JP3490612B2 - Actuator - Google Patents

Description

BACKGROUND OF THE INVENTION [0001] [Technical Field of the Invention The present invention is re-linear motors, relates to an actuator for converting a fluid energy into mechanical energy using a motor such as a fluid pressure motor. 2. Description of the Related Art Conventionally, for example, in an actuator which is a device for sucking or holding and transporting a work by using a mechanical hand or a chuck, casting extrusion,
A moving body such as a table is attached to a main body integrally formed by drawing or the like via a guide, and the moving body is moved by a driving source such as a servo motor or a stepping motor via a driving mechanism such as a ball screw or a timing belt. ing. With this movement, the suction holding means connected to the moving body also moves, and the work sucked by the suction holding means is conveyed to a desired position under the movement of the moving body. [0003] However, the above-mentioned prior art employs a configuration in which a moving body such as a table is directly attached to a main body and a work is conveyed to a desired position. Therefore, as described above, once the desired positioning for transporting the work is set and set, and then the operation of adjusting or changing the moving position, performing maintenance / inspection, etc., disassemble the set configuration. Reconfiguration, which is very complicated. In addition, since the main body, the moving body, the driving mechanism, the driving source, and the like are integrally formed as an actuator, there are inconveniences such that the installation place is limited, and the work on site is difficult. [0004] It is an object of the present invention to provide an actuator which can be simply assembled and constructed with a simplified structure. [0005] In order to achieve the object of the Means for Solving the Problems] The present invention includes an actuator body which recess extending along the axial direction is formed, a guide frame having a preparative Tsukeana , motor unit being joined to one end of the previous SL guide frame, and the idle unit is joined to the other end portion, the driving force of the motor connected to the motor unit is transmitted, under the guiding action of the guide frame A moving body displaced along the longitudinal direction of the guide frame;
A driving force transmission belt that is suspended by the motor unit and the idle unit, respectively, and that transmits a driving force of the motor to the moving body, wherein a guide frame to which the motor unit and the idle unit are respectively joined has an actuator body. It is positioned at a predetermined position along the axial direction in the concave portion, and is provided in the concave portion so as to be detachable and position-adjustable. According to the present invention, the motor unit and the idle unit are directly joined to the guide frame for guiding the moving body, and the guide frame is actuated.
Positioned in a predetermined position along the axis in the recess of the body
And removable and position adjustable in the recess
Ru provided freely. Therefore, the structure is simplified and the assembly is facilitated. Next, a preferred embodiment of an actuator according to the present invention will be described in detail with reference to the accompanying drawings. An actuator according to a first embodiment of the present invention.
10 basically forms the outer frame as shown in FIG.
Having a structure 12 and an encoder or a harmonic
Motor 14 using a ball drive, ball screw 16 and
It comprises a moving member 20 including a moving body 18 and the like. Figure
2 is an exploded perspective view of FIG. The structure 12 has two rails on the inner bottom.
A groove 22 is defined, and concave portions 24 and
Recesses 26 and 28 are formed in the longitudinal direction on the outer side surface.
Extrusion, drawing, metal injection molding or resin casting
And are integrally molded. The moving member 20 functions as a driving source.
A circular motor 14 (for example, an electric motor);
The rotational driving force of the motor 14 is transmitted to the ball screw 16.
For the rotational movement of the casing portion 30 and the ball screw 16
The moving body 1 that moves more linearly and is connected with the nut 32
8, a plate-shaped ball screw support portion 34, and a casing
For positioning the moving part 30 and the moving body 18 on a straight line.
The guide part 46 and the frame part 36 are arranged.
You. In addition, the ball screw 16 is the same as the motor rotation shaft,
Omit the coupling by integrating the rotation balance
Is also good. It should be noted that a maintenance
Window 41 is provided. In the frame part 36
Secures the moving member 20 to the structure 12 via the screw 38
Screw holes 40 are provided at predetermined intervals.
ing. The ball screw 16 has a motor 1 at one end.
4 is connected to the casing 30 connected to
Inserted into the bearing hole 42 of the ball screw support portion 34
You. Transfer between the casing part 30 and the bearing hole 42
The hole (not shown) of the nut 32 connected to the moving body 18
The provided female screw is engraved on the outer periphery of the ball screw 16
Screw with male screw. Similarly, the ball screw 16
Can be replaced with string screws and trapezoidal screws.
is there. The moving body 18 has protrusions 44 at both ends of the upper surface.
A table is provided. Abbreviation of protrusions 44 on both ends
A positioning groove 45 is provided at the center. Frey
The upper surface of the memory portion 36 contacts the concave portion of the moving body 18 and moves.
A guide unit that functions to guide the body 18 to move linearly
46 (see FIG. 2) is provided. The casing
The part 30 and the ball screw 16 linearly move the moving body 18.
It functions as a drive mechanism for moving. In the first reference example employing such a configuration,
The operation of the actuator 10 will be described. First, as shown in FIG.
Motor 14, casing 30, ball screw 16,
A moving unit in which the moving body 18, the ball screw support unit 34, and the like are provided in series.
The member 20 is fixed to the structure 12. At that time, the frame part 3
6 through the screw holes 40 provided in the bottom of the structure 12
The two rail-shaped grooves 22 engraved on the T-nut or
Insert the nut and tighten it with the screw 38,
20 is fixed. In this way, the moving member is
After 20 is fixed, the mode connected to the power supply (not shown)
The data 14 is driven. The inside of the casing 30 is
Speed device (not shown), the motor 14
The ball screw 16 rotates in conjunction with the rotational drive of. Said
The rotation of the ball screw 16 is connected to the moving body 18.
It is transmitted to the nut 32 and the male screw on the outer peripheral surface of the ball screw 16
Inner circumference of a hole (not shown) provided at the center of the nut 32
Mates with the surface. Connected to nut 32 and integrated
The moving body 18 has the ball screw 16
By rotating, the end of the casing 30
To the end of the ball screw support 34
It works. The protrusion of the table provided on the upper surface of the moving body 18
An actuator 10 similar to that of the first embodiment is provided in the portion 44.
May be mounted and the bottom thereof may be fixed to the projection 44,
Alternatively, work suction gripping means such as suction pads are connected
It is also possible to fix the other member to the protrusion 44.
is there. In order to transport the work as described above,
After setting and setting the position, readjust the movement position or
When changing, the frame fixed to the structure 12
Of the moving member 20 by loosening the screw 38 of the
2 can be displaced in its length direction. This place
When the structure 12 is fixed to, for example, a work board,
The moving member 20 can be moved. Also, acti
When the maintenance and inspection of the heater 10 are performed, the structure 12
Loosen the screw 38 fitted in the rail-shaped groove portion 22 of
The moving member 20 is detached from the structure 12 for easy maintenance and maintenance.
Inspection can be performed. Next, an actuator according to a second reference example will be described.
As shown in FIG. An actuator 50 according to a second reference example has a
1 The difference from the reference example is that the bottom of the structure 52 constituting the outer frame
A concave portion 54 is provided in the portion, and a plate 60
Is attached. This plate 60 has screws 38
Is fixed to the frame portion 36 of the moving member 20 through
Moving member 20 through plate 60 mounted on
Can be moved. In the second and subsequent reference examples, the first
The same components as those of the reference example are denoted by the same reference numerals,
Detailed description is omitted. First, the operation of the second reference example will be described.
Of the moving member 20 in which the
The arm 36 is fixed to the plate 60 via the screw 38.
You. Therefore, the concave portion 54 provided at the bottom of the structure 52
The play connected to the frame 36 of the moving member 20
Slides 60 in the length direction from the end of the structure 52.
Then, it is mounted in the concave portion 54. Also, any position from the top
It can also be attached to the device. In this way, the structure
52 connects the moving member 20 and sets the work transfer position
Later, if you need to readjust or change the position,
Loosen and slide the plate 60 attached to the recess 54
And can be easily moved. Next, in FIG. 4 , reference numeral 78 indicates an actuator according to an embodiment of the present invention. The feature of the actuator 78 shown in FIG. 4 is that the moving body 82 is moved by using the timing belt 80 functioning as a driving force transmission belt (FIG. 5 ).
reference). The actuator 78 according to the present embodiment comprises:
Basically, the structure (actuator body )
A) 52, and a moving member 84 including the motor 14, the timing belt 80, the moving body 82, and the like. The structure 52, rail-shaped concave portion 54 (see FIG. 3) is defined on the inner side of the bottom center, (see FIG. 2) concave <br/> portion 24 on both sides of the inner and outer sides 26, 2 on the surface
8 are formed in the longitudinal direction, and are integrally formed by casting or the like. Note that a locking member 70 is attached to an end of the structure 52 . As shown in FIG. 5 , the moving member 84
A cylindrical motor 1 having a plurality of slits 85 function as housed driver in a box-shaped cover member 86 which are engraved
4, a motor pulley unit (motor unit) 90 having a disk-shaped rotating body 88 for mediating the rotational movement of the motor 14 and having a tension adjusting mechanism, and a driving force transmission bell
A timing belt 80 that serves as a preparative, wherein the moving body 82 to the timing belt 80 moves to the right and left linear direction by rotating, the idle pulley unit having a disk-shaped rotary member 89 located at one end of the timing belt 80 (Idle unit) 92, a motor pulley unit 90 is joined to one end side, and an idle pulley unit 92 is joined to the other end side. flame)
46 are arranged. The guide portion 46 is provided with screw holes ( mounting holes) 94 for connecting to the frame portion 36 via screws (not shown) at predetermined intervals. The timing belt 80 has projections 96 formed at predetermined intervals, and the projections 96 are formed in concave portions (not shown) of the annular bodies 97 of the rotating bodies 88 and 89 of the motor pulley unit 90 and the idle pulley unit 92. ), The timing belt 80 rotates. Also,
A concave portion 98 is defined at the bottom of the moving body 82, and the moving body 82 can slide on the guide section 46 by engaging with the upper surface of the guide section 46. Further, the moving body 82
A substantially rectangular plate-shaped cover member 76 is provided on the upper surface of the table, and the protrusions 44 at both ends of the table are formed to protrude. A positioning groove 45 is provided substantially at the center of the projection 44. With such a configuration, the operation of the actuator 78 according to the present embodiment will be described. [0026] First, as shown in FIG. 5, a motor pulley unit 90 on one end side of the guide portion 46, the moving member 84 the idle pulley unit 92, etc. are joined to the other end, fixed to the structure 5 2. At that time, through screw holes 94 provided in the guide portion 46, the frame unit 36 connected to (see FIG. 2), the concave portions of the structure 5 2 bottom is engraved on the rail-like
After the plate 60 (see FIG. 3) is inserted into the plate 54 (see FIG. 3) , the plate 60 is tightened with the screw 38 to fix the moving member 84. After the mobile member 84 to the structure 5 2 is fixed this way, CIM controller, not shown, to drive the motor 14 connected to a power source via a sequencer, in conjunction with the rotational movement of the motor 14 pulley Unit 9
The rotating body 88 arranged at 0 rotates. The timing belt 80 circulates when the protrusion of the timing belt 80 meshes with the recess of the rotating body 88. The revolving motion of the timing belt 80 is transmitted to the inside of the moving body 82 (not shown), and the moving body 82 moves in the revolving direction of the timing belt 80. The moving body 82 is moved from the end of the motor pulley unit 90 to the idle pulley unit 9 at the maximum.
2 can be moved to the end. It is also possible to mount an actuator 78 similar to that of the present embodiment to the protrusions 44 provided on both ends of the upper surface of the moving body 82, or to connect another member to which the work suction and gripping means is connected. is there. As described above, when the movement position is readjusted after positioning for transporting the work,
First, remove the cover member 76, moves to the structure 5 2 member 8
The fourth frame portion 36 loosen the are screws 38 that secure, after sliding the moving member 84 itself, is secured to the structure 5 2 by a screw 38 again. In the present embodiment, since the motor pulley unit 90 and the idle pulley unit 92 are directly joined to the guide portion 46 having the screw holes 94, the moving member 84 can be easily assembled on site. In the same manner, maintenance and inspection can be easily performed by disassembling. In addition, when the parts need to be replaced after the maintenance and inspection, the parts can be easily replaced. According to the actuator of the present invention,
The following effects can be obtained. That is, even after the actuator is once positioned and set so as to convey the workpiece to a desired position, the motor unit and the idle unit are displaced integrally with the guide frame to move the moving body. The position can be readjusted or changed. In addition, Aku
Maintenance and inspection work can be performed by easily removing the motor unit and the idle unit from the tutor body .

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an oblique view of an actuator according to a first embodiment of the present invention .
FIG. FIG. 2 is an exploded perspective view of FIG. FIG. 3 shows an actuator according to a second reference example of the present invention .
It is an exploded perspective view. FIG. 4 is a perspective view of the actuator according to the embodiment of the present invention. It is an exploded perspective view of FIG. 5 FIG. [Explanation of symbols] 14 ... motor 46 ...
Guide portion 52 Structure 78 Actuator 80 Timing belt 82 Moving body 84 Moving member 90 Motor pulley unit 92 Idle pulley unit

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Akio Saito               4-2-2 Kinokudai, Yawahara Village, Tsukuba-gun, Ibaraki Prefecture                 SMC Corporation Tsukuba Technology Center               Inside (72) Inventor Toru Sugiyama               4-2-2 Kinokudai, Yawahara Village, Tsukuba-gun, Ibaraki Prefecture                 SMC Corporation Tsukuba Technology Center               Inside                (56) References JP-A-1-188755 (JP, A)                 1-67281 (JP, U)                 Special table 1981-501494 (JP, A)

Claims (1)

(57) Claims: 1. An actuator body (52) having a recess (24) extending along the axial direction, and a guide frame (46) having a mounting hole (94 ). When, the motor unit being joined to one end of the previous SL guide frame (46) (90), and an idle unit that is joined to the other end portion (92), said motor coupled to the motor unit (90) (1
The driving force of 4) is transmitted, and the guide frame (46) is transmitted.
A moving body (82) displaced along the longitudinal direction of the guide frame (46) under the guide action of the motor unit (90) and the idle unit
(92) and a driving force transmission belt for transmitting the driving force of the motor (14) to the moving body (82).
And a guide frame to which the motor unit (90) and the idle unit (92) are respectively joined.
(46), the recess of the actuator body (52)
Actuator, characterized in that while being positioned at a predetermined position along the axial direction in (24) is provided freely and removably position adjustment removably in the recess (24) within.