JP3429791B2 - Home position adjustment method for linear positioning device - Google Patents

Description

Detailed Description of the Invention

[0001]

The present invention relates to relates to a home position adjustment method straight advance positioning device.

[0002]

2. Description of the Related Art Positioning devices used for industrial robots are roughly classified into two types, a rotary system and a straight-ahead system. However, they are generally straight-ahead systems, that is, straight-ahead systems, because their structures are simple and their movements are easy to understand. Positioning devices with shafts are often used.

An example of the above-described conventional positioning device having a straight advance shaft will be described below with reference to the drawings. FIG. 4 is an overall perspective view showing the structure of a conventional positioning device having a straight advance shaft. The motor 1 is arranged on a protrusion at one end of the base 8, and the rotation of the motor is fastened by a coupling 15 and the other end is supported by a ball screw shaft 3 rotatably supported by the protrusion 7 of the base 8. Reportedly. The rotation of the ball screw shaft 3 is converted into a movement in a straight traveling direction by the ball screw nut 4, whereby the slider 5 to which the ball screw nut 4 is fixed is guided by the straight traveling guide 6, and the arrow a-
It is possible to move in the straight direction of a '.

Further, in order to detect the position of the slider 5,
An object 9 to be detected is fixed to the slider 5 and
The position detector 11 (a, b, c) fixed to 12 detects the position of the slider 5, and the plate 12 to which the position detector 11 is fixed for detecting the origin position and the moving end position is a rail. It has a structure that can be adjusted to any position on 10.

The exact position of the slider 5 is determined by the encoder 2
Is detected by the encoder 2, and the signal output from the encoder 2 is usually output once per rotation, the A-phase signal output by the number of resolutions, and the A-phase signal being 90 ° out of phase with each other. Although it is composed of a B-phase signal for discriminating the rotation direction, in the mechanism as shown in FIG. 4, the motor 1 and the encoder 2 rotate a plurality of times as the slider 5 moves straight. Therefore, in order to recognize the reference C phase, the detected body 9 and the origin position detection body 11b are used. Within the detection range of the origin position detector 11b, C of the encoder 2
If the time point at which the phase is output is taken as the origin, the accurate position of the slider 5 need only count the A and B phase signals output from the encoder 2 thereafter.

The normal operating range can be known by counting the A-phase and B-phase pulses, but since it is a soft process of counting the number of pulses, the moving end position detectors 11a and 11c are usually provided. When the detected body 9 provided on the slider 5 reaches the moving end, the moving end position detecting body
Detected by 11a and 11c, the power supply to the motor 1 is cut off. The detected body 9 is often provided under the slider 5 as shown in FIG. 4 in order to make the length and width of the entire apparatus compact.

[0007]

However, in the above structure, the coupling 15 is loosened so that the C phase of the encoder 2 is output within the range of the origin position detector 11b when the origin position is adjusted. There is a problem that the rotation angle of the motor 1 and the rotation angle of the ball screw shaft 3 must be adjusted, which complicates the work.

Also, when the moving end is adjusted, as described above,
In order to make the entire apparatus compact, it may not be possible to adjust the positions of the moving end position detectors 11a and 11c while positioning the slider 5 at the moving end. In that case, move the slider 5 once from the moving end. Moving end position detector 11a,
The operation of adjusting the position of 11c, again positioning the slider 5 at the moving end, and confirming whether or not the moving end position detection body reacts has to be repeated, which causes a problem that the work becomes complicated. Was.

When a positioning device having the above-mentioned rectilinear shaft is used as a device for inserting and mounting electronic components on the printed circuit board, the stroke of the rectilinear shaft is prepared according to the size of the printed circuit board to be processed. There are many two of them, and the above-mentioned work is required at the time of switching although the size is determined in advance, and the complexity is a problem.

In view of the above problems, the present invention provides a straight positioning device which can easily set and adjust the positions of the origin and the moving end.
The purpose of the present invention is to provide a method for adjusting the origin position .

[0011]

In order to achieve the above object, a method for adjusting the origin position of a rectilinear positioning device according to the present invention comprises:
A ball screw shaft directly connected to the output shaft of the motor and configured integrally, and a ball screw integrated motor having an encoder for detecting the rotation of the ball screw shaft, a moving body that moves straight along the rotating ball screw shaft, and the moving body. a position detector for detecting the position, the slidable rails along the position detector in a direction in which the moving body is straight, the ball
Base with integrated screw and the rail
A method for adjusting an origin position in a linear positioning device comprising: a C-phase signal output from the encoder once per rotation to an origin position separated from the motor position by a predetermined distance. The rail is adjusted in advance so that it is output when the moving body is positioned, and the rail is based on an index provided on the rail for positioning the position detection body at the origin position where the C-phase signal is output. Fix the position detector to the
The motor with integrated ball screw is fixed to the base .

[0012]

[0013]

According to the rectilinear positioning device and the origin position adjusting method thereof of the present invention, the motor shaft and the bow are configured by the above-mentioned configuration.
Ball screw integrated model that is directly integrated with the screw shaft.
The C-phase signal from the encoder is
It is configured to output at the origin position which is the position
Therefore, any adjustment work regarding the output position of the C-phase signal is required.
I don't need it. And, as mentioned above, C communication is always performed at a fixed position.
To position the position detector at the position where the signal is output.
Since the index of was set on the rail, the position based on that index
Simply mechanically fix the detector, and you can easily and quickly
The point position adjustment work can be completed. According to
Position of the C-phase signal and the position of the position detector
Both units are fixed without any adjustment work, so the position detection unit is moved slightly on the rail so that the position detection unit can detect the moving unit at the position where the C-phase signal is output. troublesome adjustment such as adjusting the home position Te is any unnecessary. Moreover, even if the man-hours for adjusting the origin position are drastically reduced in this way, the C-phase signal is reliably output at the position where the origin position of the moving body is detected.
The standard for detecting the position of the moving body that moves in the straight-ahead positioning device by the encoder is determined.
Only by counting the phases and B phases, it is possible to detect the accurate position of the moving body and realize highly accurate positioning control of the moving body.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The origin and moving end position adjusting method of the present invention will be described below with reference to the drawings.

FIG. 1 is an overall perspective view showing the structure of a positioning device for performing a rectilinear motion according to an embodiment of the method of the present invention.
The motor 1 and the ball screw shaft 3 are directly connected without a coupling 15 as shown in FIG. Since the other structure is the same as the conventional structure described in FIG. 4, the same members are designated by the same reference numerals and the description thereof will be omitted.

FIG. 2 shows the ball screw shaft 3 and the motor 1 described above.
FIG. 3 is a perspective view of a ball screw integrated motor to which is directly connected.
The C-phase signal output once per one rotation of the encoder 2 is at a position of a predetermined origin of the ball screw nut 4 as shown in FIG. 2 (a position separated from the motor flange 1a by a distance L in the drawing). It has been adjusted to be output.

FIG. 3 is an enlarged perspective view of the position detecting portion of FIG. 1. The position detecting body 11 fixed to the plate 12 is slidably held on the rail 10 in the direction of arrow aa ', and the rail 10 It can be adjusted at any position above. this is,
By screwing the screw 14 into the screw hole 12a provided in the plate 12, the tip of the screw 14 can be applied to the bottom surface of the rail 10 and the plate can be stopped by friction with the bottom surface of the rail 10. Here, if the rail 10 is provided with the positioning hole 13, the position of the position detection body 11 can be determined only by aligning the screw 14 with the positioning hole 13.

This is because the C phase of the encoder 2 described above is
Since the output is adjusted so as to be output at a predetermined position, it is not necessary to adjust the position of the position detection body 11b for detecting the origin and the rotation angle of the ball screw and the motor by the coupling.

Further, as described above, in the device for mounting the electronic component on the printed circuit board, the size of the printed circuit board is 2.
Since there are many types, positioning holes for the position detector
If 13 is provided, the positions of the position detectors 11a and 11c during movement can be easily adjusted.

[0020]

According to the present invention as described above, according to the present invention, motor
Ball in which the motor shaft and the ball screw shaft are directly and integrally connected
Using a screw-integrated motor, the C-phase signal from the encoder
Pre-configured to output at a fixed origin position
Since it has been adjusted, adjustment work regarding the output position of the C-phase signal
I don't need any. Furthermore, C communication is always performed at a fixed position.
For positioning the position detector at the position where the signal is output.
Since the index is provided on the rail, the position based on the index
Simply mechanically fix the detector, and you can easily and quickly
The point position adjustment work can be completed. According to
Position of the C-phase signal and the position of the position detector
Both units are fixed without any adjustment work, so the position detection unit is moved slightly on the rail so that the position detection unit can detect the moving unit at the position where the C-phase signal is output. This eliminates the need for troublesome adjustment work such as adjusting the origin position. Moreover, even if the man-hours for adjusting the position of the position detecting body are significantly reduced, the C-phase signal is reliably output when the moving body moves to the position of the position detecting body. The reference for detecting the position of the body by the encoder is determined, and only by counting the A phase and the B phase of the encoder, the accurate position of the moving body can be detected and highly accurate positioning control of the moving body can be realized.

[Brief description of drawings]

FIG. 1 is an overall perspective view showing the structure of a positioning device that performs a rectilinear motion according to an embodiment of the present invention.

FIG. 2 is a perspective view of the ball screw integrated motor of FIG.

FIG. 3 is an enlarged perspective view of the position detector of FIG.

FIG. 4 is an overall perspective view showing the structure of a conventional positioning device having a straight advance shaft.

[Explanation of symbols]

1 ... motor, 2 ... encoder, 3 ... ball screw shaft,
4 ... Ball screw nut, 5 ... Slider, 10 ... Rail, 11a, 11b, 11c ... Position detector, 12 ... Plate, 12a ... Screw hole, 13 ... Positioning hole, 14 ... Screw.

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-62-28194 (JP, A) Fukukaihei 1-64392 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) B25J 9/02

Claims (3)

(57) [Claims] 1. A ball-screw integrated motor having a ball-screw shaft directly connected to an output shaft of the motor and integrally configured, and an encoder for detecting rotation of the ball-screw shaft,
A moving body that moves straight along the rotating ball screw axis;
A position detection body that detects the position of the moving body, a rail that can slide on the position detection body along a direction in which the moving body moves straight, a ball screw integrated motor, and the rail
Of a linear positioning device having a base for arranging
In the point position adjusting method, the C-phase signal output once per one rotation from the encoder is a predetermined distance with respect to the motor position.
The distant home position, advance adjusted so that output when the movable body is positioned, provided before Symbol rails to position the position detector at the original position where the C-phase signal is output with fixing the position detector on the rail on the basis of an index, the
The previously installed ball screw integrated motor
The origin position of the linear positioning device characterized by being fixed to
Position adjustment method . Wherein the positioning holes of the index is fixed by screws to the position detector via the positioning hole this
The origin of the linear positioning device according to claim 1,
Position adjustment method . 3. A rail is provided with a positioning hole that serves as an index for positioning the moving body that has moved to the moving end, and the position detecting body is further fixed to the rail through the positioning hole. The origin position adjusting method for a straight-ahead positioning device according to claim 2.