JP4761242B2 - Compound drive - Google Patents
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- JP4761242B2 JP4761242B2 JP2005140646A JP2005140646A JP4761242B2 JP 4761242 B2 JP4761242 B2 JP 4761242B2 JP 2005140646 A JP2005140646 A JP 2005140646A JP 2005140646 A JP2005140646 A JP 2005140646A JP 4761242 B2 JP4761242 B2 JP 4761242B2
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Description
本発明は、軸部材を直線及び回転駆動させる複合駆動装置に関する。 The present invention relates to a compound drive device that linearly and rotationally drives a shaft member.
軸部材を固定子又は移動子とし、コイル部材の励磁によりコイル部材又は軸部材を直線駆動させるリニアモータが知られている。例えば、特許文献１〜４に記載されるリニアモータは、Ｎ極とＳ極が交互に配列されてなる棒状磁石である固定子と、固定子に嵌装されるとともに、コイル部材を有し、固定子に沿って移動が可能な環状部材である移動子とを備え、コイル部材の励磁により環状部材を直線駆動させることができる。 There is known a linear motor that uses a shaft member as a stator or a mover and linearly drives the coil member or the shaft member by excitation of the coil member. For example, the linear motors described in Patent Documents 1 to 4 have a stator that is a rod-shaped magnet in which N poles and S poles are alternately arranged, a stator and a coil member, And a movable member that is an annular member that can move along the stator, and the annular member can be linearly driven by excitation of the coil member.
また、軸部材を直線駆動だけでなく、複合的に駆動させる複合駆動装置も知られている。例えば、特許文献５に記載される２軸複合モータは、リニアモータ及び回転モータを備えており、リニアモータの駆動によって直動軸を直線駆動させるだけでなく、回転モータの駆動によって直動軸を回転駆動させることができる。 In addition to a linear drive, a composite drive device that drives the shaft member in a composite manner is also known. For example, a two-axis compound motor described in Patent Document 5 includes a linear motor and a rotary motor. In addition to linear driving the linear motion shaft by driving the linear motor, the linear motion shaft is driven by driving the rotary motor. It can be rotated.
しかしながら、特許文献５に記載される２軸複合モータでは、直動軸と回転モータをスプラインにより連結しているため、リニアモータが特殊な構造になり、コストアップを招来するという問題がある。 However, in the two-shaft composite motor described in Patent Document 5, since the linear motion shaft and the rotary motor are connected by a spline, there is a problem that the linear motor has a special structure and causes an increase in cost.
また、直動軸と回転モータをスプラインで連結する場合、スプライン部には、直動軸のスライドを許容するためのクリアランスが必要になるため、直動軸に回転方向のガタツキが発生するという問題もある。 In addition, when the linear motion shaft and the rotary motor are connected by a spline, the spline section needs a clearance to allow the linear motion shaft to slide, and thus the linear motion shaft is unstable in the rotational direction. There is also.
また、リニアモータにおいては、リニアスケールなどを用いて直動軸の直線駆動位置を検出する場合があるが、直動軸を直線及び回転駆動させる特許文献５の２軸複合モータでは、リニアスケールによる直動軸の位置検出が困難になるという問題もある。
本発明は、上記の如き問題点を一掃すべく創案されたものであって、直動軸と回転軸の連結部において、両軸の相対的な直線移動を許容することなく、両軸を一体的に連結することが可能になり、その結果、スプラインを用いる場合に比べ、リニアモータの構造を簡略化してコストダウンが図れるだけでなく、直動軸における回転方向のガタツキも防止できる複合駆動装置の提供を目的とする。 The present invention was devised to eliminate the above-described problems, and in the connecting portion between the linear motion shaft and the rotary shaft, the shafts are integrated without allowing relative linear movement of the shafts. As a result, compared to the case of using a spline, the combined drive device can not only reduce the cost by simplifying the structure of the linear motor but also prevent backlash in the rotational direction of the linear motion shaft. The purpose is to provide.
上記課題を解決するために本発明の複合駆動装置は、軸部材を直線及び回転駆動させる複合駆動装置であって、直動軸用リニアガイドによってスライド及び回転自在に支持される直動軸を直線駆動させるリニアモータと、モータ本体に備える回転軸を回転駆動させる回転モータとを、それぞれの回転軸と直動軸とを両軸の相対的な直線移動を規制するよう構成された連結部を介して連結させると共に、前記回転軸を前記直動軸に連結させる連結部と、前記回転モータのモータ本体を、前記直動軸の直線駆動方向に沿って移動自在に回転モータ用リニアガイドに支持せしめ、前記回転モータの駆動によって前記直動軸を回転させると共に、前記直動軸の直線駆動に前記回転モータのモータ本体を追随移動させることを特徴とするものである。 In order to solve the above problems, a composite drive device of the present invention is a composite drive device that linearly and rotationally drives a shaft member, and linearly moves a linear motion shaft that is slidably and rotatably supported by a linear guide for a linear motion shaft. The linear motor to be driven and the rotary motor to rotationally drive the rotary shaft provided in the motor main body are connected to each rotary shaft and the linear motion shaft via a connecting portion configured to restrict relative linear movement of both shafts. both the linking Te, supporting a connecting portion for connecting said rotary shaft to the linear motion shaft, the motor body of said rotary motor, the movable rotating motor linear guide along a linear driving direction of the direct drive shaft In addition , the linear motion shaft is rotated by driving the rotary motor , and the motor body of the rotary motor is moved following the linear drive of the linear motion shaft.
本発明は、上記のように回転軸及びモータ本体を備える回転モータ自体を、回転モータ用リニアガイドによって、直動軸の直線駆動に追随して移動すべく構成したことにより、直動軸と回転軸の連結部において、両軸の相対的な直線移動を許容することなく、両軸を直列状に並べカップリングを用いて一体的に連結することが可能になる。その結果、回転モータにＡＣサーボモータを採用することができ、スプラインを用いる場合に比べ、リニアモータの構造を簡略化してコストダウンが図れるだけでなく、直動軸における回転方向のガタツキも防止できる。しかも、直動軸は、リニアモータと回転モータとによって、それぞれ別々に駆動制御できるので、任意の回転速度と進退速度の組合せによる精度の高い駆動制御により、回転動作と進退動作を同時に、または別々に行うことができる。 According to the present invention, the rotary motor itself including the rotary shaft and the motor main body as described above is configured to move following the linear drive of the linear motion shaft by the linear guide for the rotary motor. In the connecting portion of the shafts, both shafts can be arranged in series and coupled together using a coupling without allowing relative linear movement of both shafts. As a result, an AC servo motor can be adopted as the rotary motor, and the structure of the linear motor can be simplified and the cost can be reduced as compared with the case where a spline is used. . In addition, the linear motion shaft can be driven and controlled separately by the linear motor and the rotary motor. Therefore, the rotation operation and the advance / retreat operation can be performed simultaneously or separately by high-precision drive control using a combination of an arbitrary rotation speed and advance / retreat speed. Can be done.
以下、本発明の実施の形態を好適な実施の形態として例示する複合駆動装置を図面に基づいて詳細に説明する。図１は、本発明の実施形態に係る複合駆動装置の側面図である。この図に示すように、複合駆動装置１は、リニアモータ２、回転モータ３、直動軸用リニアガイド４、回転モータ用リニアガイド５、リニアスケール６などから構成されている。 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a composite drive device illustrating an embodiment of the present invention as a preferred embodiment will be described in detail with reference to the drawings. FIG. 1 is a side view of a composite drive apparatus according to an embodiment of the present invention. As shown in this figure, the composite drive device 1 includes a linear motor 2, a rotary motor 3, a linear guide linear guide 4, a rotary motor linear guide 5, a linear scale 6, and the like.
リニアモータ２は、直動軸７及びモータ本体８を備えて構成されている。直動軸７は、例えば、Ｎ極とＳ極が交互に配列された棒状磁石からなり、一対の直動軸用リニアガイド４によってスライド及び回転自在に支持されている。モータ本体８は、固定支持されており、内部に設けられるコイル部材（図示せず）の励磁により、直動軸７を所定の移動ストローク間において直線駆動（進退動作）させる。尚、リニアモータ２における直動軸７の直線駆動方式に制限はない。例えば、特許文献１〜４に記載されている公知の方式を用いることができる。 The linear motor 2 includes a linear motion shaft 7 and a motor body 8. The linear motion shaft 7 is made of, for example, a bar magnet in which N poles and S poles are alternately arranged, and is supported by a pair of linear motion linear guides 4 so as to be slidable and rotatable. The motor body 8 is fixedly supported, and drives the linear motion shaft 7 linearly (advance and retreat operation) during a predetermined movement stroke by exciting a coil member (not shown) provided inside. In addition, there is no restriction | limiting in the linear drive system of the linear motion shaft 7 in the linear motor 2. FIG. For example, known methods described in Patent Documents 1 to 4 can be used.
回転モータ３は、例えばＡＣサーボモータであり、回転軸９及びモータ本体１０を備えて構成されている。回転軸９は、連結部１１を介して直動軸７に連結されている。連結部１１は、回転軸９の回転動力を直動軸７に伝動し、かつ、両軸７、９の相対的な直線移動を規制するように構成されるものであり、例えば、直列状に並ぶ両軸７、９を一体的に連結するカップリング１２によって構成される。回転用モータ本体１０は、モータ取付板１３に固定されており、内部に設けられるコイル部材（図示せず）の励磁により、回転軸９を回転駆動させる。尚、連結部１１は、カップリング１２に限定されないことは勿論であり、ギヤ伝動機構やベルト伝動機構を用いてもよい。 The rotary motor 3 is, for example, an AC servo motor, and includes a rotary shaft 9 and a motor body 10. The rotating shaft 9 is connected to the linear motion shaft 7 via the connecting portion 11. The connecting portion 11 is configured to transmit the rotational power of the rotary shaft 9 to the linear motion shaft 7 and restrict relative linear movement of both the shafts 7 and 9. It is constituted by a coupling 12 that integrally connects the shafts 7 and 9 arranged side by side. The rotation motor main body 10 is fixed to the motor mounting plate 13 and rotates the rotary shaft 9 by excitation of a coil member (not shown) provided inside. Of course, the connecting portion 11 is not limited to the coupling 12, and a gear transmission mechanism or a belt transmission mechanism may be used.
回転モータ用リニアガイド５は、リニアガイドレール１４及びキャリッジ１５を備えて構成されている。リニアガイドレール１４は、直動軸７と平行に配置され、キャリッジ１５を直動軸７の直線駆動方向に沿ってリニアガイドする。キャリッジ１５は、モータ取付板１３を介して回転モータ３を一体的に支持している。これにより、回転モータ３は、直動軸７の直線駆動方向に沿ってリニアガイドされる。 The rotary motor linear guide 5 includes a linear guide rail 14 and a carriage 15. The linear guide rail 14 is arranged in parallel with the linear motion shaft 7 and linearly guides the carriage 15 along the linear drive direction of the linear motion shaft 7. The carriage 15 integrally supports the rotary motor 3 via the motor mounting plate 13. Thereby, the rotary motor 3 is linearly guided along the linear drive direction of the linear motion shaft 7.
リニアスケール６は、リニアスケールベース１６及びリニアスケールヘッド１７（読取り部）を備えて構成されている。リニアスケールベース１６は、Ｎ極とＳ極が交互に配列されたリボン状の磁石であり、リニアスケールヘッド１７の移動経路に沿って固定されている。リニアスケールヘッド１７は、リニアスケールベース１６の磁気パターンを読み取る磁気ヘッドであり、リニアスケールヘッド１７の読み取り信号をカウント処理することにより、リニアスケールベース１６に対するリニアスケールヘッド１７の相対位置を検出することができる。そして、本実施形態では、リニアスケールヘッド１７をキャリッジ１５に設けているので、回転モータ３や直動軸７の直線移動位置を検出することが可能になる。尚、リニアスケールヘッド１７は、回転モータ３のモータ本体１０やモータ取付板１３に設けてもよく、また、光学式等直線変位を読み取れるものであればよい。 The linear scale 6 includes a linear scale base 16 and a linear scale head 17 (reading unit). The linear scale base 16 is a ribbon-like magnet in which N poles and S poles are alternately arranged, and is fixed along the movement path of the linear scale head 17. The linear scale head 17 is a magnetic head that reads the magnetic pattern of the linear scale base 16, and detects the relative position of the linear scale head 17 relative to the linear scale base 16 by counting the read signal of the linear scale head 17. Can do. In this embodiment, since the linear scale head 17 is provided on the carriage 15, it is possible to detect the linear movement position of the rotary motor 3 and the linear motion shaft 7. The linear scale head 17 may be provided on the motor main body 10 or the motor mounting plate 13 of the rotary motor 3 and may be any one that can read linear displacement such as an optical type.
叙述の如く構成された本発明の実施の形態において、複合駆動装置１は、直動軸７を直線駆動させるリニアモータ２と、回転軸９を回転駆動させる回転モータ３と、回転軸９を直動軸７に連結させる連結部１１と、回転モータ３を直動軸７の直線駆動方向に沿って移動自在に支持する回転モータ用リニアガイド５とを備えており、回転モータ３を駆動させると、回転軸９を介して直動軸７が回転駆動され、また、リニアモータ２を駆動させると、直動軸７が直線駆動されると共に、直動軸７の直線駆動に回転モータ３が追随することになる。 In the embodiment of the present invention configured as described above, the composite drive device 1 includes a linear motor 2 that linearly drives the linear motion shaft 7, a rotary motor 3 that rotationally drives the rotary shaft 9, and a rotary shaft 9 that directly drives the rotary shaft 9. A connecting portion 11 that is connected to the moving shaft 7 and a rotating motor linear guide 5 that supports the rotating motor 3 movably along the linear drive direction of the linear moving shaft 7 are provided. When the linear motion shaft 7 is rotationally driven via the rotational shaft 9 and when the linear motor 2 is driven, the linear motion shaft 7 is linearly driven and the rotational motor 3 follows the linear motion of the linear motion shaft 7. Will do.
このように回転軸９及びモータ本体１０を備える回転モータ３自体を、回転モータ用リニアガイド５によって、直動軸７の直線駆動に追随して移動するよう構成すれば、直動軸７と回転軸９の連結部１１において、両軸７、９の相対的な直線移動を許容することなく、両軸７、９を直列状に並べカップリング１２を用いて一体的に連結することができるので、回転モータ３にＡＣサーボモータを採用することができ、スプラインを用いる場合に比べ、リニアモータ２の構造を簡略化してコストダウンが図れるだけでなく、直動軸７における回転方向のガタツキも防止できる。しかも、直動軸７は、リニアモータ２と回転モータ３とによって、それぞれ別々に駆動制御できるので、任意の回転速度と進退速度の組合せによる精度の高い駆動制御により、回転動作と進退動作を同時に、または別々に行うことができる。 In this way, if the rotary motor 3 itself including the rotary shaft 9 and the motor main body 10 is configured to move following the linear drive of the linear motion shaft 7 by the linear guide 5 for the rotary motor, the rotary motor 3 rotates with the linear motion shaft 7. In the connecting portion 11 of the shaft 9, the shafts 7 and 9 can be arranged in series and can be integrally connected using the coupling 12 without allowing relative linear movement of the shafts 7 and 9. An AC servo motor can be used for the rotary motor 3, and the structure of the linear motor 2 can be simplified and the cost can be reduced compared to the case of using a spline, and also the backlash of the linear motion shaft 7 can be prevented. it can. Moreover, since the linear motion shaft 7 can be driven and controlled separately by the linear motor 2 and the rotary motor 3, respectively, the rotation operation and the advance / retreat operation can be performed simultaneously by high-precision drive control by a combination of an arbitrary rotation speed and advance / retreat speed. Or can be done separately.
また、本実施形態の連結部１１は、回転軸９と直動軸７を一体的に連結するカップリング１２であるため、ギヤ伝動機構やベルト伝動機構を用いる場合に比べ、構造を簡略にして大幅なコストダウンが図れる。 Moreover, since the connection part 11 of this embodiment is the coupling 12 which connects the rotating shaft 9 and the linear motion axis | shaft 7 integrally, compared with the case where a gear transmission mechanism or a belt transmission mechanism is used, a structure is simplified. Significant cost reduction can be achieved.
また、本実施形態では、回転モータ用リニアガイド５のキャリッジ１５にリニアスケールヘッド１７を設けているので、直動軸７を直線及び回転駆動させるものでありながら、リニアスケール６を用いて直動軸７の直線移動位置を高精度に検出することが可能になる。 In this embodiment, since the linear scale head 17 is provided on the carriage 15 of the linear guide 5 for the rotary motor, the linear motion shaft 7 is linearly and rotationally driven. It becomes possible to detect the linear movement position of the shaft 7 with high accuracy.
１ 複合駆動装置
２ リニアモータ
３ 回転モータ
４ 直動軸用リニアガイド
５ 回転モータ用リニアガイド
６ リニアスケール
７ 直動軸
８ リニアモータ本体（固定子）
９ 回転軸
１０ 回転用モータ本体
１１ 連結部
１２ カップリング
１３ モータ取付板
１４ リニアガイドレール
１５ キャリッジ
１６ リニアスケールベース
１７ リニアスケールヘッド（読取り部）
DESCRIPTION OF SYMBOLS 1 Compound drive device 2 Linear motor 3 Rotary motor 4 Linear guide for linear motion shaft 5 Linear guide for rotary motor 6 Linear scale 7 Linear motion shaft 8 Linear motor body (stator)
DESCRIPTION OF SYMBOLS 9 Rotating shaft 10 Motor body 11 for rotation 11 Connection part 12 Coupling 13 Motor mounting plate 14 Linear guide rail 15 Carriage 16 Linear scale base 17 Linear scale head (reading part)
Claims (3)
直動軸用リニアガイドによってスライド及び回転自在に支持される直動軸を直線駆動させるリニアモータと、モータ本体に備える回転軸を回転駆動させる回転モータとを、それぞれの回転軸と直動軸とを両軸の相対的な直線移動を規制するよう構成された連結部を介して連結させると共に、
前記回転モータのモータ本体を、前記直動軸の直線駆動方向に沿って移動自在に回転モータ用リニアガイドに支持せしめ、
前記回転モータの駆動によって前記直動軸を回転させると共に、前記直動軸の直線駆動に前記回転モータのモータ本体を追随移動させることを特徴とする複合駆動装置。 A compound drive device for linearly and rotationally driving a shaft member,
A linear motor for linearly driving the direct drive shaft to be slid and rotatably supported by a linear motion axis linear guide, and a rotary motor for rotating the rotary shaft provided in the motor body, and each of the rotary shaft and direct drive shaft together when the connected via the connecting portion configured to restrict the relative linear movement of both axes,
The motor body of the rotary motor is supported by the rotary motor linear guide so as to be movable along the linear drive direction of the linear motion shaft ,
A compound drive apparatus characterized in that the linear motion shaft is rotated by driving the rotary motor , and the motor body of the rotary motor is moved following the linear drive of the linear motion shaft.
The composite drive apparatus according to claim 1, wherein the linear guide or the rotary motor is provided with a linear scale head that detects a linear drive position of the linear motion shaft.
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| JP2005140646A JP4761242B2 (en) | 2005-05-13 | 2005-05-13 | Compound drive |
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| JP2005140646A JP4761242B2 (en) | 2005-05-13 | 2005-05-13 | Compound drive |
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| JP2006320118A JP2006320118A (en) | 2006-11-24 |
| JP4761242B2 true JP4761242B2 (en) | 2011-08-31 |
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| CN104901494A (en) * | 2015-06-18 | 2015-09-09 | 中国北方车辆研究所 | Direct-driven rotary table |
| CN114629289B (en) * | 2022-03-28 | 2022-11-04 | 江苏绿能汽配科技有限公司 | Motor integral type supporting structure |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002171729A (en) * | 2000-11-28 | 2002-06-14 | Yaskawa Electric Corp | Dual-axis composite motor |
| JP2004036348A (en) * | 2002-07-08 | 2004-02-05 | Ykk Corp | Gasket |
| JP2004197864A (en) * | 2002-12-19 | 2004-07-15 | Ricoh Co Ltd | Frictional driving device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002171729A (en) * | 2000-11-28 | 2002-06-14 | Yaskawa Electric Corp | Dual-axis composite motor |
| JP2004036348A (en) * | 2002-07-08 | 2004-02-05 | Ykk Corp | Gasket |
| JP2004197864A (en) * | 2002-12-19 | 2004-07-15 | Ricoh Co Ltd | Frictional driving device |
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