JP3819571B2 - Output device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an output device capable of outputting rotational and vertical movements.
[0002]
[Prior art]
Conventionally, an output device used for moving a robot arm or positioning a table of an NC machine tool outputs rotation and vertical movements by combining a servo motor or a servo motor with a cylinder.
[0003]
[Problems to be solved by the invention]
However, in such an output device that combines a servo motor and a cylinder, power is distinguished, so it is used for vertical output for servo motors with arbitrary output setting functions such as rotation angle, stop position or rotation speed. Since most of the cylinders that are used are single-function outputs such as two positions, the functions used by both are unbalanced, and the function of the servo motor capable of arbitrary output is impaired.
In addition, the torque limiter functions in the servo motor that gives rotation, and the transmission of power is released in an emergency, whereas the cylinder that gives the vertical motion is not provided with a limiter mechanism, which is a safety feature. There was a problem from the aspect.
[0004]
Accordingly, an object of the present invention is to provide an output device that can arbitrarily set the output in the rotational direction and the vertical direction, and has a limiter function in the operation in the rotational direction and the vertical direction.
[0005]
[Means for Solving the Problems]
An output device of the present invention includes a stator wound with a coil and disposed in a circumferential direction, and a rotating body having a plurality of permanent magnets facing the stator and having a hollow portion at the center of rotation. A first servo motor for arbitrarily rotating the rotating body by magnetic flux generated by energization of the coil, and a second servo motor for arbitrarily rotating a motor shaft fixed to the rotating body and outputting the rotation A cylindrical female screw holder rotatably supported in the hollow portion of the rotating body and connected to a motor shaft of the second servo motor, a female magnetic screw provided on the inner peripheral surface of the female screw holder, A cylindrical male screw holder that is movable in the axial direction without rotating with respect to the rotating body of the first servo motor, and is mounted on the outer peripheral surface of the male screw holder. A male magnetic screws kicked, provided integrally with the male magnetic screw, and having an output shaft projecting from the hollow portion of the first servo motor.
[0006]
Therefore, a magnetic flux is generated in the coil excited by energizing the first servo motor and a rotational force is applied to the permanent magnet. When the rotating body rotates by a predetermined angle, the rotating body rotates with the male magnetic screw. And output to the output shaft integrated with the output shaft. On the other hand, when the second servo motor is energized and rotation of a predetermined angle is output from the motor shaft, the female screw holder and the female magnetic screw connected to the motor shaft rotate and are attracted by the female magnetic screw and magnetic force. Power is transmitted to the matching male magnetic screw. However, since the rotation of the male screw holder is limited, only an axial force acts on the male magnetic screw, and an axial linear motion is output to the output shaft.
Therefore, the rotational motion by the first servo motor and the linear motion by the second servo motor are output from the output shaft, and the rotation and the output in the vertical direction can be arbitrarily set, respectively. Further, since the first servo motor and the second servo motor are driven by magnetic force, the torque limiter function works for an excessive load.
[0007]
In the output device of the present invention, the output shaft is integrally formed with the male magnetic screw on a rod loaded so as to be movable only in the axial direction without rotating with respect to the rotating body of the first servo motor. It is characterized by that.
Therefore, the male magnetic screw to which power is transmitted by the attractive force with the rotating female magnetic screw is integrally formed with a rod that is loaded so as to be movable only in the axial direction, so that the rod is moved in the axial direction. Move to make a straight line.
Further, the output device of the present invention is characterized in that the output shaft is the male screw holder that is fitted to the rod fixed to the second servo motor so as to be movable only in the axial direction without rotating. To do.
Therefore, the male magnetic screw to which the power is transmitted by the attractive force with the rotating female magnetic screw is formed in the male screw holder that is movable only in the axial direction, so that the male screw holder is linearly moved so as to move in the axial direction. Moving.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment of the output device according to the present invention will be specifically described. FIG. 1 is a sectional view showing a first embodiment of an output device.
In the output device of the present embodiment, a direct drive motor (hereinafter referred to as “DD motor”) serves as a power source for rotation direction output. In this output device, a DD motor 2 is fixed on a motor mount 1, and a support cylinder 4 having a stepping motor 3 connected to a magnetic screw is fixed below. The stepping motor 3 serves as a power source for vertical output.
[0009]
First, the configuration of the DD motor 2 will be briefly described. The DD motor 2 is supported by a cylindrical motor fixing base 11 fixed to the upper surface of the motor mounting base 1.
Then, a double cylindrical rotating body 12 formed so as to sandwich the motor fixing base 11 from the inside and the outside is attached so as to cover the motor fixing base 11 from above.
Bearings 13, 13 are provided on the inner peripheral surface of the motor fixing base 11 between the rotating body 12 and the rotating body 12. The rotating body 12 is rotatably supported by the motor fixing base 11. On the other hand, a stator 15 around which a coil 14 is wound is provided on the outer peripheral surface of the motor fixing base 11 in the circumferential direction, and a plurality of permanent magnets 16 are fixed to the inner peripheral surface of the rotating body 12 so as to face the stator 15. ing. A rotating plate 17 is attached to the upper surface of the rotating body 12.
[0010]
Next, the vertical motor 5 provided with a magnetic screw is assembled to the DD motor 2 that gives such a rotational motion. A cylindrical support holder 21 is fitted to the rotation center of the rotating body 12 of the DD motor 2 and is configured to rotate integrally with the rotating body 12.
The diameter of the support holder 21 is increased from the motor mounting base 1 to the bottom. Bearings 22 and 22 are vertically fitted to the enlarged diameter portion, and a female screw holder 23 fitted and inserted into the support holder 21 is provided with the bearing. 22 and 22 are rotatably supported. A female magnetic screw 24 magnetized in a spiral shape is formed on the inner peripheral surface of the female screw holder 23.
[0011]
Further, the female screw holder 23 rotatably supported in the support holder 21 in this way is connected to the motor shaft 3 a of the stepping motor 3 through the coupling 25. The stepping motor 3 is suspended from a support holder 21 by a cylindrical column 26 and is configured to rotate integrally with the support holder 21.
On the other hand, a rod 31 is inserted into the female magnetic screw 24 so that the tip protrudes from the DD motor 2. The rod 31 forms a ball spline shaft and is inserted into a ball spline bearing 32 fixed on the rotating body 12 side so that the rod 31 does not rotate with respect to the rotating body 12. A male screw holder 33 is fitted to the lower end portion of the rod 31 with a predetermined axial width, and a male magnetic screw 34 is formed on the outer peripheral surface thereof.
[0012]
Next, the configuration of the magnetic screw constituting the output device of the present embodiment will be briefly described. FIG. 2 is an exploded perspective view showing a male magnetic screw and a female magnetic screw.
As shown in FIG. 2, the male magnetic screw 34 includes a cylindrical magnet 35 that is fitted and bonded to the outer periphery of a male screw holder 33 that is fitted to the rod 31. The male screw holder 33 is formed from a highly magnetically permeable material (for example, iron, iron oxide, nickel, cobalt, or an alloy or other compound containing these as a main component). The cylindrical magnet 35 is formed with a magnetized band 36 formed in a spiral shape, and adjacent magnetized bands are magnetized with opposite polarities. That is, the S pole magnetized band 36S is always magnetized next to the N pole magnetized band 36N. Therefore, on the surface of the male magnetic screw 34, as shown in FIG. 2, a helical magnetic band 36 in which N-pole magnetic bands 36N and S-pole magnetic bands 36S are alternately magnetized is formed in an orderly manner. Yes.
[0013]
On the other hand, in the cylindrical female screw holder 23, a female magnetic screw 26 is formed on a cylindrical magnet 27 fitted to the inner periphery thereof.
The female screw holder 23 is also formed of a highly permeable material (for example, iron, iron oxide, nickel, cobalt, or an alloy or other compound containing these as a main component), and the cylindrical magnet 27 fitted to the inner peripheral surface thereof includes Similar to the male magnetic screw 34 as shown in FIG. 2, a magnetic band 28 is formed in which N-pole magnetic bands 28N and S-pole magnetic bands 28S are alternately helically magnetized.
[0014]
Such male magnetic screw 34 and female magnetic screw 26 are inserted with the male screw holder 33 and the female screw holder 23 as strength members, so that the mechanical strength can be increased. For this reason, the cylindrical magnet 35 and the cylindrical magnet 27 are excellent as magnet materials, but can be used without problems even if they are brittle ferrite or rare earth materials.
Further, if such a strength member is made of a highly permeable material, the strong magnetic force of the cylindrical magnet 35 and the cylindrical magnet 27 can be used more effectively.
[0015]
Therefore, the output device of the present embodiment having such a configuration outputs a rotational motion and a vertical motion as follows.
First, when outputting a rotational motion, the DD motor 2 is controlled.
When the coil 14 is energized by a controller (not shown), a magnetic flux is generated around the stator 15 and acts as an attractive force and a repulsive force with respect to the permanent magnet 16, so that the rotating body 12 is rotated in a predetermined direction.
The rotation of the rotating body 12 simultaneously rotates the support holder 21 that is integrally fitted in the cylinder. In addition, since the rotating plate 17 and the ball spline bearing 32 are integrally formed on the rotating body 12 and rotate at the same time, the rotation is also given to the rod 31 inserted into the ball spline bearing 32 with its rotation limited. Accordingly, the rotation is output from the rod 31 by controlling the rotation of the DD motor 2.
[0016]
Next, when outputting a vertical motion, the stepping motor 3 is controlled.
When the rotation of the DD motor 2 is stopped or the stepping motor 3 is energized by a controller (not shown) simultaneously with the rotation, the rotor is rotated by the generated magnetic flux, and rotation in a predetermined direction is output from the motor shaft 3a. The The rotation of the motor shaft 3a is transmitted to the female screw holder 23 connected by the coupling 25, and the rotation is given to the female magnetic screw 24 formed on the inner peripheral surface thereof.
By the way, the magnetic bands 36 and 28 of the male magnetic screw 34 and the female magnetic screw 24 attract different polarities (36N and 28S, 36S and 28N). Therefore, when rotation is given to the female magnetic screw 24, the male magnetic screw 34 tries to follow the rotation. However, since the rotation of the rod 31 is limited by the ball spline bearing 32, a thrust acts on the male magnetic screw 34, and the rod 31 moves upward or downward.
[0017]
Therefore, according to the output device of the present embodiment configured as described above, the rotary motion is output by the DD motor 2, and the vertical motion is output by the stepping motor 3 provided with the magnetic screws 34 and 24. Any output can be controlled arbitrarily.
Further, since the DD motor 2 and the stepping motor 3 are driven by magnetic force, the torque limiter function works against an excessive load, so that the attached arm and related machines are prevented from being damaged. Furthermore, the danger is avoided by the limit action even in an emergency where a hand is caught during output.
[0018]
In addition, the magnetic screw used for the output of the vertical movement also causes an out of step with respect to a large resistance because the male magnetic screw 34 and the female magnetic screw 24 are coupled by a magnetic force. However, the limit action resulting from this step-out prevented the danger and resulted in higher safety.
Moreover, the magnetic screws 34 and 24 can adjust the attractive force due to the magnetic force between the male magnetic screw 34 and the female magnetic screw 24 by changing the pitch of the magnetic screws, that is, the width of the magnetic bands 36 and 28. The load on the output shaft 31 can be handled.
[0019]
Next, a second embodiment of the output device according to the present invention will be described. FIG. 3 is a sectional view showing the output device. In addition, the same code | symbol is attached | subjected about the structure similar to the output device of the said 1st Embodiment, and the detailed description is abbreviate | omitted.
The output device of the present embodiment also uses the DD motor 2 as a power source for rotational motion output and the stepping motor 3 as a power source for vertical motion output. The DD motor 2 is fixed on the motor mount 1, and a stepping motor 3 connected to a magnetic screw is disposed below the DD motor 2, and is provided by a support cylinder 4.
And the vertical drive part 41 provided with the magnetic screw is assembled | attached to DD motor 2 which gives such a rotational motion. The vertical drive unit 41 is configured such that a cylindrical support holder 42 is fitted to the rotation center of the rotating body 12 constituting the DD motor 2 and rotates integrally with the rotating body 12.
[0020]
The support holder 42 increases in diameter from the motor mount 1 to the bottom, and a single bearing 43 is fitted to the expanded diameter portion. A support member 43 is suspended from the lower end of the support holder 42, and the stepping motor 3 is supported by the support member 43.
In the output device of the present embodiment, the stepping motor 3 is not coaxial with the DD motor 2 and is arranged in a state where its axis is shifted. Therefore, the motor gear 44 is fitted to the drive shaft 3 a of the stepping motor 3, and the motor gear 44 is engaged with the female screw rotating gear 45. The female screw rotation gear 45 has an axial center portion drilled through the rod 51 fixed to the fixing metal fitting 46.
[0021]
A cylindrical female screw holder 23 is fitted to the female screw rotating gear 45 and is configured to rotate integrally. The female screw holder 23 penetrates the DD motor 2 and is rotatably supported by a bearing 48 at the lower end of the support holder 42 and a bearing 49 provided at the top of the DD motor 2. The female screw holder 23 is disposed in a non-contact state with the inner peripheral surface of the support holder 42 and is configured to rotate within the support holder 42. As shown in FIG. 2, a cylindrical magnet 27 is fitted into the female screw holder 23, and helical N-pole magnetized bands 28N and S-pole magnetized bands 28S are alternately magnetized on the inner peripheral surface thereof. A female magnetic screw 24 composed of the magnetized band 28 is formed.
[0022]
On the other hand, a cylindrical male screw holder 33 is inserted so as to cover the rod 51 fixed to the fixing bracket 47, and a columnar head 52 is fitted to the upper end thereof. A cylindrical magnet 35 is fitted to the outer periphery of the male screw holder 33, and a helical N-pole magnetized band 36N and a S-pole magnetized band 36S are alternately magnetized in the cylindrical magnet 35 as shown in FIG. A male magnetic screw 34 made of the magnetized band 36 is formed. A guide pipe 53 is fitted into the male magnetic screw 34 so as not to come into contact with the female magnetic screw 24 to cover the whole.
The output shaft 55 is formed by the male screw holder 33, the male magnetic screw 34, the head 53, and the guide pipe 53. In order to prevent the output shaft 55 from rotating with respect to the rotating body 12, a ball spline bearing 56 is provided in the male screw holder 33, and a rod 51 forming the ball spline shaft is inserted into the ball spline shaft.
[0023]
Therefore, the output device of the present embodiment having such a configuration outputs rotation and vertical motion as follows.
First, when outputting a rotational motion, the DD motor 2 is controlled.
When the coil 14 is energized by a controller (not shown), a magnetic flux is generated around the stator 15 and acts as an attractive force and a repulsive force with respect to the permanent magnet 16, so that the rotating body 12 is rotated in a predetermined direction.
The rotation of the rotating body 12 simultaneously rotates the support holder 42 that is integrally fitted in the cylinder. If the support holder 42 rotates, the stepping motor 3 and the rod 51 fixed to the fixing bracket 47 are also rotated. Therefore, the rotation is also transmitted to the output shaft 55, and the rotation is output from the output shaft 55.
[0024]
Next, when outputting a vertical motion, the stepping motor 3 is controlled.
When the rotation of the DD motor 2 is stopped and the stepping motor 3 is energized by a controller (not shown), the rotor is rotated by the generated magnetic flux, and rotation in a predetermined direction is output from the motor shaft 3a. The rotation of the motor shaft 3 a is transmitted from the motor gear 44 to the female screw rotation gear 45, and the rotation is given to the female screw holder 23 fixed to the female screw rotation gear 45.
When rotation is given to the female screw holder 23, the female magnetic screw 24 also rotates in the same manner. In the female magnetic screw 24, the male magnetic screw 34 and the magnetized bands 36, 28 are attracted to different polarities (36N and 28S, 36S and 28N). Therefore, when rotation is given to the female magnetic screw 24, the male magnetic screw 34 tries to follow the rotation. However, since the rotation of the output shaft 55 having the male magnetic screw 34 is restricted by the ball spline bearing 56, a thrust acts on the male magnetic screw 34 and the rod 31 moves upward or downward.
[0025]
Therefore, according to the output device of the present embodiment configured as described above, the rotary motion is output by the DD motor 2, and the vertical motion is output by the stepping motor 3 provided with the magnetic screws 34 and 24. Any output can be controlled arbitrarily.
Further, since the DD motor 2 and the stepping motor 3 are driven by magnetic force, the torque limiter function works against an excessive load, so that the attached arm and related machines are prevented from being damaged. Furthermore, the danger is avoided by the limit action even in an emergency where a hand is caught during output.
[0026]
In addition, the magnetic screw used for the output of the vertical movement also causes an out of step with respect to a large resistance because the male magnetic screw 34 and the female magnetic screw 24 are coupled by a magnetic force. However, the limit action resulting from this step-out prevented the danger and resulted in higher safety.
Moreover, the magnetic screws 34 and 24 can adjust the attractive force due to the magnetic force between the male magnetic screw 34 and the female magnetic screw 24 by changing the pitch of the magnetic screws, that is, the width of the magnetic bands 36 and 28. The load on the output shaft 31 can be handled.
[0027]
Note that the present invention is not limited to the one shown in the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above embodiment, the DD motor 2 is used as the power source that outputs the rotational motion, and the stepping motor 3 is used as the power source that outputs the vertical motion. It may be.
[0028]
【The invention's effect】
The present invention includes a first servo motor for arbitrarily rotating a rotating body formed with a hollow portion at the center of rotation, a second servo motor fixed to the rotating body, and a rotatable inside the hollow portion of the rotating body. A cylindrical female screw holder supported and connected to the motor shaft of the second servo motor, a female magnetic screw provided on the inner peripheral surface of the female screw holder, and a shaft without rotating with respect to the rotating body of the first servo motor. A cylindrical male screw holder loaded in the female magnetic screw, a male magnetic screw provided on the outer peripheral surface of the male screw holder, and a male magnetic screw are provided integrally with the first servo. Since it has an output shaft projecting from the hollow portion of the motor, the rotary motion by the first servo motor and the linear motion by the second servo motor are output from the output shaft, and the rotation and vertical output are respectively output. The can be arbitrarily set, and to rotate by the magnetic force with the first servo motor and the second servo motor, it becomes possible to provide an output device having a torque limiter function in the rotational and vertical directions of operation.
[Brief description of the drawings]
FIG. 1 is a cross-sectional view showing a first embodiment of an output device according to the present invention.
FIG. 2 is an exploded perspective view showing a male magnetic screw and a female magnetic screw.
FIG. 3 is a sectional view showing a second embodiment of an output device according to the present invention.
[Explanation of symbols]
2 DD motor 12 Rotating body 14 Coil 15 Stator 16 Permanent magnet 21 Support holder 23 Female screw holder 24 Female magnetic screw 31 Rod 32 Ball spline bearing 33 Male screw holder 34 Male magnetic screw

Claims (3)

A stator around which a coil is wound and disposed in a circumferential direction; a plurality of permanent magnets facing the stator; and a rotating body formed with a hollow portion at the center of rotation. A first servo motor that arbitrarily rotates the rotating body with generated magnetic flux;
A second servo motor that is fixed to the rotating body and arbitrarily rotates a motor shaft that outputs rotation;
A cylindrical female screw holder rotatably supported in the hollow portion of the rotating body and connected to the motor shaft of the second servomotor;
A female magnetic screw provided on the inner peripheral surface of the female screw holder;
A cylindrical male screw holder that is movable only in the axial direction without rotating with respect to the rotating body of the first servomotor, and is loaded in the female magnetic screw;
A male magnetic screw provided on the outer peripheral surface of the male screw holder;
An output device comprising an output shaft provided integrally with the male magnetic screw and protruding from a hollow portion of the first servomotor. The output device according to claim 1,
The output shaft is characterized in that the male magnetic screw is integrally formed on a rod loaded so as to be movable only in the axial direction without rotating with respect to the rotating body of the first servo motor. Output device. The output device according to claim 1,
The output device is characterized in that the output shaft is the male screw holder that is inserted into the rod fixed to the second servo motor so as to be movable only in the axial direction without rotating.

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