JP2919261B2 - Fluid motor with servo motor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION This invention hydraulic motor, relates to a servo motor with Fluid motors which is adapted to position and velocity of the fluid motors such as air motor can be accurately controlled.

[0002]

2. Description of the Related Art When moving a large and heavy object such as a large indexing machine in a machine tool, or various transporters in an unmanned warehouse or a multi-story parking lot, a fluid motor using a hydraulic pressure or the like is used as a conventional power unit. There are an air motor, a fluid cylinder, an electric motor, and the like, and a desired part is driven by using these powers and a rack and pinion mechanism, a screw mechanism, a link mechanism, and the like.

[0003]

Among the conventional motive powers described above, the fluid motor can obtain a large rotational force.
Is suitable for driving the large driven body, in the conventional control device is difficult to precisely control the speed and position, but the electric control motor such as a pulse motor is a precision control is easy objects of large It is difficult to drive.

[0004] accurately controlled with a servo motor Fluid can be M o heavy objects by combining the fluid motor to the servo motor in order to solve the problems of the conventional hydraulic motor, such as problems described above of the present invention Is to get data.

[0005]

SUMMARY OF THE INVENTION The present invention, in order to solve the above problems, Mani servo motor and its output shaft
A fluid motor coupled via a hold, flow body
Set the flow of the pressure unit, and a servo valve for switching the flow of the manifold and the fluid motor for distributing possess independently, the servo valve is provided on the rotating member that rotates in synchronization with the fluid motor, servo provided transmission stays in transmission shaft extending from the output shaft of the motor are opposed to the tip operating member of the servo valve, the servo motor <br/> over the hydraulic motor by switching the operating position of the servo valve via the transmission stays It is rotated in synchronization with the data with growth Lusa Bomota
It was a fluid motor .

[0006]

[Action] with a servomotor of the above-mentioned structure as the present invention
When controlling the fluid motor , first, in order to control and drive the servo motor, when the position and speed control values are input to the controller, the servo motor such as the pulse motor is rotated forward or backward by a control signal from the controller. .

[0007] Den of the transmission shaft by the rotation of the servo motor
The rotating stay also rotates, but the fluid motor, rotating body, and servo valve are stopped, so the working piece of the servo valve is transmitted.
By moving the fluid motor forward or backward by the stay tip, the servo valve is operated in the direction of the operating position where the fluid motor rotates forward or backward to supply the pressure fluid from the fluid pressure unit to the fluid motor to rotate the fluid motor forward or reverse.

[0008] When the servomotor starts to rotate,
As the speed of the servomotor increases, the amount of movement of the spool of the servo valve also increases, and the rotational speed of the fluid motor is increased by increasing the flow rate of the pressure fluid sent to the fluid motor according to the speed difference. When the rotation of the servomotor is slowed, the amount of movement of the spool of the servo valve also decreases, the flow rate of the pressure fluid flowing through the fluid motor also decreases, and the rotation speed of the fluid motor also decreases. When the rotation of the servo motor is stopped, the spool of the servo valve returns to the neutral position, stops the flow of the pressure fluid to the fluid motor, and stops the fluid motor.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In the embodiment shown in FIG.
Reference numeral 2 denotes a servomotor such as a pulse motor or a stepping motor, and reference numeral 3 in FIG. 6 denotes a controller that transmits a position control signal, a speed control signal, and the like to the servomotor using a microcomputer. In the illustrated example, the fluid motor 1 has an output shaft 4 and a rotation detection shaft 5 for driving various kinds of target machines in the front and rear. 6 is a manifold,
The main shaft 7 is rotatably fitted in the horizontal hole, a disk-shaped rotating body 10 is fixed to the front end of the main shaft 7, and the servo valve 11 is fixed to the rotating body 10.

The detection shaft 5 and the main shaft 7 are concentric, and a shaft 12 at the front end of the main shaft 7 is fixed to the detection shaft 5. The servo motor 2 is fixed to the rear end of the manifold 6, and the output shaft 13 of the motor 2 has the rear end of the transmission shaft 9 which passes through the center of the main shaft 7 rotatably as shown in FIG. And a transmission stay 14 is fixed to the side of the distal end.

The manifold 6 has a fluid pressure unit 1 composed of a hydraulic pump, an oil tank, etc. as a fluid supply source.
5 which is connected to the pressure fluid outlet 16 and the pressure fluid return port 17
Ports 24, 2 communicating with the port 20 and the T port 21, the forward rotation port 22 and the reverse rotation port 23 of the fluid motor 1.
5 are provided.

Further, each of the ports 20, 21, 24,
25 is four peripheral grooves 26 provided inside the manifold 6;
27, 29, 30 and these peripheral grooves 26, 27, 2
Axial communication holes 31, 32, 33, 3 leading to 9, 30
4 is provided on the main shaft 7. The communication holes 31, 32, 33, 3
4 is the rotating body 1 through communication pipes 35, 36, 37, 39.
It communicates with each port of the servo valve 11 through a communication hole provided at 0.

To explain the operation of the above embodiment, when the position and speed control values are inputted to the controller 3, a control signal issued from the controller 3 is inputted to the high-speed counter 41, and the output signal of the counter 41 is outputted. As a result, the output shaft 13 of the servo motor 2 starts rotating.

Now, for example, if the output shaft 13 starts to rotate clockwise as viewed from the left in FIG. 2, that is, clockwise, the transmission shaft 9 rotates clockwise with the output shaft 13 toward FIG. The transmission stay 14 also starts rotating clockwise. Therefore, Den
As shown in FIG.
Rotate in the direction of escaping from the action piece 42. For this reason, the spool 43 of the servo valve 11 is
Move to the right of

On the other hand, the pressure fluid from the fluid pressure unit 15 is supplied to the outlet 17 → port 20 → peripheral groove 26 → communication hole 31 → communication tube 35 → servo valve 11 → communication tube 37 → communication hole 33.
→ Circumferential groove 29 → Port 24 → Port 1 of motor 1
(In), the rotor of the motor 1 is rotated forward together with the output shaft 4, and the fluid that has been actuated flows out of the inlet / outlet 23 → port 2
5 → circumferential groove 30 → communication hole 34 → communication pipe 39 → servo valve 11 → communication pipe 36 → communication hole 32 → circumferential groove 27 → port 21
And returns to the unit 15 from the return port 16.

When the output shaft 4 continues to rotate clockwise with the rotor of the motor 1 by the above operation, the detection shaft 5 also rotates clockwise. For this reason, the main shaft 7 and the rotating body 10 integral with the detection shaft 5 also continue to rotate, so that the servo valve 11 fixed to the rotating body 10 rotates in the same direction as the transmission stay 14, and the action piece 42 of the transmission stay 14 To track. Therefore, when the rotation of the servomotor 2 becomes faster, the spool 43
The amount of movement of the fluid motor 1 in the forward rotation direction also increases, the flow rate of the fluid to the motor 1 increases, and the rotation of the fluid motor 1 increases.

Conversely, when the rotation speed of the servo motor 2 decreases, the operating piece 42 is pushed back by the transmission stay 14, and the flow rate of the fluid flowing to the motor 1 decreases, and the rotation of the output shaft 4 decreases. Also, the output shaft 1 of the servo motor 2
3 is reversed, the transmission stay 14 acts to push the action piece 42, and the spool 43 is
Move left toward.

As a result, the pressure fluid flowing from the outlet 17 to the port 20 to the communication hole 31 and flowing into the servo valve 11 flows from the servo valve 11 to the communication hole 34 to the peripheral groove 30 to the port 2.
5, the motor 1 flows into the motor 1 from the reverse rotation side entrance 23, and the rotor inside the motor 1 is reversely rotated together with the output shaft 4. From the normal rotation side entrance 22, the port 24 → the circumferential groove 29 → the communication hole 33 → the servo valve 11 → the communication hole. The flow flows from 32 to the circumferential groove 27 to the port 21 and returns to the unit 15 from the return port 16.

Conversely, when the output shaft 4 continues to rotate counterclockwise with the rotor of the motor 1, the detection shaft 5 also continues counterclockwise rotation. Therefore, the main shaft 7 and the rotating body 1 integrated with the detection shaft 5
0. Since both continue to rotate, a servo valve 11 which is fixed to the rotary member 10 is rotated in the same direction as the transmission stay 14, the transmission stays 14 to track the operating member 42. Thus, the difference
When the rotation of the turbo motor 2 becomes faster, since transmission stay 14 presses the operating member 42, the movement amount larger next to the reverse direction of the spool 43, the rotational flow of the fluid also increases the output shaft 4 of the motor 1 Will also be faster.

Conversely, when the rotation speed of the servomotor 2 decreases, the transmission stay 14 is pushed back by the action piece 42 on which the pressure of the spring 44 is acting, so that the flow rate of the fluid flowing to the motor 1 decreases. The rotation of the output shaft 4 decreases. When the output shaft 13 of the servo motor 2 stops in either the forward rotation or the reverse rotation, the spool 43 of the servo valve 11 is stopped.
Returns to neutral, shuts off the flow of the pressure fluid to the fluid motor 1 and stops the rotation of its rotor.

In the above embodiment, the fluid motor 1 has an output shaft 4 and a rotation detection shaft 5 that rotates integrally with the output shaft 4 protruding before and after the fluid motor 1. A shaft 12 that rotates together with the servo valve 11 is mounted on the detection shaft 5. Although a direct connection is shown, a fluid motor without the detection shaft 5 may be used, and the output shaft 4 and the shaft 12 may be linked by a gear or other transmission mechanism.

[0022]

[Effect] As the servomotor with fluid motors of the invention described above in detail described above, rotate in the same direction at the same speed and rotation and hydraulic motor of the servo motors such as a pulse motor is almost Therefore, when this is used for driving the indexing machine, the position can be indexed very accurately. Also, since the rotation of the servo motor is converted into the rotation of the fluid motor, a large servo motor can be accurately controlled at a very low speed and with a large torque with a small servo motor. And various other large machines can be speed controlled accurately.

[Brief description of the drawings]

FIG. 1 is a side view of an embodiment.

FIG. 2 is an enlarged vertical sectional side view of a main part of the above.

FIG. 3 is a cross-sectional front view taken along the line II of FIG. 2;

FIG. 4 is a cross-sectional front view taken along the line II-II of FIG. 2;

FIG. 5 is a sectional front view taken along the line III-III in FIG. 2;

FIG. 6 is a circuit diagram of an embodiment.

[Explanation of symbols]

Reference Signs List 1 fluid motor 2 servo motor 3 controller 9 transmission shaft 11 servo valve 15 fluid pressure unit 41 high-speed counter

Claims (1)

(57) [Claims] 1. A servo motor and a manifold on an output shaft thereof.
A fluid motor coupled through a field, the flow body pressure
Set the flow of the unit, and a servo valve for switching the flow of the manifold and the fluid motor for distributing possess independently, the servo valve is provided on the rotating member that rotates in synchronization with the fluid motor, a servo motor A transmission stay is provided on a transmission shaft extending from the output shaft of the servo valve, and a tip of the transmission stay is opposed to the operating piece of the servo valve. The operating position of the servo valve is switched through the transmission stay to rotate the fluid motor synchronously with the servo motor. with servo motor flow body made of Te
Motors.