JP5995330B2 - 2-axis actuator - Google Patents

Description

  The present invention relates to an actuator using a linear motion conversion mechanism that converts motor rotation into linear motion, such as a ball screw mechanism, and is used in many industries such as the food, cement, and steel industries. The present invention relates to an actuator (hereinafter simply referred to as “biaxial actuator”) that can transport a conveyed product in the biaxial direction.

  The biaxial actuator is a combination of an actuator that moves forward and backward in one direction in the horizontal direction (hereinafter simply referred to as “horizontal actuator”) and an actuator that moves in the vertical direction (hereinafter simply referred to as “vertical actuator”). As an example including this, there is one shown in Patent Document 1.

JP 2013-188996 A

  The actuator shown in Patent Document 1 includes an actuator that moves forward and backward in one horizontal direction and is attached to two actuators that move forward and backward in a horizontal direction perpendicular thereto, and moves up and down in the vertical direction. As a result, within the movable range of each actuator, the conveyed product can be freely transferred in the X-axis direction (one horizontal direction), the Y-axis direction (direction perpendicular to the X-axis), and the Z-axis direction (vertical direction). can do.

  Incidentally, the following items are required for the biaxial actuator. The first point is to ensure both rigidity and compactness against unbalanced loads caused by the load on the conveyed product. The second point is the dustproof and dripproof function. This is because if dust or water droplets enter the screw mechanism inside the actuator, the screw mechanism may be damaged and malfunctions may occur. The third point is the sharing of parts. This is because by making the parts common, manufacturing costs and inventory costs can be suppressed.

  The actuator of Patent Document 1 has the following problems. That is, the slider (coupling member), which is the mounting surface of the load receiving member on which the object is to be loaded, is mounted on the surface of the vertical actuator opposite to the surface on which the horizontal actuator is located. The distance to the position of the center of gravity of the member is long, and the uneven load due to the load of the conveyed product placed on the load receiving member is applied to the horizontal actuator relatively large. For this reason, since it is necessary to use an actuator having a large linear motion conversion mechanism or a guide mechanism that can withstand the uneven load, it is difficult to reduce the size. In addition, a long hole provided over the movable range of the slider and leading to the inside of the actuator through which the connecting member of the slider and the elevating member or the advancing / retracting member passes is provided above the horizontal actuator and the load receiving member of the vertical actuator. Since the dust and water droplets from the conveyed product side easily enter the actuator, the screw mechanism is damaged and there is a risk that a malfunction occurs. In addition, since the distances to the center of gravity of the horizontal and vertical actuators and the load receiving member are greatly different and there is a difference in the bending moment applied to the horizontal and vertical actuators, if they are completely the same, there is a risk of insufficient rigidity. is there. Therefore, the horizontal actuator and the vertical actuator must be designed separately to satisfy the required rigidity, and the parts of each actuator are required, so that manufacturing costs and inventory costs are required.

  Therefore, in view of the above-described problems of the prior art, the present invention has an object to provide a biaxial actuator that can achieve both high rigidity and compactness. An object is to provide a biaxial actuator that can be shared.

The present invention includes a first motor, a first column that is long in the horizontal direction, a first linear motion conversion mechanism that is provided inside the first column and converts rotation of the first motor into linear motion, and the first linear A horizontal actuator, which is attached to a motion conversion mechanism and includes an advance / retreat member that advances and retracts in the axial direction of the first support column; and a first guide mechanism that guides the advance / retreat of the advance / retreat member;
A second motor, a second column vertically long, a second linear motion conversion mechanism provided in the second column for converting rotation of the second motor into linear motion, and the second linear motion conversion A vertical actuator, which is attached to a mechanism and includes a lifting member that moves up and down in the axial direction of the second support column, a second guide mechanism that guides the lifting and lowering of the lifting member, and a load receiving member that is connected to the lifting member And
In the biaxial actuator connected to the advancing / retracting member so that the vertical actuator is located on the short side of the horizontal actuator and on one side in the horizontal direction,
The above-mentioned problem has been solved by a biaxial actuator characterized in that the load receiving member is connected to the elevating member so as to be positioned outside the vertical actuator and on the horizontal actuator side.

  According to the present invention, in the biaxial actuator, the vertical actuator is connected to the advancing / retreating member so that the vertical actuator is located on the short side of the horizontal actuator and on one side of the horizontal direction. Since the connected load receiving member is located outside the vertical actuator and on the horizontal actuator side, the distance from the horizontal actuator to the center of gravity of the load receiving member is short. Therefore, it is possible to relatively reduce the influence of the unbalanced load due to the load of the conveyed product on the horizontal actuator. Therefore, it is compact and lightweight while maintaining rigidity or realizing higher rigidity compared with the conventional actuator. Can be realized as a biaxial actuator.

  In addition, if the first support column has a U-shaped vertical cross section and the opening is disposed so as to face the horizontal direction on the side where the vertical actuator is mounted, the dust generated mainly from the load receiving member side Since it is possible to effectively prevent water droplets from entering the inside of the horizontal actuator, an excellent dustproof / dripproof effect is achieved. In addition, if it is set as the same structure also about the 2nd support | pillar, dust-proof and drip-proof performance can be improved further.

  Further, in the horizontal actuator in which the first support column has a U-shaped longitudinal section, the first guide mechanism is configured to guide the advance / retreat member to the inner wall surface on the opposite side to the opening of the first support column. Since the first guide mechanism can be brought closer to the position of the center of gravity of the load receiving member, the rigidity of the biaxial actuator can be further increased. Note that the same configuration may be applied to a vertical actuator in which the second support column has a U-shaped cross section, and this configuration may be applied to both the horizontal actuator and the vertical actuator.

  Further, the present invention has a smaller distance difference between the horizontal actuator and the vertical actuator and the center of gravity of the load receiving member than the conventional one, so that the first strut and the second strut, the first linear motion conversion mechanism and the second straight line The motion conversion mechanism, the first guide mechanism, the second guide mechanism, and the like can be easily configured by common parts. Therefore, it is possible to reduce the parts management and the stock burden, and to achieve a biaxial actuator with reduced manufacturing costs and stock costs. Even in this case, as described above, if the first support column and the second support column have a U-shaped cross section, the dustproof / drip-proof performance can be improved, and the first guide mechanism or the second guide mechanism If the advancing / retracting member or the elevating member is guided with respect to the inner wall surface on the side opposite to the opening of the first column or the second column, the rigidity can be further increased.

(A) is a partial cross section front view of 1st embodiment of this invention, (b) is the partial cross section top view. The partial cross section side view of 1st embodiment of this invention. The cross-sectional view of the vertical actuator of 2nd embodiment of this invention. The cross-sectional view of the vertical actuator of 3rd embodiment of this invention. The cross-sectional view of the vertical actuator of the fourth embodiment of the present invention.

  An embodiment of the present invention will be described with reference to FIGS. However, the present invention is not limited to this embodiment.

  FIG. 1 shows a biaxial actuator 100 according to a first embodiment of the present invention. The biaxial actuator 100 includes a horizontal actuator 10 to which the first motor M1 is connected and a vertical actuator 30 to which the second motor M2 is connected. The horizontal actuator 10 has a first support column 12 that is long in the horizontal direction, and includes a first linear motion conversion mechanism 14 that converts the rotation of the first motor M1 into a linear motion. The first linear motion conversion mechanism 14 is connected to a ball screw mechanism, specifically, a first drive screw shaft 15 rotatably supported along the first support column 12 and a nut screwed thereto. The forward / backward moving member 16 is provided. When the first motor M1 rotates, the first drive screw shaft 15 rotates, and the advance / retreat member 16 advances / retreats in the axial direction (X-axis direction) of the first support column 12 depending on the rotation direction. At this time, the first guide mechanism 22 smoothly guides the advance / retreat movement of the advance / retreat member 16 to the inner wall surface 12a (see FIG. 2) of the first support column 12.

  The vertical actuator 30 has basically the same configuration as the horizontal actuator 10. That is, the vertical actuator 30 has a second support column 32 that is long in the vertical direction, and includes a second linear motion conversion mechanism 34 that converts the rotation of the second motor M2 into a linear motion. . The second linear motion conversion mechanism 34 is connected to a ball screw mechanism, specifically, a second drive screw shaft 35 that is rotatably supported along the second support column 32 and a nut that is screwed thereto. The raising / lowering member 36 is comprised. When the second motor M2 rotates, the second drive screw shaft 35 rotates, and the lifting member 36 moves up and down in the axial direction (Z-axis direction) of the second support column 32 according to the rotation direction. At this time, the second guide mechanism 42 smoothly guides the ascending / descending of the advance / retreat member 36 to the inner wall surface 32a (see FIG. 1B) of the second support column 32.

  In addition, although the ball screw mechanism is employ | adopted for the linear motion conversion mechanisms 14 and 34, a trapezoidal screw mechanism etc. can also be used. Moreover, the guide mechanisms 22 and 42 have two guide rails fixed to the inner wall surfaces 12a and 32a of the support columns 12 and 32, and rolling elements (not shown) that roll on the guide rails, respectively, in the longitudinal direction of the guide rails. Although it is composed of two slide members arranged in pairs, other roller-type, rail-type, etc. guide mechanisms can be employed.

  As shown in FIG. 2, the advance / retreat member 16 of the horizontal actuator 10 is connected to the actuator connection member 56 via the first connection member 54. On the other hand, the actuator connecting member 56 is connected to the bottom plate 38 of the vertical actuator 30. As a result, the vertical actuator 30 is connected to the horizontal actuator 10 so as to be positioned in the short side of the horizontal actuator 10 and on one side in the horizontal direction, and as shown in FIG. As the X-axis advances and retracts in the X-axis direction, the vertical actuator 30 also moves back and forth in the same direction. On the other hand, the elevating member 36 of the vertical actuator 30 is connected to the load receiving member 50 via the second connecting member 52. Therefore, as the elevating member 36 moves up and down in the Z-axis direction, the load receiving member 50 also moves up and down in the same direction. Thus, in the biaxial actuator 100, the conveyed product L (see FIG. 2) placed on the load receiving member 50 can be transferred in the X-axis direction and the Z-axis direction. Thus, by connecting the connecting member 56 and the bottom plate 38 of the vertical actuator 30, the load receiving member 50 is less likely to interfere with the horizontal actuator 10 in the movable range of the elevating member 36. The horizontal actuator 10 is connected to other actuators that move the horizontal actuator 10 in the Y-axis direction orthogonal to the X-axis direction in order to install the horizontal actuator 10 on the ground or the like and to make a three-axis actuator as in Patent Document 1. May be.

  In the present invention, as shown in FIG. 2, the load receiving member 50 is configured to be located outside the vertical actuator 30 and on the horizontal actuator 10 side (see also FIG. 1B). . Thereby, the distance R from the center of the horizontal actuator to the gravity center position of the load receiving member 50, in other words, the distance from the first linear motion converting mechanism 14 and the first guide mechanism 22 to the gravity center position of the load receiving member 50 is made closer. Therefore, the influence of the uneven load due to the load of the conveyed product L on the horizontal actuator 10 can be made relatively small. This configuration can be applied to any actuator, and as a result, it is possible to achieve compactness and weight reduction while maintaining rigidity or realizing higher rigidity than in the past.

  Further, in order to make the distances S and T between the guide mechanisms 22 and 42 and the load receiving member 50 closer to each other and further increase the rigidity of the biaxial actuator 100, the guide mechanisms 22 and 42 of the horizontal actuator 10 and the vertical actuator 30 are loaded. It is preferable to dispose the receiving member 50 near the center of gravity.

  Next, the actuator of the present invention will be specifically described. The horizontal actuator 10 and the vertical actuator 30 of the present invention are different in the object attached to the advance / retreat member 16 or the elevating member 36. However, according to the configuration described above, the horizontal actuator 10, the vertical actuator 30, and the load receiving member 50 are different. Since the difference between the respective distances to the center of gravity position is small, the basic portion can have the same configuration, and the parts can be shared. Therefore, for the sake of convenience, the following detailed description uses the drawing of the vertical actuator 30 and a detailed description of the horizontal actuator 10 may be omitted.

  First, dustproof / dripproof performance will be described. As shown in FIG. 3, the second support column 32 has a U-shaped cross section, and the opening 33 is provided with the direction of the vertical actuator 30 relative to the horizontal actuator 10, that is, the load receiving member 50. If arranged so as to face the direction opposite to the direction (see FIG. 1B), dust and water droplets generated mainly from the load receiving member 50 side can be blocked by the outer wall surface of the column ( As shown in FIG. 3, an excellent dustproof / dripproof effect can be obtained.

  In this case, if the second guide mechanism 42 is configured to guide the elevating member 36 relative to the inner wall surface 32a on the side opposite to the opening 33, the distance T between the second guide mechanism 42 and the load receiving member 50 will be described. (See FIG. 2) can be as close as possible, so that the rigidity of the biaxial actuator 100 is increased, or the size of the second guide mechanism 42 and the second linear motion conversion mechanism 34 is reduced, and the vertical actuator 30. The overall size and weight can be reduced. Although the first guide mechanism 22 of the horizontal actuator 10 depends on the position of the center of gravity of the load receiving member 50, basically the same effect can be obtained by adopting the same configuration.

  As shown in FIG. 3, a second cover 44 that covers the opening 33, which is separate from the second support column 32, may be provided on the opening 33 side. Thereby, the penetration | invasion of the dust etc. from the non-load side into the raising / lowering apparatus inside can also be prevented. Further, a gap U between the second support column 32 and the second cover 44 through which the second connecting member 52 is passed (in the case of the horizontal actuator 10, the gap is formed in the first cover 24 as shown in FIG. 2. .) Can be improved in sealing performance of the lifting device, and the dustproof / drip-proof effect can be further enhanced. On the other hand, as shown in FIG. 4, even with the configuration provided with the flanges 32 b that protrude from the second support column 32 toward the inside of the end of the opening 33, the intrusion path of dust and water droplets can be narrowed. , Dust and drip-proof effect can be enhanced.

  In the present invention, a guide mechanism may be provided at a plurality of locations in order to further increase the rigidity of the biaxial actuator 100 as long as it is a guide mechanism that guides the elevating member 36 against the inner wall surface of the second support column 32. Further, as shown in FIG. 5, in the configuration in which the flange portions 32 b projecting from the second support column 32 toward the inside of the end portion of the opening portion 33 are provided, the elevating member 36 with respect to the inner wall surface of the flange portion 32 b. It is also possible to provide a roller type guide mechanism 32b for guiding the above. With this configuration, the torsional load applied to the vertical actuator 30 by the forward and reverse screws and nuts can be allowed, and the operational stability can be further increased.

  As described above, according to the present invention, it is possible to provide a biaxial actuator that can achieve both high rigidity and compactness, and is excellent in a dustproof / dripproof function and can share components.

DESCRIPTION OF SYMBOLS 10 Horizontal actuator 12 1st support | pillar 12a Inner wall surface of 1st support | pillar 13 Opening part of 1st support | pillar 14 1st linear motion conversion mechanism 16 Advance / retreat member 22 1st guide mechanism 30 Vertical actuator 32 2nd support | pillar 32a Inner wall surface of 2nd support | pillar 33 Opening portion of second support 34 Second linear motion conversion mechanism 36 Elevating member 42 Second guide mechanism 50 Load receiving member M1 First motor M2 Second motor 100 Two-axis actuator

Claims (8)

A first motor, a first pillar that is long in the horizontal direction, a first linear motion conversion mechanism that is provided inside the first pillar and converts the rotation of the first motor into a linear motion, and the first linear motion conversion mechanism. A horizontal actuator comprising an advancing / retracting member attached and advancing / retreating in the axial direction of the first support; and a first guide mechanism for guiding the advancing / retreating of the advancing / retracting member;
A second motor, a second column vertically long, a second linear motion conversion mechanism provided in the second column for converting rotation of the second motor into linear motion, and the second linear motion conversion A vertical actuator, which is attached to a mechanism and includes a lifting member that moves up and down in the axial direction of the second support column, a second guide mechanism that guides the lifting and lowering of the lifting member, and a load receiving member that is connected to the lifting member And
In the biaxial actuator connected to the advancing / retracting member so that the vertical actuator is located on the short side of the horizontal actuator and on one side in the horizontal direction,
The load receiving member is connected to the elevating member so as to be located outside the vertical actuator and on the horizontal actuator side.
2-axis actuator.   2. The biaxial actuator according to claim 1, wherein the first support column has a U-shaped longitudinal section, and an opening portion thereof faces in the direction of the one side.   3. The biaxial actuator according to claim 2, wherein the first guide mechanism guides the advance / retreat member with respect to an inner wall surface opposite to the opening of the first support column.   The biaxial actuator according to any one of claims 1 to 3, wherein the second support column has a U-shaped cross section, and an opening thereof faces in the direction of the one side.   5. The biaxial actuator according to claim 4, wherein the second guide mechanism guides the elevating member to an inner wall surface opposite to the opening of the second support column.   The first support column and the second support column, the first linear motion conversion mechanism and the second linear motion conversion mechanism, and the first guide mechanism and the second guide mechanism are configured by common parts, respectively. 2-axis actuator.   The first support column has a U-shaped longitudinal section, the second support column has a U-shaped cross section, and the openings of the first support column and the second support column respectively face the one side. 2-axis actuator. The first guide mechanism guides the advancing / retracting member with respect to the inner wall surface on the side opposite to the opening of the first support column,
The biaxial actuator according to claim 7, wherein the second guide mechanism guides the elevating member with respect to an inner wall surface opposite to the opening of the second support column.

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