JP3207234B2 - 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 for accommodating a driving source in a molded body, and transferring a workpiece by engaging a moving means with a guide member formed integrally with the body. .

[0002]

2. Description of the Related Art Conventionally, for example, a device for sucking a workpiece or holding and transporting it using a mechanical hand or a chuck is provided with an actuator. This type of actuator mounts a moving body such as a table via a guide to a main body integrally formed by a method such as casting, extrusion, pulling, etc., using a ball screw or a timing belt, and a servo motor, a stepping motor, etc. The moving body is moved by being rotated by a driving source. With this movement, a gripping or suction means such as a mechanical chuck connected to the moving body via a T-groove or the like also moves, and the work held by the means is transported to a desired position.

[0003]

As described above, a moving body, a driving mechanism, and a driving source are mounted on the main body of such an actuator. Therefore, for example, the alignment of the axis of the motor as the drive source and the axis of the ball screw, or the alignment of making the axis of the guide rod and the axis of the ball screw parallel in order to smoothly displace the moving body itself, etc. Required, and very high accuracy is required in the assembly process. Therefore, there is a problem that the manufacturing process becomes complicated, skilled workers are required, and the production efficiency is not significantly improved.

SUMMARY OF THE INVENTION The present invention has been made to solve this kind of problem, and provides an actuator which can be easily manufactured without requiring a very high precision in assembly and has an improved production efficiency. The purpose is to do.

[0005]

To achieve the above object SUMMARY OF THE INVENTION The present invention includes a drive source having a first engaging portion for positioning, a second engagement for engaging the first engagement portion A body having a portion, and a cross-section diagonally formed integrally with the body.
And a set of plans provided on each of two surfaces that are orthogonal to each other
An inner unit, respectively are guided by the pair of guide means, and a moving means for displacing I by the driving force of the driving source, engaging the second engaging portion to the first engagement portion the drive source is positioned against the body by,
Furthermore, a set of guide means formed integrally with the body
By attaching the moving means along, the moving means
It is positioned relative to the body, characterized in Rukoto.

[0006]

[0007]

In the actuator according to the present invention, the moving means is displaced by the driving force of the driving source. At this time, the moving means is accurately guided by the guiding means formed on the body. The actuator that operates in this manner engages the first engagement portion formed on the body with the second engagement portion formed on the drive source, so that the drive source can be easily positioned with respect to the body. Further, since the guide means is provided integrally with the body, the guide means can be accurately set to the move means only by positioning the moving means with respect to the body. Further, guide means are provided on two surfaces of the body formed at right angles to each other, and the moving means is engaged with the guide means, so that the moving means is substantially supported by two perpendicular directions, accurately and without disengagement. You will be guided.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An actuator according to the present invention will be described in detail below with reference to the accompanying drawings.

[0009] As shown in FIG.
Is basically composed of a body 12, an electric motor 14, a ball screw 16 and a slide table 18.

The body 12 has a substantially L-shaped cross section, and serves as a guide member for the slide table 18 along the L-shaped end. The guide members 20a and 20 have a semicircular cross section.
b is mounted in the longitudinal direction. A wall 22 protrudes from the center of the body 12 along the longitudinal direction, and a protrusion 24 is formed on the bottom surface of the body 12 (see FIGS. 2 and 3). At each end of the body 12, plate bodies 26a and 26b defining holes are provided so that the end of the ball screw 16 is rotatably held, and the substantially L-shaped body 12 is formed. Is closed at both ends. The body 12 configured as described above is extruded from a composite material such as fiber reinforced plastic (FRP), a resin material, or the like, and is drawn out, precision forged, precision cast, metal injection molded, ceramic injection molded, or the like. The positions of the projections 20b, the projections 24 and the like are accurately formed.

The electric motor 14 is disposed in the space of the body 12 on the guide member 20a side. The electric motor 14 is formed by laminating a silicon steel plate and winding a coil around the silicon steel plate. Electric motor 14 on which the silicon steel plates are laminated
On the side surfaces in the longitudinal direction, concave portions 28a and 28b are defined,
In FIG. 3, the concave portion 28a on the bottom side is
4, the electric motor 14 is connected to the body 12
Positioning. Here, the electric motor 14 does not have a so-called cover, and is surrounded by the body 12, thereby contributing to downsizing the actuator 10 as a whole. The electric motor 14
Are AC motors, DC motors, induction motors,
Any of a stepping motor and a coreless motor may be used, and a motor having a harmonic drive mechanism or a planetary gear mechanism is preferable. When the motor is provided with the harmonic drive mechanism or the planetary gear mechanism, the motor is decelerated through the mechanism to generate 10,000 r.
A high rotation type motor of about pm can be used. Therefore,
A motor having a relatively small motor diameter can be used for the same output, which leads to a reduction in the size of the entire actuator.

A sensor such as an encoder (not shown) is attached to the electric motor 14 to detect the position, speed and the like of the slide table 18.

A controller 29 having a housing shape is provided along the axis of the electric motor 14, and one end of the controller 29 is provided to abut on the guide member 20 a side of the body 12.

From one end of the electric motor 14, a drive shaft 30
The distal end is fitted into a hole provided in the plate 26a, and a pulley 34 for suspending the timing belt 32 is mounted inside the plate 26a.

The ball screw 16 has a plate 26 at both ends.
A pulley 36 for suspending the timing belt 32 is mounted on the plate 26a side while being fitted into the holes of the holes 26a and 26b. That is, the timing belt 32 is suspended between the pulleys 34 and 36, and transmits the rotation of the electric motor 14 to the ball screw 16. The ball screw 16 is engaged with a support 38 integrally formed with the slide table 18 on the way.

The slide table 18 is made of a material having lubricity such as polyacetal and is formed substantially in an L-shape. The slide table 18 is fitted to the guide members 20a and 20b of the body 12 at respective ends of the L-shape. A semi-circular guide groove 40a
40b are defined.

As shown in FIG. 4, the guide members 20a and 20b may be formed separately by a shaft having a circular cross section. In this case, the body 12 is formed by bolts 42a and 42b.
It is attached to. Correspondingly, the guide grooves 40a and 40b of the slide table 18 are also formed in a circular shape with a cross section of a semicircle or more. Therefore, the slide table 18 is reliably guided by the guide members 20a and 20b. As shown in FIG. 5, the guide members 20a and 20b may be mounted with a part of the body 12 deformed.

The guide members 20a and 20b may have a groove 44 for taking in dust generated by sliding along the circumferential surface. As shown in FIG. 6, the groove 44 circulates at a predetermined interval in the axial direction. A groove 45 formed in a spiral shape as shown in FIG. 7 may be used. Also, as shown in FIG.
May be formed. Furthermore, slide table 1
Eight guide grooves 40a, 40b may be provided with similar grooves or recesses. As described above, the guide members 20a and 20b and the guide grooves 40a and 40b are formed to prevent generation of dust and fall of grease, thereby enabling use in a clean room or the like.

The guide members 20a, 20b and the guide grooves 40a, 40b of the slide table 18 are made of resin such as polytetrafluoroethylene or Ti.
C, B, diamond and the like may be coated by a physical vapor deposition method or a chemical vapor deposition method.

Next, the operation of the actuator 10 configured as described above will be described.

First, the electric motor 14 is driven by an energizing signal from the controller 29. The electric motor 1
The rotation of the drive shaft 30 extending from the ball screw 16 via the pulley 34, the timing belt 32, and the pulley 36
Is transmitted to The rotation of the ball screw 16 causes the support 3
8 is displaced. At this time, the guide grooves 40a of the slide table 18,
Since the slide 40b slides on the guide members 20a and 20b of the body 12 to displace the slide table 18, for example, a work or a device (not shown) placed on the slide table 18 can be suitably moved.

As described above, in the actuator 10 according to the present embodiment, the projections 24 are accurately formed in advance on the body 12, and the electric motor 14 is provided with the recesses 28 a to be fitted to the projections 24. That is, by fitting the concave portion 28a to the convex portion 24, the electric motor 14 can be easily positioned in the assembling process. Also,
Since the guide members 20a, 20b are provided at right angles integrally with the body 12, the guide grooves 40a, 40b defined in the slide table 18 can be engaged only with the guide members 20a, 20b, and the displacement of the slide table 18 can be achieved. The operation is easily and precisely performed. On the other hand, when the ball screw 16 is fitted into the hole defined in the plate bodies 26a, 26b, the positioning between the guide members 20a, 20b and the ball screw 16 is automatically performed. This simplifies the assembly process as the actuator 10. Furthermore, the drive shaft 30 of the electric motor 14 and the ball screw 16 are installed in parallel, and the timing belt 32 transmits the rotational driving force.
Is not required for assembling, such as the alignment of the shaft center as in the case of connecting them in series, and no coupling means or the like is required.

As shown in FIG. 9, a harmonic drive mechanism 50 may be provided integrally with the electric motor and connected to the ball screw 16 in series.

[0024]

According to the actuator of the present invention,
The following effects can be obtained.

[0025] That is, the first engagement portion formed in the body, since the second engaging portion formed on the drive source is engaged, the positioning can be easily performed with respect to the body of the drive source. Moreover, due to the provision of the integrally guiding means body, there is no need to position the guide means relative to the body, before
By attaching the moving means along the guide means,
The moving means is positioned with respect to the body, and the moving means can perform an operation such as precise conveyance along the guide means.
Furthermore, they are arranged diagonally in cross section of the body and are
A pair of guide means are provided on the surfaces of the intersecting bodies, and the moving means is engaged therewith, so that the moving means is guided accurately and reliably. Furthermore, since the body is accurately formed by any one of extrusion, drawing, precision casting, precision forging, metal injection molding, and ceramic injection molding, positioning is easy. Furthermore, since the electric motor is provided with a harmonic drive mechanism, a relatively small motor can be used for the same output,
Contributes to miniaturization of actuators.

[Brief description of the drawings]

FIG. 1 is a perspective view of an actuator according to the present invention.

FIG. 2 is a partially omitted explanatory perspective view showing an internal configuration of an actuator according to the present invention.

FIG. 3 is a partially omitted explanatory longitudinal sectional view showing an internal configuration of an actuator according to the present invention.

FIG. 4 is a partially omitted explanatory longitudinal sectional view showing an internal configuration of an actuator according to the present invention.

FIG. 5 is a partial explanatory longitudinal sectional view showing an internal configuration of an actuator according to the present invention.

FIG. 6 is an explanatory view of a surface shape of a guide member of the actuator according to the present invention.

FIG. 7 is an explanatory view of a surface shape of a guide member of the actuator according to the present invention.

FIG. 8 is an explanatory view of a surface shape of a guide member of the actuator according to the present invention.

FIG. 9 is a longitudinal sectional view showing the internal configuration of the actuator according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Actuator 12 ... Body 14 ... Electric motor 16 ... Ball screw 18 ... Slide table 20a, 20b ... Guide member 24 ... Convex part 26a, 26b ... Plate body 28a, 28b ... Concave part 30 ... Drive shaft 32 ... Timing belt 38 ... Support Body 40a, 40b ... guide groove

Claims (5)

(57) [Claims] And 1. A driving source having a first engaging portion for positioning, and body having a second engagement portion engaged with the first engaging portion, formed integrally with the cross diagonally of said body And each other
Set of guide means provided respectively on two surfaces orthogonal to
When each is guided by the pair of guide means, and a moving means for displacing I by the driving force of the driving source, engaging the second engaging portion to the first engagement portion the drive source is positioned against the body by, further
Along a set of guiding means formed integrally with the body
By attaching the moving means by means of
Actuator according to claim Rukoto is positioned relative Lee. 2. The actuator according to claim 1, wherein said body is formed by any one of extrusion, drawing, precision casting, precision forging, metal injection molding, and ceramic injection molding. In actuator 3. A process according to claim 1 Symbol placement, the body, the actuator, characterized in that it is formed of a resin material, or a non-magnetic metal body. In actuator 4. The method of claim 1 Symbol placement, the driving source is characterized by an electric motor actuator. 5. The actuator according to claim 4 , wherein the electric motor is a motor provided with a harmonic drive mechanism.