long as they can support the ball screw shaft.
First, in the case of the first to seventh embodiments, the case where one or two support members are provided has been described, but the present invention is not limited to this, and three or more support members may be provided.
As for the material of the receiving member, in addition to POM, various cases such as an oil-containing sintered material having good slidability can be considered.
In addition to felt and low-resilience rubber, various materials such as cloth, rubber, resin, gel-like materials, and porous materials such as sponge are conceivable for the material of the cushioning material.
In addition, the roller may be made of various materials such as rubber, oil-containing sintered material, etc., in addition to resin.
Alternatively, the support member base may be integrated with the base of the actuator, and the support member guide column may be directly fixed to the base.
In addition, the illustrated configuration is merely an example.

The present invention relates to a ball screw shaft support structure and an actuator, and in particular, when a plurality of sliders are provided, a simple and compact structure prevents deflection of the ball screw shaft, suppresses vibration and noise, and increases speed. It is suitable for industrial robots, for example, as it is designed to be operable.

REFERENCE SIGNS LIST 1 actuator 9 ball screw shaft 11 drive slider 13 free slider 14 slider main body 16 connecting member 45 bush (free slider side support member)
62 coil spring (elastic means)
64 Support member 701 Actuator 801 Actuator 805 Recess for support member passage

Claims (6)

a ball screw shaft;
a drive slider driven by the ball screw shaft;
a free slider that moves in conjunction with the drive slider;
The ball screw shaft is detachably attached to the ball screw shaft and pressed against the ball screw shaft by an elastic means, and separated from the ball screw shaft against the urging force of the elastic means by the approach of the drive slider or the free slider. a support member to be
A ball screw shaft support structure comprising: In the ball screw shaft support structure according to claim 1,
A ball screw shaft support structure, wherein the free slider is provided with a free slider side support member for supporting the ball screw shaft. In the ball screw shaft support structure according to claim 2,
The driving slider and the free slider are provided with a common slider body,
A ball screw nut is installed on the slider body of the drive slider,
A ball screw shaft support structure, wherein the free slider side support member is installed on a slider body of the free slider. In the ball screw shaft support structure according to claim 1,
The ball screw shaft support structure, wherein the free slider side support member is a bush penetrated by the ball screw shaft. In the ball screw shaft support structure according to claim 1,
The ball screw shaft support structure, wherein the free slider is provided with a support member passage recess through which the support member passes when approaching the support member. An actuator comprising the ball screw shaft support structure according to any one of claims 1 to 5.

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