JP3174404B2 - Actuator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator, and more particularly, to a means for coupling a drive source of an actuator and a drive shaft of a moving body. It relates to an improved actuator.

[0002]

2. Description of the Related Art A linear drive is performed by a rotary drive source (electric rotary motor, fluid pressure (air, oil pressure, water pressure, etc.) rotary motor, fuel engine, living body principle motor (Ben hair motor)), etc.
For industrial, medical, consumer and mobile actuators that perform rotational movement control, force control, position control, pattern control, phase plane profile control, nonlinear control, compliance control, etc. To do so, it is common to provide a so-called coupling means.

[0003] The electric, fluid, chemical, and biochemical driving sources include an actuator body including a control driver and a power source (generator, compressor, vacuum pump, fuel cell, bioenergy, chemical energy). And actuators as a set, compactly integrated into one work module, systematically using CIM, FA system or Virtual Reality / Artificial Reality,
We are trying to construct a distributed and integrated system as a module of CIM and FA system incorporating it. Actuators are control systems, distributed, intelligent control devices (sequencer with communication and communication means), power systems (electricity, fluids, fuels, chemical energy substances, biological energy substances), and signal systems are modules, bus systems, and actuators. Arranged in a structure.

[0004]

However, it has not been easy to accurately couple the driving source of the moving body and the driving shaft of the moving body in such an actuator.

In addition, since the coupling between the drive source and the drive shaft of the moving body uses a coupling, it has been difficult to reduce the size.

Further, depending on the guide structure of the moving body,
There is a problem that distortion occurs in the actuator body.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to reduce the adjustment and maintenance of the connecting means, partly or entirely, and to improve the dynamic characteristics and static characteristics of the connecting means and the like, and to reduce the weight, noise, dust generation and heat generation. It is an object of the present invention to provide an actuator capable of reducing the size.

[0008]

In order to achieve the above object, the present invention comprises an encoder having a feedback control system.
Controlled stepping motor and power supply, communication, etc.
Has a one-chip CPU,
Via a serial interface with an external actuator, etc.
LAN connection, teaching or programming
Controller for controlling the stepping motor based on
A roll module and a rotating drive of the stepping motor.
The feed screw shaft, which is the driving shaft, is
And concentrically arranged according to the rotation of the feed screw shaft.
Provided concentric with the moving body and the feed screw axis
Is a bearing portion for supporting an end portion of said feed screw shaft, said
Stepping motor, control module, front
A pusher for integrally connecting and supporting the moving body and the bearing portion;
Out, a rectangular frame molded in pull or the like, the
Characterized in that it comprises.

Further, the present invention has an encoder and a filter.
Stepping motor controlled by feedback and power supply
Connector for power supply, communication, etc.
It has a PU and serial interface with external actuators etc.
LAN connection via interface for teaching or
The stepping motor is controlled based on programming.
Control module to be controlled and the stepping module
Engages a pulley gear integrally formed with the motor's rotary drive shaft
Then, the rotational motion of the rotary drive shaft is converted into a linear motion.
Transfer belt that is connected to the
A moving body, the stepping motor, the control
A push that integrally supports the joule and the moving body
Out, a rectangular frame molded in pull or the like, the
Characterized in that it comprises.

Further, the present invention provides the above-mentioned stepping mode.
Instead of data, characterized by Rukoto an AC servomotor.

[0011]

[0012]

Next, preferred embodiments of the actuator according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view of an actuator according to a first embodiment, FIG. 2 is a partial perspective view of the actuator shown in FIG. 1 with a part thereof omitted, FIG. 3 is a partial longitudinal sectional view, and FIG. 5, FIG. 5 is a sectional view of a bearing portion, and FIG. 6 is a diagram showing a relationship between a table and an actuator body.

The actuator 1 according to the first embodiment
0 is an actuator frame (hereinafter referred to as a frame)
18 and a table 16 movably disposed therein
And a ball screw shaft 12 for driving the table;
A motor 20 for rotating the ball screw shaft 12,
A programmable controller (input, output, data input, program input, display, start, end, stop button, emergency button) using the bearing unit 14 and, for example, an inverter
And the motor controller 24 integrally.

As shown in FIG. 2, the actuator 10 has a frame 18 forming an outer frame, and houses a motor 20, a ball screw shaft 12, and the like. This frame 18
Linear guides 23 on both sides of a groove-shaped opening 22 provided in
Is provided. The ball screw shaft 12 is provided at the center of the frame 18, and the table 16 is moved by the linear motion guide 23 under the rotation of the ball screw shaft 12.
Slide along. The ball screw shaft 12 is provided with a ball screw spline 26 over its entire length, and both ends are supported by the motor 20 and the bearing 14.

As shown in FIG. 5, the support structure of the ball screw shaft 12 by the bearing portion 14 has high concentric accuracy between the center of the ball screw shaft 12 and the center of the ball screw spline 26 in manufacturing the ball screw shaft 12. Therefore, the male screw 30 is provided on the outer peripheral portion of the ball screw spline 26 and the stopper 34 is attached to fix the ball screw spline 26 and the bearing 36 without using a special structure. In this case, since the ball screw rolling surface has the highest concentric accuracy, it is desirable as a reference for the shape, size, and geometrical tolerance of the screw. Of course, if the outer diameter of the ball screw shaft 12 is better in the above sense, the outer diameter may be used as a reference.
At this time, when the bearing 36 is fixed to the profile portion 28 of the ball screw spline 26 via the ball 32, the diameter of the ball 32 is appropriately selected in order to absorb the processing accuracy of both.

On the other hand, the ball screw shaft 12 is connected to the motor 2
4, a male screw 40 is provided on the outer periphery of the ball screw spline 26 in the same manner as in the method of fixing the rotor 38 to the bearing portion 14, and a stopper 42 is provided as shown in FIG.
Is attached, the ball screw spline 26 and the rotor 38 are fixed. In order to make the rotor 38 correspond to a predetermined position with respect to the stator 44 of the motor 20, a bearing 46 is fixed to the outside of the stopper 42 in the same manner as the rotor 38. The driving force of the motor 20 is transmitted to the ball screw bush 72 via the ball screw shaft 12, and the rotational motion of the ball screw shaft 12 is converted into a linear motion to displace the table 16.

Next, a combination structure of the table 16 and the frame 18 will be described with reference to FIG.

The groove-shaped opening 2 provided in the frame 18
A substantially T-shaped groove 48 is defined on both sides of the linear motion guide 23 provided on both sides of the guide 2, and a guide 50 serving as a rail for guiding the table 16 is formed in the groove 48.
Is inserted. The guide 50 is formed in a substantially T-shape so as to match the groove 48, and a V-shaped groove is formed in a portion for guiding the table 16.

A power supply line 52 provided in the frame 18 is connected to the table 1 inside one of the groove-shaped openings 22.
A rubber contact point 54 made of rubber or the like extending in the longitudinal direction for supplying power to the table 6 is provided, and is electrically connected to a contact 56 provided on the table 16 by a brush or a cam follower that conducts electricity to supply power. You. Further, the table 16 is provided inside the other side of the groove-shaped opening 22.
A photodiode 58 and other communication devices for emitting and receiving signals for transmitting and receiving signals are provided, and the table 16 is provided with optical communication, microwave communication, and spread spectrum communication with the photodiode 58 and other communication devices. (Especially, spread spectrum communication is excellent in noise resistance.) A photodiode 60 and other communication devices for transmitting and receiving are provided. These communication paths may utilize the space of the pneumatic path. The power supplied to the contact 56 of the table 16 is supplied from a connector 64 provided on the upper surface of the table. The connector 64 may be standardized like a DIN connector, in which case it can be varied by 90 °. Further, the photodiode 60 is connected to the connectors 64 and 65.

Next, the rotation angle of the ball screw shaft 12 is detected by an encoder 66 provided at one end of the ball screw shaft 12 (see FIG. 2). As the encoder 66, it is preferable to use an absolute-type encoder or an encoder integrated with an absolute signal output by an accumulation counter memory, and has a sensor signal processing circuit, a serial signal generation circuit, and the like (not shown).

The controller 68 provided in the vicinity of the motor 20 includes a driver module, a control module, and a communication interface (not shown) according to its functions. The communication interface is connected to an external device (not shown) via connectors 70a and 70b. The driver module has a driver for driving the motor 20 and a driver controller for controlling these in an integrated manner. The driver controls the inverter by PWM and digital control.

The control module manages the actuator operation program and transmits position commands, speed commands, and other drive control commands to the driver module. Further, it monitors a feedback signal from each element of the motor 20 and the driver module.

The communication interface is, for example, a serial interface represented by RS232C, RS422, an interface dedicated to GP-IB, BCD, Centronics parallel LAN, a high-speed optical LAN such as 100 Mbps, a parallel interface represented by a gateway, or the like. , LAN or external controller, PC (Programmable Controller / Persona)
l Computer), PLC (Programmable Logic Controlle)
r), computers, Ethernet, token ring, MAP, PC LAN, LON (Local Operating
Network), communication such as WAN, OSI, etc., and mutual communication with the control module. Then, the entire software structure is analyzed and constructed in an object-oriented system or by programming. Recursive restructuring of software, data, logic, hardware, etc.
Structure.

The components of the controller 68 may be integrally configured to realize a small size, or may be separable for each function so that they can be shared with various types of actuators and generalized. The cost may be reduced. For example, the control function may be fully digitalized or semi-digitalized using an ASIC, a one-chip multi-CPU, a DSP, or the like to achieve both high functionality and low cost. Furthermore, by switching software or predetermined software as needed in advance or on the way, not only various induction motors, AC servo motors DC servo motors, stepping motors but also pneumatic actuators, counter balance by belt pulleys, belt pulleys Cylinder air balance, double speed air balancer and their combined control, end effect, force control, position / speed control, X
Multi-axis control using YZ, θ coordinates, etc., and device control of a conveyor, turntable, index table, lifter, and the like can be controlled simultaneously or integrally, thereby achieving both higher functions and lower cost. With the above system configuration, an intelligent and independent distributed system in CIM / FA can be achieved.

In this case, if the controlled motor and the corresponding interface type are determined from the impedance, the circuit configuration, etc., the identification memory using data carrier technology, the barcode, the ID tag, etc., and the software is automatically applied, It can greatly save labor and make intelligent when constructing networks and lines. In addition, a signal may be transmitted simultaneously using a power supply line for a motor or the like, and wiring may be significantly reduced. Active noise control may be performed as a measure against actuator noise.
Further, the attitude control and the rotation control may be performed by a triangular prism type piezoelectric element resonance gyroscope (three-dimensional).

The casings of the encoder 66 and the controller 68 are shared with the frame 18.
In addition, the casing and the frame 18 may be divided due to the configuration of the actuator. In this case, a circular or polygonal fitting, fitting with pins, etc., connection of electricity, signals, buses, LAN, sensors, etc. are also performed by connectors, etc., fitting and connecting are performed simultaneously, and welding by caulking or electron beam etc. Fix it. Alternatively, each of the controller, the motor, and the like may be modularized, and may be added or detached as necessary.

The actuator 10 according to the first embodiment includes:
Basically, it is configured as described above.

Next, a case where a timing belt is used for a power transmission unit to drive the table will be described.

FIG. 7 shows the timing belt 74 connected to the motor 7.
FIG. 6 is a diagram showing a case where the motor is directly driven by a motor 6, and a motor 76 for driving the timing belt 74 integrally forms a pulley 78 for a steel belt with holes for preventing displacement (for synchronization) or a timing belt with a rotor of the motor. An encoder 81 is provided on the other pulley 80 to detect the rotation of the motor 76.

In another example shown in FIG.
Then, the timing belt 74 is driven by the pulley 85 by driving the helical gears 84a and 84b. In this case, one helical gear 84a and the rotor of the motor 82 are integrally formed. Also, the other helical gear 84b and the pulley 80 are integrally formed. By forming the bearing integrally with the motor casing, rigidity and squareness can be increased.

Further, a case where a living body motor is used to drive the table 16 shown in FIGS. 9 to 12 will be described.

FIG. 9 is a view showing the principle of a living body pseudo linear actuator. A pattern 88 that interacts with a muscle filament and a flagellar motor on a living body material 90 is shown.
Plant. The simulated biological material 90 has a linear shape, a cylindrical surface,
It has a disk shape and a disk surface. Then, a linear and rotational kinetic force is generated. The living body pseudo actuator may be a linear electromagnetic linear actuator.

FIG. 10 shows a case where the simulated biological material 90 and the pattern 88 are attached to the actuator body 92.

FIG. 11 is the same as FIG. 10 except that the shape is cylindrical.

FIG. 12 shows that a simulated biological material 90 and a pattern 88 are provided for driving a table 98 provided on the actuator body 100, and the simulated biological material 90 is provided with a biological environment setting means 94 and an active material inflow portion 96. ATP energy supply by a biochemical energy circuit, such as a biochemical energy substance, a blood inflow / outflow system, or a cell present in the surroundings, provided in an in vivo or in vivo simulated environment or in an equivalent environment , An actuator provided with means for supplying energy using an energy supply system based on ATPase and maintaining the activation of the simulated biological material 90. And the pattern is DNA
It is created by a living body manufacturing method or a micromachining method.

Next, a structure obtained by combining a columnar member, an actuator and the like will be described.

In FIG. 13, the structure 110 of the actuator has a first section 112 depending on the working process.
And a second section 114 provided in parallel with the first section 112, and a belt conveyor 116 is provided in the first section 112.

The first section 112 is provided with a motor box 120 disposed at one end of the actuator 118 flush with the upper surface of the actuator 118 and a controller 122 having a display unit. Since the motor box 120 and the controller 122 are formed flush with the upper surface of the actuator 118 on which they are disposed, they have compatibility when they are attached to other members, and are compact in shape so that the space is effective. It can be used. Therefore, the other motor boxes 124 and 126 shown in the drawing can be formed flush with the upper surface of the actuator provided.

On the other hand, in the second section 114, a balancer 132 provided in parallel with the actuators 128 and 130 is erected opposite to each other, and the actuator 1 provided in
28, 130 and the moving body 134, 1 of the balancer 132.
Both ends of the actuator 138 are connected to 36. The actuator 138 is connected to the provided actuators 128 and 130 and the balancer 132 substantially orthogonally and while maintaining a substantially horizontal state. An actuator 142 is connected to a moving body 140 of the actuator 138, and the moving body 144 of the actuator 142 has a mechanical hand 1
A cylinder 148 to which is connected 46 is connected. Actuators 150 and 152 are connected to each other in a direction where the first section 112 and the second section 114 are connected and in the longitudinal direction thereof.
Cylinders 158 and 160 having positioning cylinder rods are connected to the 52 moving bodies 154 and 156, respectively.

By the way, a belt conveyor 116 is provided so as to be connected to the first section 112, and programming keyboards 162 and 164 having a function as an input / output device of the control system are provided at the connected portion. The programming keyboards 162 and 164
Various devices detachably attached to the concave columnar member or columnar member 166 and incorporated into the structure 110;
Specifically, various actuators 168, 138, 14
2, 128, 130, 150, 152, balancer 13
2. The cylinders 158, 148, 160, the mechanical hand 146, the belt conveyor 116, and the like can be collectively managed by the control system. Note that various controllers and processors constituting the control system and a transmission circuit for various signals including, for example, an optical signal, an electric signal, a fluid pressure signal, and the like are housed inside the actuator and the columnar member 166, respectively. These are explained in the technical idea of the actuator disclosed in Japanese Patent Application No. 4-81159 already filed by the applicant. Each section and the conveyor are compounded by an index or a turntable.

Next, a case where the actuator structure 110 has a plurality of steps as a whole and functions as an independent production line will be described.

As shown in FIG. 14, a parts pallet 174 having an ID module (not shown) is transported from a warehouse 170 via an unmanned vehicle 172 and a belt conveyor 116. This part pallet 174 is the first
It is carried into the section 112 and subjected to a predetermined process.
The work 176 is also provided with an ID module. After that, the component pallet 174 is carried into the second section 114 via a conveying means (not shown). In the second section 114, after a predetermined process is performed, all the processes of the predetermined production line are completed, and the product is conveyed to another process.

On the other hand, a case where each section of the actuator structure 110 functions as an independent production line will be described.

In FIG. 14, an actuator 118 is controlled by a first actuator controller 200, an actuator 168, a cylinder 178 and a suction pad 180 are controlled by a second actuator controller 202, and an actuator 182 and a balancer 132 are controlled by a first actuator controller.
, Respectively. Further, the first actuator controller 20
The first and second actuator controllers 202 and the first balancer controller 204 are respectively connected to the first multi-axis controller 206 via the multi-bus 184, and are integrally controlled as one work unit. Further, the actuator 150 and the cylinder 158 are controlled by the third actuator controller 208, connected to the second multi-axis controller 210 via the multi-bus 184, and integrally controlled as one work unit.

Thus, the integrated control of the first section 112 in the structure 110 includes electrical signals, optical signals,
This is performed via the first management microprocessor 212 connected to the first multi-axis controller 206 and the second multi-axis controller 210 by a LAN using wireless communication or the like.

Second section 1 in structure 110
At 14, the actuator 138 is provided as described above.
Is calculated by the fourth actuator controller 214.
The actuator 142, the cylinder 148, and the mechanical hand 146 are the fifth actuator controller 2
16, the actuator 152 and the cylinder 16
0 is determined by the sixth actuator controller 218.
The actuator 128 and the balancer 132 are controlled by the second balancer controller 220 by the actuator 13.
0 and the balancer 132 are controlled by a third balancer controller 222, respectively. Further, the second balancer controller 220 and the third balancer controller 222 are respectively connected to the local controller 186 to move the actuator 138 in a substantially vertical direction while holding the actuator 138 in a horizontal state, and perform integrated synchronous control. Fourth and fifth actuator controllers 21
4, 216 and the local controller 186 are connected to the third multi-axis controller 224 via the multi-bus 196, respectively, and are integrally controlled as one work unit. Therefore, the integrated control in the second section 114 is also performed by the LAN using the electric signal, the optical signal, and the wireless communication.
Is performed by the second management microprocessor 228 connected to the third multi-axis controller 224 and the fourth multi-axis controller 226. In addition, these first
The sixth to sixth actuator controllers can also function as balancer controllers, respectively.
On the other hand, the first to third balancer controllers can also function as actuator controllers.

Next, the belt conveyor 116 is controlled by a belt conveyor controller 188, and the unmanned vehicle 1
72 and a warehouse 170 are control devices (not shown),
Controlled by the control system.

Each control device (not shown) of the first management microprocessor 212 and the second management microprocessor 228, the controller 188 for the belt conveyor, the unmanned vehicle 172, and the warehouse 170 is an electric signal and an optical signal, respectively. , Wireless signal, spread spectrum communication, etc., are networked by a LAN, and can freely transmit information to each other. Therefore, the integrated control of the actuator structure 110 as an independent production line The system can be configured.

This LAN network is connected not only to the control system of the actuator structure 110 as an equivalent production line, but also to other production, management, information, communication, and control systems, thereby providing a larger scale integrated production system. A management system is established. For example, F
A, Production management computer 190, CAD, CA acting as a high-level management computer as seen in CIM
The M and CAE concurrent systems may be connected to form a part of a large-scale integrated production system network. In this case, ordering, process management, cost management, abnormal value management, quality management, inventory management, logistics management, assembly, processing, transport procedures and associated actuators, sensors, A program procedure or a program edit is appropriately performed in real time so that a control target such as a pallet, a pallet stopper cylinder, an ID management device, a serial management transmission device, a robot, and a control device is operated in accordance with the above process. A virtual reality system, three-dimensional graphics, multi-window E
WS may be used.

As user interfaces of these systems, input / output devices 192 and 194 such as programming keyboards 162 and 164 as shown in FIG. 13 are prepared. These input / output devices 192 and 194
It can be freely connected to each controller, processor, computer, and the like by a general-purpose interface such as S232C, RS422C, or the like, a LAN using electrical signals, optical coaxial communication, wireless signals, a multibus, an Ethernet, or a token link. In addition, an input / output device or a general-purpose interface that can be connected to a higher-level CIM computer, controller, processor, or the like is provided.
The overall work of editing, creating, changing, downloading, uploading, inputting / outputting, etc. the control program
The processing can be performed not only by the M computer but also by each controller, processor, computer, and the like. Further, any controller, processor, or computer can be accessed. In this case, communication may be performed via a multi-bus or LAN, but all controllers, processors, and computers may be directly connected to each other via a network. Also,
The connection may be made directly or indirectly by a virtual network in software. This makes it possible to perform overall control, monitoring and operation of management information at the work site, and not only to improve workability, but also to perform independent individual control while preserving the integrity of the entire system in each work and process management. This increases the flexibility of the entire system, and is very effective for system change, maintenance, and multi-product small-quantity production.

FIGS. 15 and 16 show other examples of the actuator used for the structure. Since this actuator does not essentially differ from the actuator shown in FIGS. 1 and 2, the same functional parts are given the same reference numerals and description thereof will be omitted. And the linear motion guide is also housed in the frame.

Further, as shown in FIG. 2, for example, the controller 68 includes a display unit 200, an operation unit 202, data, a program input unit 204,
Emergency stop button 206, external communication control interface,
Combination of each function such as LAN interface unit 203, power input unit 205, etc., each of which can exchange positions such as horizontal, vertical, up, down, left and right, and change position to other surface by rotating It is also possible to adopt a configuration that can perform the following. In FIG. 17, the shape is a cube, but the shape may be a hexagon or an octagon. Further, a controller may be located between the actuators to control a plurality of actuators. Furthermore, the power supply of the controller may be connected in series with the controller.

[0054]

As described above, according to the present invention, by integrating the feed screw shaft, which is a means for converting rotation into linear motion, with the rotation source and the rotation shaft, the rotation center of the rotation source and the rotation shaft can be easily and accurately determined. Can be matched.

Further, by forming the pulley gears of the timing belt and the V-belt integrally with the motor rotating body, the size of the actuator can be reduced.

Further, even in the case where the rotation direction is changed as in the case of using a helical gear, the coupling can be removed by integrating the rotary drive source rotating body and the size can be reduced.

In order to further reduce the size, the drive source casing can be further compacted by integrating the structure of the actuator, the structure supporting the actuator, or the structure serving as the former and latter actuators with the drive source casing.

Therefore, the driving source, the conductor, the rotation of the moving body,
The number of linear bearing means can be reduced, and the rigidity can be increased.

The structure, drive source, conductor, and moving body can be made compact by precision forging, metal pressing, extrusion, drawing, and metal injection molding.

[Brief description of the drawings]

FIG. 1 is a perspective view of an actuator according to a first embodiment.

FIG. 2 is a partial perspective view in which a part of the actuator shown in FIG. 1 is omitted.

FIG. 3 is a partial longitudinal sectional view.

FIG. 4 is a sectional view of a motor part.

FIG. 5 is a sectional view of a bearing portion.

FIG. 6 is a diagram illustrating a relationship between a table and an actuator body.

FIG. 7 is a diagram illustrating a case where a timing belt of an actuator is directly driven by a motor.

FIG. 8 is a diagram in which a motor drives a helical gear and a pulley drives a timing belt.

FIG. 9 is a diagram showing the principle of a living body pseudo linear actuator.

FIG. 10 is a diagram showing a case where the pseudo biological material and the pattern are attached to an actuator body.

FIG. 11 is a diagram showing a case where the pseudo biological material and the pattern are attached to an actuator body.

FIG. 12 is a diagram showing a biological actuator.

FIG. 13 is a perspective view of a structure of an actuator.

FIG. 14 is a control block diagram showing the operation of the structure of the actuator shown in FIG.

FIG. 15 is a perspective view of an actuator.

FIG. 16 is a partial perspective view in which a part of the actuator shown in FIG. 15 is omitted.

FIG. 17 is a diagram showing a shape of a controller of an actuator.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Actuator main body 12 ... Ball screw shaft 14 ... Bearing part 16 ... Table 18 ... Frame 20 ... Motor 24 ... Linear motion guide 26 ... Ball screw spline 28 ... Profile part 34 ... Stopper 36 ... Bearing 76 ... Coaxial motor 78 ... Pulley 90 … Simulated biological material

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Toru Sugiyama 4-2-2 Kinudai, Yawaharamura, Tsukuba-gun, Ibaraki SMC Corporation Tsukuba Technical Center (56) References JP-A-62-165057 (JP, A JP-A-4-112658 (JP, A) JP-A-3-93573 (JP, A) JP-A-3-268977 (JP, A) JP-A-3-111143 (JP, A) 17708 (JP, A) JP-A-63-68905 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) F16H 25/20-25/24 F16H 19/06 G05B 19/18- 19/427

Claims (6)

(57) [Claims] An encoder having an encoder and feedback control.
A stepping motor which is a power supply, a connector for communication or the like is connected, the one
It has a chip CPU and communicates with external actuators etc.
LAN connection via
The stepping mode based on programming or programming.
A control module for controlling the motor, and a feed screw shaft which is a rotary drive shaft of the stepping motor.
Is arranged concentrically with the stepping motor,
A movable body that moves in accordance with rotation of the serial feed screw shaft is disposed concentrically with respect to said feed screw shaft, said feed screw
A bearing for supporting an end of a shaft, the stepping motor, and the control module
, The moving body and the bearing part are integrally connected and supported.
Rectangular frame formed by extrusion, drawing, etc.
Actuator comprising: a and. 2. The actuator according to claim 1, wherein the feed screw shaft is entirely provided with a ball screw spline.
The stepping motor and the bearing portion and the feeder.
Align the rotation center with the screw shaft by the ball screw
An actuator characterized in that a ball or a string is inserted into the inside of the actuator. 3. The actuator according to claim 1, wherein the guide structure of the moving body guides the moving body to both sides of a linear motion guide provided on both sides of a groove-shaped opening provided in the frame. An actuator, wherein the moving body and the guide slide by rollers. 4. An apparatus having an encoder and feedback control.
A stepping motor which is a power supply, a connector for communication or the like is connected, the one
It has a chip CPU and communicates with external actuators etc.
LAN connection via
The stepping mode based on programming or programming.
And a control module for controlling the motor, and integrally formed on the rotation drive shaft of the stepping motor.
Engage with the pulley gear to advance the rotational motion of the rotary drive shaft straight
Connected to a belt for converting into motion, said belt
A moving body that moves together, the stepping motor, and the control module
And push and pull to integrally connect and support the moving body.
An actuator comprising: a rectangular frame formed by punching or the like . 5. An access device according to claim 1, wherein
In the tutor, an AC servomotor is used instead of the stepping motor.
An actuator, comprising: 6. The access device according to claim 1,
In a tutor, the encoder may be an absolute encoder,
Or the absolute signal from the integrating counter memory
Actuator characterized by output encoder
Data.