JP5328735B2 - Actuator - Google Patents

Description

The present invention relates to an actuator configured to rotate a ball screw by a motor and thereby move a ball nut screwed to the ball screw and a moving body such as a rod and a slider fixed thereto, in particular, the motor side And an actuator body provided with a ball screw / ball nut as a unit, and devised so that they can be easily attached and detached.

For example, an actuator that linearly moves a rod in a uniaxial direction generally has the following configuration. First, there is a motor, and a ball screw is connected to the rotating shaft of the motor. A ball nut is screwed onto the ball screw, and a rod is attached and fixed to the ball nut. A tip metal fitting is attached to the tip of this rod, and an arbitrary device is attached thereto.

Then, by rotating the motor in an appropriate direction, the ball screw is rotated in the same direction, whereby the ball nut and the rod screwed there reciprocate in one axis direction.

Conventionally, in this type of actuator, a motor or the like is screwed to a body of an actuator provided with a ball screw / ball nut via a bracket or the like, and is further covered with a cover.

For example, Patent Document 1 discloses an actuator of this type.

Japanese Patent Laid-Open No. 2001-124175

The conventional configuration has the following problems. First, the driver and controller for driving and controlling the motor are separately installed outside the motor cover, and it is necessary to connect the cable from the actuator body to the driver, controller and power supply unit installed outside. For this reason, troublesome work such as wiring connection is unavoidable, and when the wiring connection distance is long, noise enters and proper control may be impaired. In addition, there are cases where many of the same type of actuators are installed and used in the factory, and at that time, a cable is connected to each actuator from a driver or controller, and as described above, complicated wiring processing is unavoidable. At the same time, there was a problem that the installation situation was messy. In addition, specific parameter values and position information necessary for control are input to each actuator. As described above, corresponding drivers and controllers are installed outside the actuator. Had to input each combination without making a mistake, which was very troublesome.

The present invention has been made on the basis of the above points. The object of the present invention is to minimize the number of externally exposed cables and the like that hinder handling, and to easily unitize the motor side and the actuator body side respectively. The object is to provide an actuator devised so that it can be attached and detached.

In order to achieve the above object, an actuator according to claim 1 of the present invention includes a motor cover, a motor housed and arranged in the motor cover, and one coupling of an Oldham type coupling mechanism fixed to the rotating shaft of the motor. A motor module unit composed of a hub, a rear bracket, a ball screw disposed on the inner peripheral side of the rear bracket, the other coupling hub of the Oldham coupling mechanism fixed to the ball screw, and the above A ball nut that is screwed into the ball screw in a state where rotation is restricted and moves by the rotation of the ball screw, an actuator main body unitized with a moving body attached and fixed to the ball nut, and the one coupling hub Provided on the motor cover of the motor module unit. A fitting convex portion having a stepped recess, having a through hole engaged radially fitted in the fitting convex portion to a periphery side disposed on the rear bracket of the actuator body of the other coupling hub and the fitting recesses, the through holes of the upper Symbol fitting recess an outer peripheral side of the fitting recess from the radial direction in a state where the fitting the said fitting projection and the fitting recess fitting One fixing screw screwed into the stepped recess of the convex portion and provided with a stepped portion, and when connecting the motor module unit and the actuator body, the one coupling hub and the other When the coupling hub is connected via a coupling spacer, the fitting convex portion and the fitting concave portion are fitted, the fixing screw is screwed in that state, and the motor module unit and the actuator body are separated. The fixing screw is removed to release the fitting between the fitting convex portion and the fitting concave portion and to release the coupling of the one coupling hub and the other coupling hub via the coupling spacer. It is characterized by that. According to a second aspect of the present invention, in the actuator according to the first aspect, a driver and a controller for driving the motor are accommodated and arranged in the motor cover. According to a third aspect of the present invention, in the actuator according to the second aspect of the present invention, the motor cover is provided with a board, the driver and the controller are mounted on the board, and the motor side surface of the board. A connector is attached at a position close to the space provided on the back side of the motor, and a cable connector is attached to the motor cover on the back side of the motor. is there.

As described above, according to the actuator according to the present invention, in the actuator configured to drive the actuator body by the motor housed and arranged in the motor cover, a driver and a controller for driving the motor are provided in the motor cover. Since it is configured to be accommodated / arranged, a necessary input operation can be performed without worrying about the combination of the actuator main body, the driver, and the controller as in the prior art. According to a second aspect of the present invention, there is provided an actuator according to the first aspect, wherein the motor cover, a motor housed and disposed in the motor cover, a driver for housing and disposed in the motor cover and driving at least the motor, A motor module unit composed of a board with a controller, a ball screw, a ball nut screwed to the ball screw in a state of restricted rotation, and moved by the rotation of the ball screw, and attached and fixed to the ball nut And the actuator body that is detachably attached to and fixed to the motor module unit. The motor side configuration and the actuator body side configuration are each unitized. And is detachably integrated so it is exposed to the outside Wiring or the like has become easier as much as possible less and less handling. Specifically, complicated wiring work is provided, noise input is reduced, and messy installation conditions can be eliminated. According to a third aspect of the present invention, in the actuator according to the second aspect, the actuator body is connected to the motor module unit via a coupling mechanism and is detachable via a concave-convex fitting structure. Since it is attached and fixed, the above configuration can be made more reliable. According to a fourth aspect of the present invention, in the actuator according to the second or third aspect, since the teaching box is detachably attached to the motor module unit, the configuration can be simplified. For example, even when a plurality of actuators are installed, there is an advantage that it becomes clear which actuator is currently working, and there is no problem due to a connection error. According to a fifth aspect of the present invention, in the actuator according to the third or fourth aspect, since the coupling mechanism is an Oldham type coupling mechanism, the effect can be further ensured.

It is a figure which shows the 1st Embodiment of this invention and is a perspective view which shows the whole structure of an actuator. It is a figure which shows the 1st Embodiment of this invention and is a disassembled perspective view which shows the whole structure of an actuator. It is a figure which shows the 1st Embodiment of this invention and is sectional drawing which shows the structure of the whole actuator. It is a figure which shows the 1st Embodiment of this invention and is a disassembled perspective view which shows the connection structure of an actuator. It is a figure which shows the 1st Embodiment of this invention and is a perspective view which shows the structure of the connection part by the side of a motor module unit. It is a figure which shows the 1st Embodiment of this invention and is a perspective view which shows the structure of the connection part by the side of an actuator main body. It is a figure which shows the 1st Embodiment of this invention and is sectional drawing of a motor module unit. It is a figure which shows the 1st Embodiment of this invention and is a perspective view which shows the structure which attaches a teaching box to a motor module unit. FIGS. 9A and 9B are views showing a second embodiment of the present invention, in which FIG. 9A is a perspective view showing the entire configuration of the actuator, and FIG. 9B is an exploded perspective view showing a connecting structure of the actuator.

Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a perspective view showing the appearance of the actuator, FIG. 2 is an exploded perspective view of the same, and FIG. 3 is a sectional view of the same. First, there is a motor module unit 1. The motor module unit 1 includes a motor cover 3, a motor 5 (shown in FIGS. 3 and 7) housed and arranged in the motor cover 3, and a motor cover 3. It is composed of an arranged substrate 7 (shown in FIGS. 3 and 7) and the like.

As shown in FIGS. 3 and 7, an encoder 9 is attached to the back side of the motor 5 (the right side in FIGS. 3 and 7). The encoder 9 includes an encoder board 11, an encoder wheel 13, and the like. An Oldham coupling mechanism 17 is connected to the rotating shaft 15 of the motor 5. The Oldham type coupling mechanism 17 will be described later.

A driver and controller (not shown) are mounted on the substrate 7, and a motor power connector 19, an encoder signal connector 21, an external cable connector 23, an operation display LED 25, and other electronic components are mounted. . Further, a teaching box connecting connector 27 is attached to the rear surface side of the motor cover 3 (right side in FIGS. 3 and 7). As shown in FIG. 29 is attached. A power cable 31 is attached to the rear side of the motor cover 3 (right side in FIGS. 3 and 7) via a power cable connector 32.

An actuator body 33 is connected to the rotating shaft 15 of the motor 5 via an Oldham coupling mechanism 17. The actuator body 33 is configured as follows. That is, as shown in FIGS. 2 and 3, first, there is a ball screw 35, and a rear bracket 37 is installed on the outer peripheral side of the ball screw 35. A ball nut 39 is screwed onto the ball screw 35, and a short hollow rod 40 is crowned and fixed on the outer peripheral side of the ball nut 39. Further, another hollow rod 41 is inserted into the hollow rod 40 and is connected and fixed by a rivet 42. A tip metal fitting 43 is attached and fixed to the tip of the hollow rod 41.

Further, there is a front bracket 45, and as shown in FIG. 1, the end fitting 43 is projected and disposed forwardly through the front bracket 45 and disposed. Also, four guide shaft members 47, 47, 47, 47 are installed between the rear bracket 37 and the front bracket 45. These four guide shaft members 47 form a set of two upper and lower guide shaft members in FIG.

On the other hand, pins 49, 49 are detachably attached to the ball nut 39 side in the vertical position in FIG. 2 is arranged so that the pin 49 arranged on the upper side in FIG. 2 is sandwiched between the two guide shaft members 47 on the upper side, and similarly, the pin arranged on the lower side in FIG. 49 is disposed so as to be sandwiched between the two lower guide shaft members 47, 47. With such a configuration, the rotation of the ball nut 39 and the rod 41 is restricted.

A frame 51 is crowned and disposed outside the four guide shaft members 47 and between the rear bracket 37 and the front bracket 45. A bearing member 53 is disposed on the front bracket 45.

Next, the configuration of the Oldham type coupling mechanism 17 will be described. As shown in FIGS. 3 to 7, the Oldham coupling mechanism 17 includes a coupling hub 61 fixed to the rotating shaft 15 of the motor 5 and a rear bracket 37 side on the actuator body 33 side. The coupling hub 63 is fixed to the end, and the coupling hub 65 is disposed between the coupling hub 61 and the coupling hub 63.

The coupling hub 61 is provided with an engaging convex portion 67 extending and projecting in the diametrical direction. Similarly, the coupling hub 63 also has an engaging convex portion 69 extending and projecting in the diametrical direction. I have. On the other hand, the coupling spacer 65 is provided with engagement recesses 71 and 73 on both surfaces, respectively, and these engagement recesses 71 and 73 are extended and formed in a diameter direction orthogonal to each other. Then, the engaging convex portion 67 of the coupling hub 61 is engaged with the engaging concave portion 71, and the engaging convex portion 69 of the coupling hub 63 is engaged in the engaging concave portion 73.

A fitting projection 81 projects and is formed on the end surface of the motor cover 3 on the outer peripheral side of the coupling hub 61. On the other hand, a fitting recess 83 is formed on the actuator body 33 side and on the outer peripheral side of the coupling hub 63. By inserting the fitting convex portion 81 into the fitting concave portion 83 and screwing the fixing screw 85, the motor module unit 1 side and the actuator body 33 side are connected and fixed. In the figure, reference numeral 91 denotes a rivet.

As described above, according to the present embodiment, the following effects can be obtained. The motor 5 and the device that drives the motor, specifically, the motor module unit 1 in which a driver, a controller, and the like are unitized, the ball screw 35, and the ball screw 35 are screwed in a state in which the rotation is restricted. The ball nut 39 that is moved by the above and the actuator main body 33 composed of the rod 41 attached and fixed to the ball nut 39 are detachably connected. In other words, the configuration on the motor 5 side and the configuration on the actuator body 33 side are each unitized and integrated so as to be detachable, so that the number of wires exposed to the outside is minimized and handling is easy. . For example, complicated wiring work is provided, noise input is reduced, and messy installation conditions can be eliminated. In addition, since the device for controlling the drive of the motor 5 is also unitized together with the motor 5, the necessary input work can be performed without worrying about the combination of the actuator, the driver and the controller as in the prior art. Further, since the motor 5 side and the actuator main body 33 side can be easily attached and detached, when any trouble occurs, any of them can be separated and replaced, and the restoration in a short period of time is possible. In addition, when any failure occurs, the motor module unit 1 or the actuator body 33 can be replaced to recover in a short period of time. Further, since the teaching box 29 is detachably attached to the motor cover 3, the configuration can be simplified and a cable between them is not necessary. In addition, for example, even when a plurality of actuators are installed, it is clear which actuator is currently working, and there is an advantage that a problem due to a connection error is eliminated.

Next, a second embodiment of the present invention will be described with reference to FIG. In the case of the first embodiment, the example in which the present invention is applied to the actuator configured to move the rod in the uniaxial direction by the ball screw / ball nut mechanism is shown. In this case, as shown in FIG. 8, an example in which the present invention is applied to an actuator configured to move a slider in a uniaxial direction is shown.

Hereinafter, the outline will be described. First, there is a motor module unit 101. The motor module unit 101 includes a motor cover 103, and a motor, a controller board, and the like (not shown) are incorporated in the motor cover 103. And it has the same configuration as the motor module unit 1 in the first embodiment. Reference numeral 131 in the figure denotes a power cable.

An actuator body 133 is detachably connected to the motor module unit 101 side via an Oldham coupling mechanism 117. The upper Oldham coupling mechanism 117 includes a coupling hub 161, a coupling hub on the opposite side (not shown), and a coupling spacer 165. The Oldham coupling in the case of the first embodiment is used. The structure is the same as that of the mechanism 17.

The actuator main body 133 includes a ball screw (not shown), a ball nut (not shown) screwed to the ball screw, a slider 141 fixed to the ball nut, and the like, and a housing 151 is installed on the outside. Then, when the ball screw is rotated by the rotation of the motor, the slider 141 moves in an appropriate direction. The present invention can be applied to an actuator having such a configuration, and the same effect can be obtained. In the figure, reference numeral 167 denotes a protrusion formed on the coupling hub 161, reference numeral 181 denotes a fitting protrusion, and 185 denotes a fixing screw.

The present invention is not limited to the first and second embodiments. First, the configuration of the coupling mechanism is not limited to the Oldham type coupling mechanism, and various known configurations are conceivable. In addition, what was illustrated is an example to the last.

The present invention relates to an actuator configured to rotate a ball screw by a motor and thereby move a ball nut screwed to the ball screw and a rod fixed thereto, and in particular, a motor unit module including a motor and The present invention relates to a device that is devised so that it can be easily attached and detached by unitizing a drive unit including a ball screw and a ball nut, and is suitable for, for example, an actuator that moves a rod or a slider in a uniaxial direction.

DESCRIPTION OF SYMBOLS 1 Motor module unit 3 Motor cover 7 Controller board 17 Oldham type coupling mechanism 27 Teaching box connection connector 29 Teaching box 33 Actuator body 35 Ball screw 39 Ball nut 40 Hollow rod 41 Hollow rod 61 Coupling hub 63 Coupling hub 65 Cup Ring spacer

Claims (3)

A motor module unit including a motor cover, a motor housed and arranged in the motor cover, and one coupling hub of an Oldham coupling mechanism fixed to the rotation shaft of the motor; a rear bracket; The ball screw disposed on the inner peripheral side of the rear bracket, the other coupling hub of the Oldham type coupling mechanism fixed to the ball screw, and the ball screw screwed in a state where the rotation is restricted, and by the rotation of the ball screw An actuator body comprising a moving ball nut and a moving body attached and fixed to the ball nut; and a step provided on a motor cover of the motor module unit on the outer peripheral side of the one coupling hub. a fitting projection having a biasing recess, the outer periphery of the other coupling hub A fitting recess having a through hole engaged radially fitted in the fitting convex portion provided on the rear bracket of the actuator body comprising a, mated and the fitting projection and the fitting recess one fixed screw having a shoulder portion is screwed into the stepped recess of the fitting convex portion through the through-hole of the upper Symbol fitting recess a in the radial direction at the outer peripheral side of the fitting recess in a state When the motor module unit and the actuator body are connected, the one coupling hub and the other coupling hub are connected via a coupling spacer, and the fitting convex part is fitted. When the fitting recess is fitted and the fixing screw is screwed in, and the motor module unit and the actuator body are separated from each other, the fixing screw is removed to release the fitting convex portion from the fitting concave portion. The actuator is characterized in that the coupling of the one coupling hub and the other coupling hub via the coupling spacer is released. The actuator according to claim 1, wherein a driver and a controller for driving the motor are accommodated and arranged in the motor cover. 3. The actuator according to claim 2, wherein a board is built in the motor cover, the driver and the controller are mounted on the board, and the motor side surface of the board is provided on the back side of the motor. The actuator is characterized in that a connector is attached at a position close to the created space, and a cable connector is attached to the motor cover on the back side of the motor.

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