JP3219812B2 - Driving mechanism and driving method of driving mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving mechanism and a driving mechanism.
Driving method .

[0002]

2. Description of the Related Art Conventionally, as an example of a driving mechanism for moving a moving body via a driving means, the present inventor has filed an application, Japanese Patent Application Laid-Open Nos. 1-3303359, 2-134443, and US Pat. No. 4,995,277 discloses a technique relating to a motion mechanism. These movement mechanisms have a mechanism in which the moving body is moved by driving means such as a ball screw and a belt.

[0003]

However, although the above-mentioned motion mechanism is excellent in moving a moving body at high speed, it has the following problems. For example, when the moving body is moved by a ball screw, it takes some time to start the motor and reach a stable high-speed rotation of the ball screw. Therefore, depending on the application, the acceleration of the moving body at the time of starting may be insufficient. Also, large weight
Large moving objects require a large force to start driving.
Therefore, the ball screw must be driven by a large capacity motor.
No. Further, when a moving body moving at a high speed is stopped, particularly in the case of a heavy moving body, there is a problem that it is difficult to stop the moving body at a desired stop position due to large inertia. Accordingly, it is an object of the present invention to provide a driving mechanism and a driving method of the driving mechanism which have good acceleration and good responsiveness which can suppress the influence of inertia.

[0004]

To solve the above-mentioned problems, the present invention has the following arrangement. In other words, it is formed long
The first moving body and the first moving body,
Ball screw to move the moving body in its length direction and
A motor for driving the ball screw to rotate about an axis.
A first driving means provided on the first moving body;
Can move only in the length direction of the first moving object with respect to the other moving object
A second moving body, and the first moving body and the second moving body
And the second moving body is provided by a fluid pressure.
The second driving means for moving and the movement of the moving body are started.
At this time, first, the second drive means is operated, and the
After starting moving the second moving body in a required direction,
Activating the first driving means, and using the ball screw,
The first moving body is driven only by the ball screw.
With the second moving body at the required speed.
The first drive means and the second drive means
When the movement of the moving body is stopped, the second drive
By means, the second moving body is provided with a moving direction and
After applying a force by fluid pressure in the opposite direction, the first
Stop the ball screw drive by the drive means and perform the first movement
The first moving body so as to stop the second moving body together with the body.
Control means for controlling the driving means and the second driving means.
It is characterized by having. The second moving body is cylindrical
And the first moving body is externally fitted to the first moving body.
Between the outer peripheral surface of the body and the inner peripheral surface of the second moving body.
The shaft of the second moving body is provided by a piston provided on the outer peripheral surface of the moving body.
A cylinder chamber is defined in a linear direction, and the second driving means is
Cylinder chamber and selectively supply pressure fluid to the cylinder chamber
And a fluid supply source. Also book
The driving method of the driving mechanism according to the present invention is a method for driving a long-shaped driving mechanism.
A first moving body, and a first moving body that is screwed to the first moving body.
Ball screw for moving the ball in its length direction and the ball
A motor equipped with a motor that drives the screw to rotate about the axis
A first driving unit and a first moving body on the first moving body.
, Which is movable only in the longitudinal direction of the first moving body.
2 between the first moving object and the second moving object
And the second moving body is moved by a fluid pressure.
And a second driving means for driving the driving mechanism.
When starting the movement of the moving body, first, the second drive
Activate the means and require the second moving body by fluid pressure
After the start of the movement in the direction, the first driving means is operated.
And the first moving body is driven by a ball screw.
The second movement together with the first moving body by only the screw
Continue moving at the required speed and stop moving
The second moving body is driven by the second driving means.
Force in the direction opposite to the direction of movement
And then drive the ball screw by the first driving means.
And stop the second mobile together with the first mobile
It is characterized by doing.

[0005]

[Operation] The operation will be described. According to the present invention,
The first moving body is moved by the first driving means by screw driving.
Before starting, fluid pressure drive that can apply a large force
Moving the second moving body by the second driving means.
Therefore, even if the second moving body side is heavy,
Movement can be easily performed, and then
The second moving body is driven by the ball screw on the first moving body.
To move the second moving body together with the first moving body.
So that it is a heavy second mobile
Even a small capacity drive motor can be pulled by the ball screw mechanism.
It can be easily moved continuously. Also the second move
The body can be accelerated rapidly. On the other hand, the second with acceleration
When stopping the moving object together with the first moving object, the second
By the driving means, the moving direction and the second moving body are
Is the first drive after applying force by fluid pressure in the opposite direction.
The ball screw drive by means is stopped
Can suppress the influence of inertia on the second moving body
And is not affected by the ball screw mechanism of a small capacity motor.
The moving body can be stopped without reason.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. First Embodiment A first embodiment will be described with reference to FIGS.
Note that the drive mechanism of the first embodiment is a one-dimensional movement mechanism that linearly moves the moving body. First, the configuration will be described. In FIG. 2, reference numeral 10 denotes a ball screw constituting the first driving means, and both ends thereof are rotatably supported by supports 12 and 14. Reference numeral 16 denotes a DC servo motor, and an output shaft 18 is connected to the ball screw 10 via a coupler 20. Motor 16 is intended causes rotation of the ball screw 10 about the axis, it constitutes an example of a first drive means in the ball screw 10 and the motor 16.

Reference numeral 22 denotes a cylinder nut which is an example of the first moving body. The cylinder nut 22 is formed in a long cylindrical shape with both ends opened, and is screwed to the ball screw 10. Due to the configuration described later, the cylinder nut 22 cannot rotate around the axis, and can move in the length direction of the ball screw 10 with the rotation of the ball screw 10. Reference numeral 24 denotes a slider which is an example of a second moving body. A slider 24 is provided with a through hole 26 (see FIG. 1) at the center thereof.
2 can be moved in the length direction. A spline nut 28 (see FIG. 1) having a ridge (not shown) is fixed to the inner peripheral surface of the through hole 26 of the slider 24, and the ridge is formed on the outer peripheral surface of the cylinder nut 22 in the length direction. It is fitted in the spline groove 30 that is engraved. By this fitting, the slider 24 can move in the length direction of the cylinder nut 22 with respect to the cylinder nut 22, and cannot rotate around the axis of the cylinder nut 22. In addition, the cylinder nut 22 and the slider 24 constitute a moving body of each of the motion mechanisms described in the “prior art”.

Reference numeral 32 denotes a linear motion guide, and the ball screw 10
Is disposed in parallel with the ball screw 10 below. 34
Is a fitting portion, which is fixed to the lower surface of the slider 24 and slidably fitted to the linear motion guide 32. With this fitting, the slider 24 and the cylinder nut 22 cannot rotate around the axis of the ball screw 10. 3
Reference numeral 6 denotes a mounting portion, which is fixed to the upper surface of the slider 24. A work 38, a tool, a robot head, a measuring instrument, and the like can be placed or mounted on the mounting portion 36. Next, the configuration of the slider 24 will be described with reference to FIG. As described above, the slider 24 is mounted on the cylinder nut 22.
Is inserted into the through-hole 26 of the slider 24, so that it is fitted to the cylinder nut 22. The spline nut 28 is fitted in the spline groove 30 of the cylinder nut 22. Reference numeral 40 denotes a seal ring, which maintains airtightness between the inner peripheral surface of the slider 24 and the outer peripheral surface of the cylinder nut 22 at both ends of the through hole 26. The seal ring 40 can also seal the spline groove 30.

Reference numeral 42 denotes a key, and the spline nut 28
Are fixed in the through holes 26. Reference numeral 44 denotes a piston portion, which extends in a flange shape on the outer peripheral surface at the center of the cylinder nut 22. Through hole 2 corresponding to piston portion 44
The inside of 6 has a large diameter. The amount of movement of the slider 24 with respect to the cylinder nut 22 is determined by the length of the large inner diameter portion in the through hole 26. An O-ring 46 is also provided between the outer peripheral surface of the piston portion 44 and the inner peripheral surface of the through hole 26.
Is inserted, and the inside of the through hole 26 is sealed in an airtight chamber (cylinder).
Chamber) 48a, 48b. Each airtight chamber 48a,
48b denotes an air port 50 which is opened on the outer peripheral surface of the slider 24.
a, 50b. Reference numeral 52 denotes a compressor (fluid supply source) with a control valve, which is an example of the second driving means, and is provided with airtight chambers 48a and 48a via air ports 50a and 50b.
The compressed air is selectively supplied into and discharged from 48b at a desired timing. The slider 24 moves toward the airtight chamber 48a or 48b to which the compressed air is supplied with respect to the cylinder nut 22. The control for selectively supplying and discharging the compressed air of the compressor 52 at a desired timing and the drive control of the motor 16 are automatically controlled via a computer system (control unit) ( not shown ) .

Next, the operation of the one-dimensional motion mechanism having the above configuration will be described. First, the case where rapid acceleration is performed will be described. Start the motor 16 and set the cylinder nut 2
Immediately before moving the slider 2 and the slider 24 in one direction, compressed air is supplied from the compressor 52 to the airtight chamber 4 located in the one direction.
8a or 48b. This timing is set by the computer system from data obtained empirically in consideration of the performance of the exercise mechanism and the like.

Then, the slider 24 is moved to the cylinder nut 2
Prior to Step 2, movement in one direction is started. In this embodiment, since the compressed air is used as the second driving means, the movement can be performed particularly instantaneously. In addition, the airtight chamber 48a or
When compressed air is supplied to 48b, the piston 44
In order to rotate the ball screw 10 via the dunnut 22
The cylinder nut 22 and the ball screw
Because a screw mechanism is interposed between this and 10,
Minimal component to force to rotate ball screw 10
Becomes Then, with a slight delay, the motor 16 starts to rotate the ball screw 10, and the speed of the cylinder nut 22 increases. During the speed increase of the cylinder nut 22, the speed of the slider 24 is the same as the speed of the cylinder nut 22 and the slider 2.
4 to the stable speed of the motor 16 and hence the ball screw 10 in a very short time.
Speed. In this case, the ball screw 10 does not rise so much, so that the movement amount of the slider 24 with respect to the cylinder nut 22 is not required to be long. Further, since the fluid pressure cylinder device can generate a large force, it is possible to obtain good acceleration even if the work or the like mounted on the mounting portion 36 is heavy.
There is also an advantage that a motor having a small output with respect to the weight of a work or the like can be employed. After the cylinder nut 22 accelerates and the speed reaches a stable speed, the cylinder nut 22 and the slider 24 are moved integrally by only the first driving means including the motor 16 and the ball screw 10. Slider 2
4 (second moving body) side is accelerated,
The drive of the slider 24 side can be continued easily by the
Becomes possible.

On the other hand, when the cylinder nut 22 and the slider 24 moving together in one direction are suddenly stopped , the compressed air from the compressor 52 is moved in the direction opposite to the one direction before the motor 16 is stopped. The air is supplied to the existing airtight chamber 48a or 48b. This timing is also set by the computer system from data obtained empirically in consideration of the performance and the like of the exercise mechanism. Then, the slider 24 is
Prior to the cylinder nut 22, the cylinder nut 22
Start moving in the opposite direction. This movement also uses compressed air
Therefore, particularly instantaneous movement is possible. This allows
The movement speed of the ida 22 is reduced, and the inertia is reduced.
You. Next, the motor 16 is stopped and the cylinder nut 2
2 and the slider 24 stops. Sly like this
Since the movement speed and inertia of the damper 24 are reduced,
Even with the ball screw mechanism of the motor 16
The second moving body (slider 24) can be easily stopped.
You. In addition, the cylinder nut 22 is
Pressurized air to be moved in the opposite direction
Is supplied to 48b, the cylinder nut
The ball screw 10 is further connected to the cylinder nut via the
The force to rotate in the direction in which
However, because of the screw mechanism,
The component force to rotate the ball screw 10 is extremely
It will be small. In this embodiment, an example in which the ball screw 10 and the motor 16 are used as the first driving means has been described, but other methods such as belt driving and chain driving can be adopted. Also, as the second driving means, a hydraulic device or a cylinder device mounted on the slider 24 can be used.

(Second Embodiment) A second embodiment will be described with reference to FIG. The same components as those in the first embodiment are given the same names, and description thereof is omitted. The second embodiment is an improvement of the two-dimensional motion mechanism disclosed in Japanese Patent Application Laid-Open No. 2-134443. 100
Reference numerals a and 100b denote Y-axis ball screws.
They are arranged parallel to the axial direction. Y axis ball screw 100a
Are directly rotated and driven by the Y-axis motor 102. on the other hand,
The Y-axis ball screw 100b is driven to rotate by receiving the rotational force of the Y-axis motor 102 via the bevel gear 104 and the metal shaft 106. The Y-axis ball screws 100a and 100b rotate in the same direction at the same speed. The Y-axis cylinder nut 10 is attached to the Y-axis ball screws 100a and 100b.
8a and 108b are screwed together, and the Y-axis ball screw 100
It moves in the same direction at the same speed with the rotation of a and 100b.

Reference numeral 110 denotes an X-axis ball screw having Y ends at both ends.
The Y-axis sliders 112a and 112b fitted to the shaft cylinder nuts 108a and 108b are rotatably supported. With this configuration, high-speed response of the X-axis ball screw 110 in the Y-axis direction is ensured. X axis ball screw 1
10 is directly rotated by an X-axis motor 114. A robot head (or a work or the like) 116 includes an X-axis cylinder nut 118 screwed to the X-axis ball screw 110.
Is fixed to the X-axis slider 120 which is fitted to the outside. With this configuration, high-speed response of the X-axis slider 120 in the X-axis direction is ensured. Further, as described above, the high-speed responsiveness of the X-axis ball screw 110 in the Y-axis direction is ensured, and as a result, the high-speed responsiveness of the X-axis slider 120 in the XY axis direction is ensured. In this embodiment, the rotation of the Y-axis ball screws 100a and 100b causes the X-axis ball screw 110 to move in the Y-axis direction, and the rotation of the X-axis ball screw 110 causes the X-axis slider 120 to move in the X-axis direction. 120 performs a two-dimensional motion. Also in the second embodiment, the ball screw 100 is used as the first driving means.
Although examples using the motors 102 and 114 and the motors 102 and 114 have been described, other methods such as belt driving and chain driving can be employed. Further, as the second driving means, a hydraulic mechanism or a cylinder device mounted on the sliders 112a, 112b, 120 can be used in addition to the air cylinder device.

Third Embodiment A third embodiment will be described with reference to FIG. Note that the same components as those in the preceding embodiment are given the same names, and descriptions thereof are omitted. The third embodiment is an improvement of the two-dimensional motion mechanism disclosed in JP-A-1-303359 or U.S. Pat. No. 4,995,277. 200a, 200
b denotes an X-axis ball screw, which is arranged in the same plane in parallel in the X-axis direction. The X-axis ball screw 200a is directly driven to rotate by the X-axis motor 202. On the other hand, the X-axis ball screw 200b is connected to the bevel gear 204a and the metal shaft 20a.
The rotation is driven by receiving the rotation force of the X-axis motor 202 via 6a. The X-axis ball screws 200a and 200b rotate in the same direction at the same speed. X-axis cylinder nuts 208a are attached to the X-axis ball screws 200a and 200b.
208b is screwed into the X-axis ball screw 200a,
With the rotation of 00b, they move in the same direction at the same speed.

Reference numerals 210a and 210b denote Y-axis ball screws, which are arranged in the same plane in parallel in the Y-axis direction. The Y-axis ball screw 210a is directly driven to rotate by the Y-axis motor 212. On the other hand, the Y-axis ball screw 210b is
It is rotationally driven by receiving the rotational force of the Y-axis motor 212 via the metal shaft 04b and the metal shaft 206b. The Y-axis ball screws 210a and 210b rotate in the same direction at the same speed. Y-axis cylinder nuts 214a and 214b are screwed into the Y-axis ball screws 210a and 210b, and move in the same direction at the same speed as the Y-axis ball screws 210a and 210b rotate. 216 is an X rod, which is formed of metal. X rod 21
6 are fixed to X-axis sliders 218a, 218b that are externally fitted to X-axis cylinder nuts 208a, 208b. With this configuration, high-speed response of the X rod 216 in the X-axis direction is ensured. 220 is a Y rod, which is formed of metal. Both ends of the Y rod 220 are fixed to Y-axis sliders 222a, 222b which are fitted to Y-axis cylinder nuts 214a, 214b. With this configuration, high-speed response of the Y rod 220 in the Y-axis direction is ensured.

Reference numeral 224 denotes a mounting portion on which a work or the like can be mounted, and an X rod 216 and a Y rod 220
Are orthogonal inside. The mounting portion 223 is connected to the X rod 216 and the Y
It is movable on the rod 220. With this configuration, the two-dimensional movement of the mounting part 223 is enabled with the rotation of the X-axis ball screws 200a and 200b and the Y-axis ball screws 210a and 210b, and the X-Y of the mounting part 223 is used.
High-speed response in the axial direction is ensured. Also in the third embodiment, ball screws 200a, 20
Although the examples using the motors 0b, 210a, 210b and the motors 202, 212 have been described, other methods such as belt driving and chain driving can be adopted. Also, as the second driving means, a hydraulic mechanism or a cylinder device mounted on the sliders 218a, 218b, 222a, 222b can be used in addition to the air cylinder device. that's all,
Although various preferred embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments, and it is needless to say that many modifications can be made without departing from the spirit of the invention.

[0018]

According to the present invention, the ball screw drive
Before moving the first moving body by the first driving means,
And the second drive by the fluid pressure drive capable of applying a large force.
Since the second moving body is moved by the moving means, the second moving body
Easy initial movement, even if the side is heavier
And then the second mobile side with acceleration
Is driven by a ball screw to the first
To move the second mobile together with the mobile
Therefore , even if the second mobile unit has a large weight,
The moving motor can be easily and continuously transferred by the ball screw mechanism.
Can be moved. Also accelerate the second moving object rapidly
It becomes possible. On the other hand, the second mobile body with acceleration
When stopping together with the moving body, the second driving means
Flow to the second moving body in the direction opposite to the moving direction.
After a force is applied by body pressure, the first drive means
Since the screw drive is stopped, the second
The effect of inertia on moving objects can be suppressed,
The moving body can be easily controlled by the motor's ball screw mechanism.
Can be stopped.

[Brief description of the drawings]

FIG. 1 is a sectional view of a main part showing a first embodiment of a drive mechanism according to the present invention.

FIG. 2 is a front view of the first embodiment.

FIG. 3 is a plan view of a second embodiment.

FIG. 4 is a plan view of a third embodiment.

[Explanation of symbols]

 10 Ball screw 16 Motor 22 Cylinder nut 24 Slider 48a, 48b Airtight chamber 52 Compressor 100a, 100b Y axis ball screw 102 Y axis motor 108a, 108b Y axis cylinder nut 110 X axis ball screw 112a, 112b Y axis slider 114 X axis motor 118 X axis Cylinder nut 120 X-axis slider 200a, 200b X-axis ball screw 202 X-axis motor 208a, 208b X-axis cylinder nut 210a, 210b Y-axis ball screw 212 Y-axis motor 214a, 214b Y-axis cylinder nut 218a, 218b X-axis slider 222a, 222b Y Axis slider

Claims (3)

(57) [Claims] An elongated first moving body is screwed onto the first moving body, and the first moving body is moved in the longitudinal direction thereof.
Ball screw to be moved to
First driving means including a motor that rotates and drives as a center
And a first movement with respect to the first moving body on the first moving body.
A second moving body that is movable only in the longitudinal direction of the body, and is provided between the first moving body and the second moving body;
A second driver for moving the second moving body by body pressure
When starting the movement of the moving body with the step , first, the second driving means
To move the second moving body in a required direction by fluid pressure.
After the start of the movement, the first driving means is operated to
Driving the first moving body with a ball screw,
The second mobile unit together with the first mobile unit
In order to continue moving at the required speed, the first drive
Control the step and the second driving means to stop the movement of the moving body
The second moving body is driven by the second driving means.
Force in the direction opposite to the direction of movement
And then drive the ball screw by the first driving means.
And stop the second mobile together with the first mobile
The first driving means and the second driving means
And a control unit for controlling the driving
Structure. 2. The second moving body has a cylindrical shape,
An outer peripheral surface of the first moving body, which is externally fitted to the first moving body;
Between the inner peripheral surface of the second mobile unit and the outer peripheral surface of the first mobile unit
The piston provided on the surface moves in the axial direction of the second moving body.
A cylinder chamber is defined, and the second driving means is connected to the cylinder chamber and the cylinder chamber.
A fluid supply source for selectively supplying a pressure fluid
The drive mechanism according to claim 1, wherein: 3. A first moving body formed to be long, and
Screwed into the first moving body, and moved the first moving body in its length direction.
And about the axis of the ball screw and the ball screw is moving
A first driving means having a motor for rotationally driving
A first mobile unit on the first mobile unit with respect to the first mobile unit;
A second movable body movable only in the length direction of the
A fluid pressure provided between the first moving body and the second moving body;
Second driving means for moving the second moving body by
A method of driving a driving mechanism , comprising: when starting movement of a moving body, first, the second driving means
To move the second moving body in a required direction by fluid pressure.
After the start of the movement, the first driving means is operated to
Driving the first moving body with a ball screw,
The second mobile unit together with the first mobile unit
When the moving body is continuously moved at the required speed and the movement of the moving body is stopped, the second driving means
The second moving body has a direction opposite to the moving direction.
After a force is applied to the first drive means by a fluid pressure,
Stops the ball screw drive by the
Of the driving mechanism, wherein the second moving body is stopped.
Drive method.