JP6280800B2 - Actuator - Google Patents

Description

  The present invention relates to an actuator that moves a moving body attached to a rotating shaft extending in the axial direction in the axial direction according to the rotation of the rotating shaft.

  Conventionally, an actuator that attaches a slider to a nut screwed to a ball screw and moves the nut and the slider in the axial direction of the ball screw according to the rotation of the ball screw has been widely used. In such an actuator, it is known that the ball screw resonates when the rotation number of the ball screw (the number of rotations per second) matches the natural frequency of the ball screw. More specifically, the ball screw resonates when the rotational frequency of the ball screw coincides with the vibration frequency (natural frequency) of the bearing member that receives the end of the ball screw and the nut as a node. The resonance of the ball screw may cause problems such as noise and damage to the ball screw.

  Therefore, in Patent Document 1, a support bracket that supports the ball screw is disposed between the nut and the bearing member. The support bracket is configured to move in conjunction with the nut at half the speed of the nut, and moves while supporting the ball screw at the center of the nut and the bearing member. In this way, the occurrence of the vibration is suppressed by suppressing the vibration belly with the nut and the bearing member as a node by the support bracket.

JP-A-8-98455

  By the way, in the actuator as described above, it is preferable that the moving range (stroke) of the moving body (nut) can be expanded. On the other hand, in the configuration in which the center of the moving body and the bearing member is supported by the support member (support bracket) as in Patent Document 1, there is a limit to the expansion of the moving range of the moving body.

  The present invention has been made in view of the above problems, and in an actuator that moves a moving body attached to a rotating shaft in accordance with the rotation of the rotating shaft, the moving range of the moving body is expanded while suppressing resonance of the rotating shaft. The purpose is to provide technology that makes it possible.

  In order to achieve the above object, an actuator according to the present invention includes a rotating shaft extending in the axial direction, a moving body attached to the rotating shaft and moving in the axial direction according to the rotation of the rotating shaft, and one side in the axial direction. The rotating shaft is supported between the moving body and the one bearing member by supporting the rotating shaft between the one bearing member receiving the rotating shaft at the other end, the other bearing member receiving the rotating shaft on the other side opposite to the one side in the axial direction. The one support member that can be moved in accordance with the rotation shaft is supported between the movable body and the other bearing member, and the other support member that is movable according to the movement of the movable body, and each of the one support member and the other support member is A movable range limiting mechanism for limiting a movable range in which the movable member can move. The movable range of the one supporting member and the movable range of the other supporting member overlap at least partially in the axial direction.

  In the present invention configured as described above, support members (one support member and the other support member) that support the rotating shaft are provided on both sides of the moving body. Each support member is provided with a movable range, and each support member can move within the movable range in accordance with the movement of the moving body. Accordingly, each support member can support the rotating shaft while moving the movable range according to the movement of the moving body, and can suppress resonance of the rotating shaft. Moreover, in the present invention, the movable range of the one support member and the movable range of the other support member at least partially overlap in the axial direction. In other words, the movable range of each of the one support member and the other support member is wide enough to overlap each other, and can cope with the expansion of the movement range of the moving body. As a result, it is possible to expand the moving range of the moving body while suppressing the resonance of the rotating shaft.

  In addition, a plurality of one support members and a plurality of other support members are provided, and the movable range of the one support member adjacent to the moving body and the movable range of the other support member adjacent to the moving body are at least partially in the axial direction. The actuators may be configured to overlap each other.

  In the present invention configured as described above, a plurality of support members (one support member, the other support member) are provided on both sides of the moving body. Specifically, between the one bearing member that receives the rotation shaft on one side and the moving body, a plurality of one support members are arranged in the axial direction to support the rotation shaft. Similarly, a plurality of other support members are arranged in the axial direction to support the rotation shaft between the other bearing member that receives the rotation shaft on the other side (the opposite of the one side) and the moving body. Each support member is provided with a movable range, and each support member can move within the movable range in accordance with the movement of the moving body.

  Moreover, the movable range of the one support member adjacent to the moving body and the movable range of the other support member adjacent to the moving body at least partially overlap in the axial direction. In other words, the movable range of the one supporting member adjacent to the moving body is closer to the opposite side of the one bearing member so that it overlaps at least partially with the movable range of the other supporting member. The movable range of the other adjacent support member is closer to the opposite side of the other bearing member so as to at least partially overlap the movable range of the one support member. Therefore, when the moving body is furthest away from the bearing member, the support member (one support member, the other support member) can support the rotating shaft near the moving body and more reliably suppress vibration. As a result, it is possible to expand the moving range of the moving body while suppressing the resonance of the rotating shaft.

  At this time, the movable range of the one support member on the side farther from the moving body than the one supporting member adjacent to the moving body among the plurality of one supporting members, and the other supporting member adjacent to the moving body among the plurality of other supporting members. The actuator may be configured so that it does not overlap with the movable range of the other support member on the side farther from the moving body in the axial direction.

  Various specific configurations of the movable range limiting mechanism as described above are conceivable. Therefore, the movable range limiting mechanism provides a stop position for each of the one support member and the other support member, and the one support member can move within the movable range provided on the one bearing member side from the corresponding stop position. Yes, while the moving body is moving on the opposite side of one bearing member with respect to the stop position, it stops at the stop position, moves with the moving body while the moving body enters the movable range, The support member can move within a movable range provided on the other bearing member side from the corresponding stop position, and is in the stop position while the moving body is moving on the opposite side of the other bearing member with respect to the stop position. The actuator may be configured to stop and move with the moving body while the moving body enters the movable range. Alternatively, the movable range limiting mechanism may configure the actuator so that the one support member and the other support member are moved toward the moving side of the moving body in conjunction with the moving body within the respective movable ranges. .

  According to the present invention, in the actuator that moves the moving body attached to the rotating shaft in accordance with the rotation of the rotating shaft, the moving range of the moving body can be expanded while suppressing resonance of the rotating shaft.

It is a perspective view which illustrates an actuator to which the present invention is applied. FIG. 2 is a plan view of the actuator illustrated in FIG. 1. It is a perspective view which illustrates the structure of a supporting member and its periphery. It is a top view which illustrates the structure of a supporting member and its periphery. It is a fragmentary sectional view which illustrates the composition of a support member and its circumference. It is a perspective view which illustrates the structure of a moving body and its periphery. It is a fragmentary sectional view which illustrates the composition of a mover and its circumference. It is operation | movement explanatory drawing which illustrates typically operation | movement of an actuator. It is a perspective view which illustrates typically an actuator provided with the 1st example of an interlocking mechanism. It is an AA line arrow directional view in FIG. It is a perspective view which illustrates typically an actuator provided with the 2nd example of an interlocking mechanism. FIG. 12 is a plan view of the actuator illustrated in FIG. 11. FIG. 12 is a bottom view of the actuator illustrated in FIG. 11. FIG. 12 is a partially enlarged perspective view of the actuator illustrated in FIG. 11. It is a figure which shows typically the space | interval of the mobile body prescribed | regulated by the interlocking mechanism of the 1st example and the 2nd example, and each support member.

  FIG. 1 is a perspective view illustrating an actuator to which the present invention is applied. FIG. 2 is a plan view of the actuator illustrated in FIG. 1. In both figures and the following figures, the longitudinal direction of the actuator is the X direction, the width direction of the actuator is the Y direction (perpendicular to the X direction), and the thickness direction of the actuator is the Z direction (perpendicular to the X direction and the Y direction). XYZ orthogonal coordinate axes are shown as appropriate. Further, the arrow side of each coordinate axis is appropriately referred to as a positive side, and the opposite side of each coordinate axis arrow is appropriately referred to as a negative side. Further, in FIG. 2, two kinds of symbols are shown for some members separated by slashes.

  The actuator 1 is a single-axis robot including a single rotating shaft 2 and a moving body 3 that moves as the rotating shaft 2 rotates. The actuator 1 includes a housing 10 made of an alloy steel such as stainless steel or a metal (light metal) such as aluminum. The housing 10 has a long shape in the X direction and opens on both sides in the X direction. Furthermore, the housing 10 is also opened on the positive side in the Z direction. Thereby, the components of the actuator 1 can be attached to the housing 10 from the Z direction through the opening, and the assembly of the actuator 1 is facilitated.

  The rotating shaft 2 is a screw that extends linearly in an axial direction parallel to the X direction, and is arranged at the center of the housing 10 in the Y direction. The actuator 1 includes two bearing members 4 fixed to both ends in the X direction of the housing 10, and each end in the X direction of the rotating shaft 2 is rotatably supported by the bearing member 4. ing. Further, the actuator 1 includes a motor M2 fixed to the end of the casing 10 on the X direction positive side, and the X direction positive side bearing member 4 couples the motor M2 and the rotary shaft 2 to each other. . Therefore, by driving the rotating shaft 2 with the motor M2, the rotating shaft 2 can be rotated around its center line.

  The moving body 3 is screwed onto the rotating shaft 2 by a nut, and moves in the X direction along the rotating shaft 2 as the rotating shaft 2 rotates. The movement of the moving body 3 is guided by a guide rail 5 arranged in parallel with the rotation shaft 2. That is, in the housing 10, the guide rails 5 are fixed to both sides of the rotating shaft 2 in the Y direction, and the moving body 3 is engaged with the guide rails 5 at both ends in the Y direction, Along the X direction.

  The actuator 1 also includes a support member 6 that supports the rotary shaft 2 while being engaged with the rotary shaft 2. Specifically, in the housing 10, two support members 6 are provided between the bearing members 4 at both ends in the X direction and the moving body 3. Thus, the two support members 6 are arranged along the rotation axis 2 on each of the X direction positive side and the X direction negative side of the moving body 3. Each support member 6 is movable along the rotary shaft 2 while supporting the rotary shaft 2 and is connected to the movable body 3 as shown on the positive side in the X direction from the movable body 3 in FIGS. 1 and 2, for example. In the state, it moves with the moving body 3. However, the movable range of the support member 6 is different for each support member 6. In this regard, the support member 6 provided on the X direction positive side from the moving body 3 and the support member 6 provided on the X direction negative side from the moving body 3 will be described.

  First, the two support members 6 provided on the X direction positive side from the moving body 3 will be described. The actuator 1 includes two stoppers 7 arranged in the X direction on the Y direction negative side of the rotating shaft 2. These stoppers 7 are arranged with respect to the stop positions Ps (1) and Ps (2) in order to stop the support members 6 at stop positions Ps (1) and Ps (2) different from each other in the X direction. . The stop position Ps (1) is located on the positive side in the X direction, and the stop position Ps (2) is located on the negative side in the X direction.

  The stopper 7 corresponding to the stop position Ps (1) limits the movable range of the support member 6 on the X direction positive side of the two support members 6 from the stop position Ps (1) to the X direction positive side. Therefore, the support member 6 on the X direction positive side can move with the moving body 3 in the movable range (including the stop position Ps (1)) on the X direction positive side from the stop position Ps (1). Comes out of the movable range to the negative side in the X direction, it comes off the moving body 3 and stops at the stop position Ps (1). The stopper 7 corresponding to the stop position Ps (2) restricts the movable range of the support member 6 on the X direction negative side of the two support members 6 from the stop position Ps (2) to the X direction positive side. Accordingly, the support member 6 on the X direction negative side can move with the moving body 3 in the movable range (including the stop position Ps (2)) on the X direction positive side from the stop position Ps (2). Comes out of the movable range to the negative side in the X direction, it comes off the moving body 3 and stops at the stop position Ps (2).

  In such a configuration, each support member 6 can stop at the stop positions Ps (1) and Ps (2) to support the moving body 3, while preventing the movement of the moving body 3 from being stopped. ), Ps (2) can be moved in the X direction within the movable range on the bearing member 4 side. That is, the support member 6 stops at the stop positions Ps (1) and Ps (2) while the moving body 3 moves on the opposite side of the movable range with respect to the stop positions Ps (1) and Ps (2). Thus, the rotating shaft 2 is supported. On the other hand, while the movable body 3 enters the movable range, the support member 6 moves with the movable body 3 and does not hinder the movement of the movable body 3 in the movable range. Thus, the rotation shaft 2 can be supported by the support member 6 and the vibration of the rotation shaft 2 can be suppressed without hindering the movement of the moving body 3.

  Next, the two support members 6 provided on the X direction negative side from the moving body 3 will be described. The actuator 1 includes two stoppers 7 arranged in the X direction on the Y direction positive side of the rotating shaft 2. These stoppers 7 are arranged with respect to the stop positions Ps (3) and Ps (4) in order to stop the support members 6 at stop positions Ps (3) and Ps (4) different from each other in the X direction. . The stop position Ps (3) is located on the negative side in the X direction, and the stop position Ps (4) is located on the positive side in the X direction.

  The stopper 7 corresponding to the stop position Ps (3) restricts the movable range of the support member 6 on the X direction negative side of the two support members 6 from the stop position Ps (3) to the X direction negative side. Accordingly, the support member 6 on the X direction negative side can move with the moving body 3 in the movable range (including the stop position Ps (3)) on the X direction negative side from the stop position Ps (3). Comes out of the movable range to the positive side in the X direction, it is detached from the moving body 3 and stops at the stop position Ps (3). Further, the stopper 7 corresponding to the stop position Ps (4) restricts the movable range of the support member 6 on the X direction positive side of the two support members 6 from the stop position Ps (4) to the X direction negative side. Accordingly, the support member 6 on the positive side in the X direction can move with the moving body 3 in the movable range (including the stop position Ps (4)) on the negative side in the X direction from the stop position Ps (4). Comes out from the movable range to the positive side in the X direction, and comes off the moving body 3 and stops at the stop position Ps (4).

  In such a configuration, each support member 6 can be stopped at the stop positions Ps (3) and Ps (4) to support the moving body 3, while the stop position Ps (3) so that the movement of the moving body 3 is not hindered. ), Ps (4) can be moved in the X direction within the movable range on the bearing member 4 side. Thus, the rotation shaft 2 can be supported by the support member 6 and the vibration of the rotation shaft 2 can be suppressed without hindering the movement of the moving body 3.

  As described above, the moving body 3 can move along the rotation shaft 2 while appropriately accompanying the support member 6. The actuator 1 includes a stopper 8 in order to limit the moving range of such a moving body 3. The stoppers 8 are provided at both ends of the housing 10 in the X direction, and are fixed to the housing 10 inside the bearing member 4. Therefore, the moving body 3 that has moved to the end in the X direction comes into contact with the stopper 8 and stops.

  When the above configuration is summarized using FIG. 2, the actuator 1 includes a bearing member 4 a that receives the rotating shaft 2 on the negative side (one side) in the axial direction X and a rotating shaft on the positive side (the other side) in the axial direction X. 2 is provided. Further, the actuator 1 includes two support members 6a and 6b that support the rotary shaft 2 side by side in the axial direction X between the moving body 3 and the bearing member 4a, and an axial direction between the moving body 3 and the bearing member 4c. Two support members 6c and 6d that support the rotary shaft 2 side by side with X are provided. Each of the support members 6 a, 6 b, 6 c, 6 d is movable according to the movement of the moving body 3.

  However, the movable ranges Ra, Rb, Rc, and Rd of the support members 6a, 6b, 6c, and 6d are limited by the stopper 7 (movable range limiting mechanism). Specifically, of the support members 6a and 6b, the movable range Ra of the support member 6a that supports the rotating shaft 2 at the position on the X direction negative side is a range on the X direction negative side with respect to the stop position Ps (3). Thus, the movable range Rb of the support member 6b that supports the rotating shaft 2 at the position on the positive side in the X direction is a range on the negative side in the X direction from the stop position Ps (4). Here, the X direction negative end of each of the movable ranges Ra and Rb is the X direction negative side of the support members 6a and 6b when the movable body 3 is positioned at the X direction negative end of the moving range (stroke). End. Similarly, of the support members 6c and 6d, the movable range Rc of the support member 6c that supports the rotating shaft 2 at the position on the X direction positive side is a range on the X direction positive side with respect to the stop position Ps (1). In addition, the movable range Rd of the support member 6d that supports the rotating shaft 2 at the position on the X direction negative side is a range on the X direction positive side with respect to the stop position Ps (2). Here, the X direction positive end of each of the movable ranges Rc and Rd is the X direction positive side of the support members 6c and 6d when the movable body 3 is positioned at the X direction positive end of the moving range (stroke). End.

  Of the two support members 6a and 6b (one support member), the support member 6b that supports the rotating shaft 2 at a position away from the bearing member 4a (one bearing member) is the opposite side of the bearing member 4a (X The movable range Rb protrudes in the positive direction direction). Similarly, of the two support members 6c and 6d (the other support member), the support member 6d that supports the rotating shaft 2 at a position away from the bearing member 4c (the other bearing member) is the opposite side of the bearing member 4c ( It has a movable range Rd protruding in the negative direction in the X direction. In the axial direction X, the movable ranges Ra and Rb of the supporting members 6a and 6b adjacent to each other on the X direction negative side of the moving body 3 at least partially overlap each other. Similarly, the movable ranges Rc and Rd of the support members 6c and 6d adjacent to each other on the X direction positive side of the moving body 3 at least partially overlap each other. Further, in the present embodiment, the movable ranges Rb and Rd of the support members 6b and 6d adjacent to the moving body 3 on the different sides in the X direction with respect to the moving body 3 at least partially overlap each other in the X direction. The overlap area OL is configured. Incidentally, the movable range Ra of the support member 6a farther from the moving body 3 than the support member 6b adjacent to the moving body 3 of the two support members 6a and 6b (one support member), and the two support members The movable range Rc of the support member 6c farther from the moving body 3 than the support member 6d adjacent to the moving body 3 among 6c and d does not overlap in the X direction.

  The above is the outline of the actuator 1. Next, the detailed configuration of the support member 6 will be described. Since the four support members 6 have substantially the same configuration, here, of the two support members 6 provided on the X direction negative side of the movable body 3, the four support members 6 are provided on the X direction negative side. The support member 6 will be described as a representative.

  FIG. 3 is a perspective view illustrating the configuration of the support member and its periphery. FIG. 4 is a plan view illustrating the configuration of the support member and its periphery. In FIG. 4, the member 64 that is hidden behind the member 60 and is not visible is indicated by a one-dot chain line. FIG. 5 is a partial cross-sectional view illustrating the configuration of the support member and the periphery thereof, and illustrates a ZX cross section passing through the center line of the rotation shaft 2.

  The support member 6 has a schematic configuration in which a shaft contact portion 62 and a guide engagement portion 64 are attached to the frame 60. The frame 60 is made of, for example, alloy steel such as stainless steel or metal (light metal) such as aluminum, and has a shaft facing portion 601 that surrounds the rotary shaft 2 from both the Z direction positive side and the Y direction, and a guide from the Z direction positive side. And a guide facing portion 602 facing the rail 5. The shaft contact portion 62 is fixed to the Z direction negative side of the shaft facing portion 601 of the frame 60, and the guide engaging portion 64 is fixed to the negative side of the guide facing portion 602 of the frame 60.

  The shaft contact portion 62 includes two divided bushes 622 that are screwed to the shaft facing portion 601 from both sides in the X direction. Each divided bush 622 is composed of a pair of semicircular members 624, and each semicircular member 624 is composed of resin and has a contact portion 624a cut out in a semicircular shape. The two semicircular members 624 that make a pair are engaged with the rotary shaft 2 from both sides in the Z direction while contacting the rotary shaft 2 at the contact portion 624a. Thus, the shaft contact portion 62 is movable in the X direction along the rotation shaft 2 while contacting the rotation shaft 2 at the contact portions 624a of the two divided bushes 622. Incidentally, a slight clearance (play) is provided between the divided bush 622 and the rotary shaft 2.

  The shaft contact portion 62 configured in this way has a length L1 in the X direction along the rotation axis 2. Here, the length L1 can be obtained as the distance between both ends in the X direction in the range in which the contact portion 624a where the shaft contact portion 62 contacts the rotating shaft 2 is provided. Therefore, in this example, the length L1 is such that the X-direction positive side end of the contact portion 624a where the X-direction positive split bush 622 contacts the rotary shaft 2 and the X-direction negative side split bush 622 are the rotary shaft. 2 can be obtained as the distance in the X direction with respect to the end on the negative side in the X direction of the contact portion 624a that contacts 2.

  The guide engaging portion 64 has an engaging portion 64a cut out in a groove shape extending in parallel with the X direction, and engages with the guide rail 5 at the engaging portion 64a. Thus, the guide engaging portion 64 is movable in the X direction along the guide rail 5 while being engaged with the guide rail 5 at the engaging portion 64a. The guide engaging portion 64 configured as described above has a length L2 that is longer than the length L1 in the X direction along the rotation axis 2 (L2> L1). Here, the length L2 is obtained as a distance between both ends in the X direction in a range in which the engagement portion 64a in which the guide engagement portion 64 engages with the guide rail 5 is provided. Therefore, in this example, the length L2 is obtained as the distance between both ends of the engaging portion 64a in the X direction.

  As described above, the support member 6 includes the guide engagement portion 64 that engages with the guide rail 5 (guide member) and the shaft contact portion 62 that contacts the rotation shaft 2 and supports the rotation shaft 2. In the X direction (axial direction), the guide engaging portion 64 is longer than the shaft contact portion 62 (L2> L1). That is, the support member 6 is engaged with the guide rail 5 by the relatively wide guide engaging portion 64 while being in contact with the rotating shaft 2 by the relatively narrow shaft contact portion 62. Therefore, the support member 6 can be brought into contact with the rotary shaft 2 with the narrow shaft contact portion 62 to reduce the frictional force between the rotary shaft 2 and the support member 6, and the support member 6 can be guided with the guide rail with the wide guide engaging portion 64. The support member 6 can be stably supported by being firmly engaged with the support member 5. As a result, the frictional force between the rotating shaft 2 and the supporting member 6 is reduced to suppress the load on the motor M2 (drive source), and the supporting member 6 is stably supported to effectively resonate the rotating shaft 2. It is possible to suppress it.

  That is, the guide engaging portion 64 has a protruding portion 64 b that is longer than the shaft contact portion 62 in the axial direction (X direction) of the rotary shaft 2 and protrudes on the positive side in the X direction with respect to the shaft contact portion 62. Correspondingly, the guide facing portion 602 to which the guide engaging portion 64 is attached is longer in the X direction than the shaft facing portion 601 to which the shaft contact portion 62 is attached, and is in the X direction with respect to the shaft facing portion 601. It has a protruding portion 602b protruding to the positive side. In this example, the guide facing portion 602 is slightly longer in the X direction than the guide engaging portion 64.

  Thus, the support member 6 supports the rotating shaft 2 by the shaft contact portion 62 while engaging the guide rail 5 by the guide engaging portion 64. At this time, the guide engaging portion 64 can move in the X direction along the guide rail 5, and the shaft contact portion 62 can move in the X direction along the rotating shaft 2. Therefore, the support member 6 can move in the X direction as a whole.

  Furthermore, the support member 6 has a roller 66 that can rotate around a rotation center parallel to the Y direction at the end on the positive side in the Z direction of the shaft facing portion 601. The roller 66 is urged to the positive side in the Z direction by an elastic member such as a spring, and is used to engage the support member 6 with the moving body 3. Further, the support member 6 has an abutting portion 603 that projects to the Z direction negative side with respect to the shaft facing portion 601. The contact portion 603 is used to separate the support member 6 from the moving body 3 by contacting the stopper 7.

  Next, the support member 6 will be described together with the detailed configuration of the moving body 3. FIG. 6 is a perspective view illustrating the configuration of the moving body and its periphery. FIG. 7 is a partial cross-sectional view illustrating the configuration of the moving body and its periphery, and illustrates a ZX cross section passing through the center line of the rotating shaft 2. 6 and 7 illustrate a state in which the moving body 3 is engaged with the two support members 6 on the X direction positive side.

  The moving body 3 includes a rectangular table 30 having a plane parallel to the X direction and the Y direction, and a nut 31 fixed to the lower side of the table 30 in the Z direction and screwed to the rotary shaft 2. Incidentally, the rotating shaft 2 and the nut 31 constitute a ball screw. Further, the moving body 3 includes a hook 32 that is detachably engaged with the roller 66 of the support member 6. The hooks 32 are provided on both sides in the X direction with respect to the table 30, and are located on the upper side in the Z direction of the rotary shaft 2 while projecting in the X direction with respect to the table 30. The table 30, the nut 31, and the hook 32 that constitute the moving body 3 are made of alloy steel such as stainless steel or metal (light metal) such as aluminum.

Each hook 32 of the moving body 3 can be engaged with a maximum of two support members 6 at a time. At this time, the two support members 6 engaged with the hooks 32 are alternately arranged, and are configured to be partially overlapped in the X direction. This point will be described as a representative of the two support members 6 on the X direction positive side from the moving body 3.

  The two support members 6 face each other in the X direction in a state where the protruding portions 64b and 602b protrude toward each other. That is, the projecting portions 64b and 602b of one support member 6 project to the other support member 6 side, and the projecting portions 64b and 602b of the other support member 6 project to the one support member 6 side. At this time, the two support members 6 are opposed to each other in the X direction while being engaged with different guide rails 5, and the protruding portions 64 b and 602 b of each support member 6 are separated from each other in the Y direction. Yes. That is, the protruding portions 64b and 602b of one support member 6 are disengaged from the other support member 6 in the Y direction, and the protruding portions 64b and 602b of the other support member 6 are disengaged from the one support member 6 in the Y direction. . Therefore, when the two support members 6 approach each other, the protruding portions 64b and 602b of one support member 6 overlap with the shaft contact portion 62 and the shaft facing portion 601 of the other support member 6 in the X direction. The protruding portions 64b and 602b of the other support member 6 overlap the shaft contact portion 62 and the shaft facing portion 601 of the one support member 6 in the X direction. Thus, the two support members 6 can engage with the hook 32 while partially overlapping each other in the X direction.

  Thus, when the two supporting members 6 adjacent to each other along the rotating shaft 2 approach each other, the protruding portion 602b of the guide engaging portion 64 of one supporting member 6 becomes the shaft contacting portion 62 of the other supporting member 6. And the protruding portion 602b of the guide engaging portion 64 of the other support member 6 overlaps the shaft contact portion 62 of one support member 6 in the X direction. That is, two adjacent support members 6 can be overlapped in the X direction. Therefore, these support members 6 can be stored compactly in the axial direction, and the length of the stroke of the movable body 3 can be increased.

  FIG. 8 is an operation explanatory diagram schematically illustrating the operation of the actuator. The case where the moving body 3 moves from the end portion on the negative side in the X direction to the end portion on the positive side in the X direction will be described following step 1 to step 5 in order. In Step 1, the moving body 3 is located on the X direction negative side of the moving range, and is located farthest from the bearing member 4 on the X direction positive side in the moving range. At this time, the two support members 6 on the X direction negative side from the moving body 3 are both engaged with the moving body 3, and the two support members 6 on the X direction positive side from the moving body 3 are connected to the stopper 7. Abutting and stopping at the respective stop positions Ps (1) and Ps (2).

  In the state shown in Step 1, the bearing member 4, the moving body 3 farthest from the bearing member 4, and the support member 6 between the bearing member 4 and the moving body 3, are arranged on the rotary shaft 2 between them. The distances C1, C2, and C3 along the line satisfy a predetermined condition with respect to the maximum rotational speed of the rotary shaft 2. Here, the maximum number of rotations is the maximum value of the number of rotations of the rotating shaft 2 allowed when the actuator 1 is used, and is generally determined in the catalog, specifications or instruction manual of the actuator. Since the maximum rotational speed is determined in this way, in actual use, the rotating shaft 2 rotates at the maximum rotational speed or less. Therefore, in the vibration mode that can occur in the rotating shaft 2, the distance between the nodes becomes longer than the half wavelength of the fundamental vibration of the rotating shaft 2 that resonates with the rotation of the rotating shaft 2 at the maximum rotational speed. On the other hand, the intervals C1, C2, and C3 are all set shorter than the half wavelength of the fundamental vibration of the rotating shaft 2 that resonates with the rotation of the rotating shaft 2 at the maximum rotational speed. Therefore, the vibration of the rotating shaft 2 can be suppressed by the bearing member 4, the support member 6 and the moving body 3, and noise and damage to the rotating shaft 2 can be suppressed.

  Further, the mutual relationship between the intervals C1, C2, and C3 is also set. Specifically, the interval C2 and the interval C3 are set longer than the interval C1. At this time, the intervals C2 and C3 may be equal to each other, or one may be longer than the other.

  Incidentally, the interval C1 is an interval along the rotation axis 2 between the bearing member 4 and the support member 6 adjacent to each other. The interval C1 is such that the bearing member 4 has an end on the support member 6 side in a range where a portion where the bearing member 4 contacts the rotating shaft 2 and a bearing portion 624a where the support member 6 contacts the rotating shaft 2 are provided. It can be determined as the distance along the rotation axis 2 with the end on the member 4 side (the end on the bearing member 4 side with the length L1). The interval C2 is an interval along the rotation axis 2 of the two support members 6 adjacent to each other. The distance C2 is such that the end on the other support member 6 side (the end on the other support member 6 side of the length L1) in the range where the contact portion 624a where the one support member 6 contacts the rotating shaft 2 is provided, and the other support member. The distance along the rotation axis 2 with respect to the end on the one support member 6 side (the end on the one support member 6 side of the length L1) in the range in which the contact portion 624a where 6 contacts the rotation axis 2 is provided. it can. The interval C3 is an interval along the rotation axis 2 between the support member 6 and the moving body 3 that are adjacent to each other. The distance C3 is such that the end of the movable body 3 side (the end of the movable body 3 side of the length L1) and the movable body 3 (the nut of the movable body 3) in the range where the contact portion 624a where the support member 6 contacts the rotating shaft 2 is provided. 31) can be obtained as the distance along the rotation axis 2 with respect to the end on the support member 6 side in the range where the portion in contact with the rotation axis 2 is provided.

  When the motor M2 is driven from the state of Step 1 and the rotating shaft 2 starts to rotate and the moving body 3 starts moving toward the X direction positive side, the two supports on the X direction negative side from the moving body 3 are supported. The member 6 moves to the X direction positive side with the moving body 3. Subsequently, as shown in step 2, in the process in which the moving body 3 passes the stop position Ps (3) toward the positive side in the X direction, of the two support members 6 engaged with the moving body 3, the X direction The negative side support member 6 (the contact portion 603 thereof) contacts the stopper 7 corresponding to the stop position Ps (3). Of these support members 6, the contact portion 603 of the support member 6 on the negative side in the X direction protrudes closer to the stopper 7 than the contact portion 603 of the support member 6 on the positive side in the X direction, and the stop position Ps. While contacting the stopper 7 corresponding to (3), the support member 6 on the X direction positive side passes through the stopper 7 without contacting the stopper 7. Therefore, as shown in step 3, the support member 6 on the X direction negative side is detached from the moving body 3 and stops at the stop position Ps (3), while the support member 6 on the X direction positive side is accompanied by the moving body 3. Moving.

As shown in step 3, when the movable body 3 collides with the support member 6 that stops at the stop position Ps (2), the support member 6 engages with the movable body 3 and moves with the movable body 3. Further, as shown in step 4, in the process in which the moving body 3 passes the stop position Ps (4) toward the positive side in the X direction, the support member 6 (the contact portion 603) engaged with the moving body 3 is moved. It contacts the stopper 7 corresponding to the stop position Ps (4). Therefore, as shown in step 5, the support member 6 is detached from the moving body 3 and stops at the stop position Ps (3). Subsequently, as shown in step 5, when the movable body 3 collides with the support member 6 stopped at the stop position Ps (1), the support member 6 engages with the movable body 3 and moves with the movable body 3. The moving body 3 stops when it comes into contact with the stopper 8. The stopper 8 is provided so that a gap Δ is opened between the bearing member 4 engaged with the moving body 3 and the support member 6 in a state where the moving body 3 is in contact with the stopper 8.

  Contrary to the above, when the moving body 3 moves from the X-direction negative end to the X-direction positive end, Steps 5 to 1 are executed in this order. At this time, in the state shown in Step 5, the bearing member 4, the moving body 3 farthest from the bearing member 4, and the support member 6 between the bearing member 4 and the moving body 3 are rotated between them. The intervals C4, C5, C6 along the axis 2 satisfy the same conditions as the intervals C1, C2, C3 described above. That is, the intervals C1, C2, and C3 are all set to be shorter than the half wavelength of the fundamental vibration of the rotating shaft 2 that resonates with the rotation of the rotating shaft 2 at the maximum rotational speed. The vibration of the rotating shaft 2 is suppressed by the body 3, and noise and damage to the rotating shaft 2 can be suppressed. Further, the mutual relationship between the intervals C4, C5, and C6 is also set. Specifically, the interval C5 and the interval C6 are set longer than the interval C4. The intervals C5 and C6 may be equal to each other or one may be longer than the other. Then, from this state, the moving body 3 moves toward the X direction negative side while steps 4 to 1 are sequentially executed.

  In the actuator 1 configured as described above, the support members 6 that support the rotating shaft 2 are provided on both sides of the movable body 3. Each support member 6 is given a movable range, and each support member 6 can move within the movable range in accordance with the movement of the moving body 3. Thereby, each support member 6 can support the rotating shaft 2 while moving the movable range in accordance with the movement of the moving body 3, and can suppress the resonance of the rotating shaft 2. Moreover, in the present embodiment, the movable range Rb of the support member 6 on one side of the moving body 3 and the movable range Rd of the support member 6 on the other side of the moving body 3 overlap at least partially in the X direction. Yes. In other words, the movable ranges Rb and Rd of the support member 6 are secured so as to overlap each other, and can cope with the expansion of the moving range of the moving body 3. As a result, it is possible to expand the moving range of the moving body 3 while suppressing the resonance of the rotating shaft 2.

  In the actuator 1, a plurality of support members 6 (one support members 6 a and 6 b and the other support members 6 c and 6 d) are provided on both sides of the moving body 3. Specifically, a plurality of support members 6 a and 6 b support the rotary shaft 2 along the axial direction X between the bearing member 4 a that receives the rotary shaft 2 on the X direction negative side and the moving body 3. Similarly, a plurality of support members 6c and 6d support the rotary shaft 2 in the axial direction X between the bearing member 4c that receives the rotary shaft 2 on the X direction positive side and the moving body 3. The support members 6a, 6b, 6c, and 6d are provided with movable ranges Ra, Rb, Rc, and Rd, respectively, and the support members 6a, 6b, 6c, and 6d are respectively moved according to the movement of the moving body 3. The movable ranges Ra, Rb, Rc, and Rd can be moved.

  At this time, in order to effectively suppress the vibration of the rotating shaft 2 by the plurality of support members 6a, 6b, 6c, 6d provided between the moving body 3 and the bearing members 4a, 4c, the support members 6a, The movable ranges Ra, Rb, Rc, and Rd of 6b, 6c, and 6d are important. For example, when considering the support members 6a and 6c adjacent to the bearing members 4a and 4c, the rotation shaft 2 is supported by the support members 6a and 6c within a predetermined distance from the bearing members 4a and 4c so that vibration can be suppressed. The movable ranges Ra and Rc of the support members 6a and 6c are advantageously close to the bearing members 4a and 4c. Alternatively, considering the supporting members 6b and 6d adjacent to the moving body 3, when the moving body 3 is farthest from the bearing members 4a and 4c, the rotating shaft is rotated by the supporting members 6b and 6d within a predetermined distance from the moving body 3. It is advantageous that the movable ranges Rb and Rd of the support members 6b and 6d are close to the opposite side of the bearing members 4a and 4c so that the vibration can be suppressed by supporting 2. Therefore, in the present embodiment, among the plurality of support members 6a and 6b, the support member 6b that supports the rotating shaft 2 at a position away from the bearing member 4a has a movable range Rb that protrudes to the opposite side of the bearing member 4a. . Similarly, among the plurality of support members 6c and 6d, the support member 6d that supports the rotating shaft 2 at a position away from the bearing member 4c has a movable range Rd that protrudes on the opposite side of the bearing member 4c.

  In addition, the movable range Rb of the support member 6 b adjacent to the moving body 3 and the movable range Rd of the support member 6 d adjacent to the moving body 3 overlap at least partially in the axial direction X. In other words, the movable range Rb of the support member 6b adjacent to the moving body 3 is closer to the opposite side of the bearing member 4a so as to at least partially overlap the movable range Rd of the support member 6d. The movable range Rd of the support member 6d adjacent to the moving body 3 is closer to the opposite side of the bearing member 4c so as to at least partially overlap the movable range Rb of the support member 6b. Therefore, when the moving body 3 is farthest from the bearing members 4a and 4c, the supporting members 6b and 6d support the rotating shaft 2 near the moving body 3 and can more reliably suppress vibration. As a result, it is possible to expand the moving range of the moving body 3 while suppressing the resonance of the rotating shaft 2.

  In the actuator 1 having the above-described configuration, it is possible to expand the moving range of the moving body 3 while suppressing the resonance of the rotating shaft 2 also from the following viewpoint. This point will be described with reference to the state of step 1 in FIG. That is, in such an actuator 1, as the distance C1 between the support member 6 and the bearing member 4 and the distance C3 between the support member 6 and the moving body 3 are increased, the resonance frequency of the rotary shaft 2 is lowered and the rotary shaft 2 is resonated. It becomes easy. Therefore, in a situation where the moving body 3 is furthest away from the bearing member 4 and the distances C1 and C3 are widened, there is an extremely high possibility that resonance of the rotating shaft 2 will occur. In other words, it is important to suppress the resonance of the rotating shaft 2 in a situation where the moving body 3 is farthest from the bearing member 4. However, if the moving range of the moving body 3 is expanded, the distance C1 between the support member 6 and the bearing member 4 and the distance C3 between the support member 6 and the moving body 3 when the moving body 3 is farthest from the bearing member 4 are also increased. Since it was thought that the resonance frequency of the rotating shaft 2 was lowered, it was not easy to expand the moving range of the moving body 3.

  However, the inventors of the present application have studied in detail the support mode of the rotating shaft 2, and as a result, have reached a configuration capable of expanding the moving range of the moving body 3 while suppressing the resonance of the rotating shaft 2. That is, in the present embodiment, the rotating shaft 2 is substantially fixed and supported by the bearing member 4 and the support member 6 that are adjacent to each other in the X direction. On the side (X direction negative side from the stop position Ps (1)), the rotating shaft 2 is firmly supported by such fixed support. As a result, the resonance frequency of the rotating shaft 2 between the support member 6 and the moving body 3 is relatively high (as opposed to the case where the end on the positive side in the X direction of the rotating shaft 2 is simply supported by one member) It has been found that even if the distance C3 between the support member 6 and the moving body 3 is relatively long, the resonance of the rotating shaft 2 between the support member 6 and the moving body 3 can be suppressed (about this point, (Also confirmed by experiments conducted by the inventors). Therefore, when the moving body 3 is farthest from the bearing member 4 (for example, when it is in the state shown in step 1), the distance C3 along the rotation axis 2 between the support member 6 and the moving body 3 is set to the support member. 6 and the bearing member 4 are configured to be longer than the distance C1 along the rotation axis 2 (C3> C1). As a result, as in Patent Document 1, the present embodiment is compared with a configuration in which the support member is provided at the center of the moving body and the bearing member, and the distance between the support member and the moving body is equal to the distance between the support member and the bearing member. In the embodiment, the moving range of the moving body 3 can be expanded by increasing the distance C3 between the support member 6 and the moving body 3 along the rotation axis 2. In this way, it is possible to expand the moving range of the moving body 3 while suppressing the resonance of the rotating shaft 2. Incidentally, here, the state of step 1 is described as an example. However, the state of step 5 is similarly configured (C6> C4), and the moving range of the moving body 3 is suppressed while suppressing the resonance of the rotating shaft 2. Expansion is possible.

  Furthermore, in this embodiment, a plurality of (two) support members 6 are provided between the moving body 3 and the bearing member 4, and when the moving body 3 is farthest from the bearing member 4, the support members adjacent in the X direction are supported. The distances C2 and C5 along the rotation axis 2 between the members 6 are longer than the distances C1 and C4 along the rotation axis 2 between the support member 6 and the bearing member 4 (C2> C1, C5> C4). The actuator 1 is configured. In the configuration in which the rotating shaft 2 is supported by a plurality of (two) supporting members 6 in this way, the rotating shaft 2 is substantially fixedly supported by the bearing member 4 and the supporting member 6 adjacent thereto. On the opposite side of the bearing member 4 with respect to the support member 6 (for example, in the state of step 1 in the X direction negative side from the stop position Ps (1)), the rotary shaft 2 is firmly supported by such fixed support. Therefore, the distances C2 and C5 along the rotation axis 2 between the support members 6 adjacent to each other in the X direction are larger than the distances C1 and C4 along the rotation axis 2 between the support member 6 and the bearing member 4 adjacent in the X direction. You can make it longer. In particular, this configuration makes it possible to increase the distances C2 and C5 between the support members 6. For example, it is easy to design such that the moving range of the movable body 3 is expanded while the number of the support members 6 is suppressed. become.

  The present invention is not limited to the above-described embodiment, and various modifications can be made to the above-described one without departing from the spirit of the present invention. For example, in the above embodiment, the support member 6 is appropriately stopped at the stop positions Ps (1) to Ps (4) by the stopper 7. However, the support member 6 may be moved in conjunction with the movement of the moving body 3 by the interlocking mechanisms 100 and 200 described below.

  Next, the interlocking mechanisms 100 and 200 will be described in order. In addition, the following shows an example of the interlocking mechanisms 100 and 200, and the configuration other than the interlocking mechanisms 100 and 200 is common to the above embodiment. Therefore, the description will be focused on the differences from the above embodiment, and the common points with the above embodiment will be denoted by the same reference numerals and the description thereof will be omitted. In addition, since the following description mainly demonstrates the structural example of the interlocking mechanisms 100 and 200, illustration of the bearing member 4 is abbreviate | omitted in FIGS.

  FIG. 9 is a perspective view schematically illustrating an actuator including the first example of the interlocking mechanism. FIG. 10 is a view taken along the line AA in FIG. The actuator 1 includes an interlocking mechanism 100 that moves the support members 6 a to 6 d in the X direction in conjunction with the moving body 3. The interlocking mechanism 100 includes multi-stage pulleys 110 provided at both ends of the housing 10 in the X direction. Each multi-stage pulley 110 has three pulleys 112, 114, and 116, and a pulley shaft 118 provided in common to these pulleys. The pulleys 112, 114, and 116 are stacked in the Z direction with the respective rotation center lines C aligned, and the pulley shaft 118 passes through the rotation centers of the pulleys 112, 114, and 116 in the Z direction, and the pulley 112 114, 116 are fixed to each other. One end of the pulley shaft 118 is fitted into a bearing hole 11 provided in the bottom surface of the housing 10, and the pulley shaft 118 is rotatably supported by the bearing hole 11. When the pulley shaft 118 rotates, the pulleys 112, 114, and 116 rotate integrally. At this time, the ratio of the peripheral speed V112 of the pulley 112, the peripheral speed V114 of the pulley 114, and the peripheral speed V116 of the pulley 116 is equal to the ratio of the diameter D112 of the pulley 112, the diameter D114 of the pulley 114, and the diameter D116 of the pulley 116 ( V112: V114: V116 = D112: D114: D116).

Diameter pulley 112 D112, the diameter of the pulley 114 D 114, the diameter D116 of the pulley 116 is larger in this order (D112>D114> D116). Therefore, the ratio R11 (= V114 / V112 = D114 / D112) of the peripheral speed V114 of the pulley 114 to the peripheral speed V112 of the pulley 112 is smaller than 1, in other words, the rotation of the pulley 112 is a reduction ratio R11 (<1). It is transmitted to the pulley 114. The ratio R12 (= V116 / V112 = D116 / D112) of the peripheral speed of the pulley 116 to the peripheral speed V112 of the pulley 112 is smaller than 1 and smaller than the reduction ratio R11. In other words, the rotation of the pulley 112 is reduced by the reduction ratio. It is transmitted to the pulley 116 by R12 (<R11 <1).

  In the interlocking mechanism 100, a pulley pair is formed by two pulleys having the same diameter provided at both ends in the X direction, and belts 122, 124, and 126 are stretched over each pulley pair. Specifically, a belt 122 is stretched between two pulleys 112, 112, a belt 124 is stretched between two pulleys 114, 114, and a belt 126 is stretched between two pulleys 116, 116. It is laid over. Incidentally, the pulleys 112, 114, and 116 are all toothed pulleys, and the belts 122, 124, and 126 are all toothed belts. Thus, when a toothed pulley is used, the diameter of a pulley should just be calculated | required as a diameter of a pitch circle.

  The movable body 3 is fixed to the belt 122 by the fixture 132, and the two support members 6b and 6d provided on both sides (both outside) of the movable body 3 have a predetermined support member interval La in the X direction. The two support members 6a and 6c that are fixed to the belt 124 by the attachments 134 and provided on both sides (both outer sides) in the X direction of the support members 6b and 6d are provided with a predetermined support member interval Lb (= 2 × La> La) and are fixed to the belt 126 by fixtures 136 respectively. The movable body 3 and the support members 6a to 6d are fixed to the same side (negative side) of the corresponding belt 122, belt 124, and belt 126 in the Y direction.

  The interlocking mechanism 100 moves the support members 6 a to 6 d in conjunction with the moving body 3. Specifically, when the moving body 3 moves in the X direction at a speed V3 in response to the driving force of the motor M2, the belt 122 to which the moving body 3 is attached rotates, and the peripheral speed V112 equal to the speed V3 is rotated. Rotate with. At the same time, the pulleys 114 and 116 rotate at the circumferential speeds V114 and V116, respectively, where the speed V3 (= V112) is reduced by the reduction ratios R11 and R12, and the belts 124 and 126 are rotated at the circumferential speeds V114 and V116. As a result, the support members 6b and 6d move at a speed V114 obtained by reducing the speed V3 with the reduction ratio R11 (V114 = V3 × R11), and the support members 6a and 6c reduce the speed V3 with the reduction ratio R12. It moves at the speed V116 (V116 = V3 × R12). At this time, since the movable body 3 and the support members 6a to 6d are attached to the same side in the Y direction of the corresponding belt 122, belt 124, and belt 126, all move to the same side in the X direction.

  Thus, as the moving body 3 moves from one end of the stroke to the other end in the X direction, the support members 6a to 6d move from one end side to the other end side in the X direction. At this time, the supporting members 6b and 6d move at a speed V114 that is slower than the moving speed V3 of the moving body 3, and the supporting members 6a and 6c move at a speed V116 that is slower than the supporting members 6b and 6d. Therefore, while the moving body 3 moves from one end to the other end of the stroke S3, the support members 6b and 6d move within a moving range (= S3 × V114 / V3) shorter than the stroke S3 of the moving body 3, and each support member 6a and 6c move in a moving range (= S3 × V116 / V3) shorter than the supporting members 6b and 6d. At this time, the moving body 3 can be reciprocated in the X direction by switching the rotation direction of the motor M2, and each of the support members 6a to 6d can be reciprocated in the X direction in conjunction with the moving body 3. it can. The interlocking mechanism 100 moves the support members 6a to 6d in conjunction with the movement of the moving body 3 while maintaining the distance ratio between the moving body 3 and the supporting members 6a to 6d.

  FIG. 11 is a perspective view schematically illustrating an actuator including a second example of the interlocking mechanism. 12 is a plan view of the actuator illustrated in FIG. FIG. 13 is a bottom view of the actuator illustrated in FIG. 11. FIG. 14 is a partially enlarged perspective view of the actuator illustrated in FIG. 11.

  In the interlocking mechanism 200 provided in the actuator 1, three belt rotating mechanisms 210, 220, and 230 extending in the X direction are arranged in parallel. The belt rotation mechanism 210 has a configuration in which a belt 213 is bridged between pulleys 211 and 211 provided at both ends of the casing 10 in the X direction. Here, the pulley 211 is a toothed pulley, and the belt 213 is a toothed belt. Each pulley 211 is rotatably supported by the housing 10, and the belt rotation mechanism 210 has a configuration in which the rotation of each pulley 211 and the rotation of the belt 213 are interlocked with each other. Similarly, the belt rotation mechanism 220 has a configuration in which a belt 223 is bridged over pulleys 221 and 221 provided in the X direction, and the rotation of these belts is interlocked, and the belt rotation mechanism 230 is a pulley provided in the X direction. A belt 233 is bridged between 231 and 231 and the rotation is interlocked. The pulleys 211, 221, and 231 have the same diameter (the diameter of the pitch circle).

  Then, the moving body 3 is fixed to the belt 213 by the fixture 214, and the two support members 6b and 6d provided on both sides (both outside) of the moving body 3 have a support member interval La in the X direction. The two support members 6a and 6c fixed to the belt 223 by the fixture 224 and provided on both sides (both outside) of the support members 6b and 6d in the X direction are support member intervals Lb (= 2 × La>). La) is fixed and fixed to the belt 233 by a fixture 234. The movable body 3 and the support members 6a to 6d are fixed to the same side (positive side) of the corresponding belt 213, belt 223, and belt 233 in the Y direction.

  Gears 215, 225, and 235 are fixed to the X direction positive side pulleys 211, 221, and 231 from the Z direction negative side, respectively. The gear shafts 217, 227, 237 of the gears 215, 225, 235 coincide with the rotation center lines of the corresponding pulleys 211, 221, 231, and the pulleys 211, 221, corresponding to the gears 215, 225, 235, The center of rotation coincides with that of H.231. Further, transmission gears 245, 255 are provided between the gears 215, 225, 235, respectively, and these gears 215, 245, 225, 255, 235 are arranged in this order to constitute a gear train. Therefore, the rotation of gear 215 is transmitted to gear 225 by transmission gear 245, and the rotation of gear 225 is further transmitted to gear 235 by transmission gear 255.

Since such a gear train is configured, when the gear 215 rotates, the gears 225 and 235 also rotate in the same direction as the gear 215. At this time, the following relationship exists between the ratio of the angular velocity W215 of the gear 215 and the angular velocity W225 of the gear 225 and the ratio of the diameter D215 of the gear 215 and the diameter D225 of the gear 225: W215: W225 = D225: D215
Between the angular velocity W215 of the gear 215 and the angular velocity W235 of the gear 235 and the ratio of the diameter D215 of the gear 215 and the diameter D235 of the gear 235, W215: W235 = D235: D215
Is established. The gear diameters D215, D225, and D235 can be obtained as the pitch circle diameters of the corresponding gears 215, 225, and 235, respectively.

  The diameter D215 of the gear 215, the diameter D225 of the gear 225, and the diameter D235 of the gear 235 are smaller in this order (D215 <D225 <D235). Therefore, the ratio R21 (= W225 / W215 = D215 / D225) of the angular velocity W225 of the gear 225 to the angular velocity W215 of the gear 215 is smaller than 1, in other words, the rotation of the gear 215 is the reduction gear ratio R21 (<1) and the gear 225. Is transmitted to. Further, the ratio R22 (= W235 / W215 = D215 / D235) of the angular velocity W235 of the gear 235 to the angular velocity W215 of the gear 215 is smaller than 1 and smaller than the reduction ratio R21. In other words, the rotation of the gear 215 is the reduction ratio R22. (<R11 <1) is transmitted to the gear 235.

  The interlocking mechanism 200 moves the support members 6 a to 6 d in conjunction with the moving body 3. Specifically, when the moving body 3 moves in the X direction at a speed V3 in response to the driving force of the motor M2, the belt 213 to which the moving body 3 is attached rotates to rotate the pulley 211 at the peripheral speed V3. As a result, the gear 215 attached to the pulley 211 rotates at an angular velocity W215 (= V3 / r) obtained by dividing the velocity V3 by the radius r of the pulley 211. Simultaneously with the rotation of the gear 215, each of the gears 225, 235 rotates at the angular speeds W225, W235 obtained by reducing the angular speed 215 by the reduction ratios R21, R22, and the pulleys 221, 231 attached to the gears 225, 235 are rotated at the angular speeds W225, W235. Let As a result, the belt 223 rotates at a peripheral speed (= R21 × V3) obtained by multiplying the angular velocity W223 (= R21 × V3 / r) by the radius r of the pulley 221 with the support members 6b and 6d. Is rotated at a peripheral speed (= R22 × V3) obtained by multiplying the angular velocity W235 (= R22 × V3 / r) by the radius r of the pulley 231 together with the support members 6a and 6c. That is, the support members 6b and 6d move at a speed (= R21 × V3) obtained by reducing the speed V3 of the moving body 3 by the reduction ratio R21, and the support members 6a and 6c reduce the speed V3 of the moving body 3. It moves at a speed (= R22 × V3) decelerated by the ratio R22. At this time, since the movable body 3 and the support members 6a to 6d are attached to the same side in the Y direction of the corresponding belt 213, belt 223, and belt 233, all move to the same side in the X direction.

  Thus, as the moving body 3 moves from one end of the stroke to the other end in the X direction, the support members 6a to 6d move from one end side to the other end side in the X direction. At this time, the supporting members 6b and 6d move at a speed (= R21 × V3) slower than the moving speed V3 of the moving body 3, and the supporting members 6a and 6c are slower than the supporting members 6b and 6d (= R22). Move with × V3). Therefore, while the moving body 3 moves from one end to the other end of the stroke S3, each support member 6b, 6d moves in a moving range (= S3 × R21) shorter than the stroke S3 of the moving body 3, and each support member 6a, 6c moves in a moving range (= S3 × R22) shorter than the supporting members 6b and 6d. At this time, the moving body 3 can be reciprocated in the X direction by switching the rotation direction of the motor M2, and each of the support members 6a to 6d can be reciprocated in the X direction in conjunction with the moving body 3. it can. The interlocking mechanism 200 moves the support members 6a to 6d in conjunction with the movement of the movable body 3 while maintaining the ratio of the distance between the movable body 3 and the support members 6a to 6d.

  The interlocking mechanisms 100 and 200 of the first example and the second example also define the intervals along the rotation axis 2 of the movable body 3 and the support members 6a to 6d in the same manner as in the above embodiment (FIG. 15). ). FIG. 15 is a diagram schematically illustrating the distance between the moving body and the support members defined by the interlocking mechanisms of the first example and the second example. In the upper part of the figure, the moving body 3 is located at one end (negative side in the X direction) of the moving range (stroke) and is furthest away from the bearing member 4c on the other side (positive side in the X direction). The distance C11 between the bearing member 4c and the support member 6c at the other end, the distance C12 between the support members 6c and 6d, and the distance C13 between the support member 6d and the moving body 3 are shown. Yes. Further, in the lower part of the figure, the moving body 3 is located at the other end of the moving range and is furthest away from the bearing member 4a at the one end, and is at the one end. The distance C14 between the bearing member 4a and the support member 6a, the distance C15 between the support members 6a and 6b, and the distance C16 between the support member 6b and the moving body 3 are shown.

  As shown in the upper part of the drawing, the moving body 3 is located at the end of its moving range, and in the state farthest from the bearing member 4c at the end opposite to the moving body 3, the bearing adjacent in the X direction. The spacing C11 between the member 4c and the supporting member 6c, the spacing C12 between the supporting members 6c, 6d adjacent in the X direction, and the spacing C13 between the supporting member 6d adjacent in the X direction and the moving body 3 are all rotated. It is set shorter than the half wavelength of the fundamental vibration of the rotating shaft 2 that resonates with the rotation of the shaft 2 at the maximum rotational speed. Further, the mutual relationship between the intervals C11, C12, and C13 is also set. Specifically, the interval C12 and the interval C13 are set longer than the interval C11. At this time, the intervals C12 and C13 may be equal to each other or one may be longer than the other. The magnitude relationship between the intervals C11, C12, and C13 is maintained even after the moving body 3 starts moving from the end. The intervals C14, C15, and C16 are defined in the same manner as the intervals C11, C12, and C13. These intervals C11 to C16 can be obtained in the same manner as the intervals C1 to C6.

  In the configuration including the interlocking mechanisms 100 and 200, the support members 6 a to 6 d move in conjunction with the moving body 3. That is, when the moving body 3 moves away from the one bearing member 4a, the support members 6a and 6b between the moving body 3 and the bearing member 4a move away from the bearing member 4a, and the moving body 3 moves away from the one bearing member 4a. When approaching the member 4a, the support members 6a and 6b between the moving body 3 and the bearing member 4a approach the bearing member 4a. When the moving body 3 moves away from the other bearing member 4c, the support members 6c and 6d between the moving body 3 and the bearing member 4c move away from the bearing member 4c, and the moving body 3 moves away from the other bearing member 4c. When approaching the member 4c, the support members 6c and 6d between the moving body 3 and the bearing member 4c approach the bearing member 4c. At this time, the two outer support members 6 a and 6 c move at a speed approximately one third of the moving speed of the moving body 3, and the two inner support members 6 b and 6 d move the moving body 3. Move at approximately two thirds of the speed. Thus, since the support members 6a to 6d move toward the moving side of the moving body 3 in conjunction with the moving body 3, the rotating shaft 2 is supported by the supporting members 6a to 6d without hindering the movement of the moving body 3. Thus, vibration of the rotating shaft 2 can be suppressed.

  Further, the movable ranges Ra to Rd of the support members 6a to 6d are set as follows. That is, of the two support members 6a and 6b (one support member), the support member 6b that supports the rotary shaft 2 at a position away from the bearing member 4a (one bearing member) is opposite to the bearing member 4a (X The movable range Rb protrudes in the positive direction direction). Similarly, of the two support members 6c and 6d (the other support member), the support member 6d that supports the rotating shaft 2 at a position away from the bearing member 4c (the other bearing member) is the opposite side of the bearing member 4c ( It has a movable range Rd protruding in the negative direction in the X direction. In the axial direction X, the movable ranges Ra and Rb of the supporting members 6a and 6b adjacent to each other on the X direction negative side of the moving body 3 at least partially overlap each other. Similarly, the movable ranges Rc and Rd of the support members 6c and 6d adjacent to each other on the X direction positive side of the moving body 3 at least partially overlap each other. Further, the movable ranges Rb and Rd of the support members 6b and 6d adjacent to the moving body 3 on different sides in the X direction with respect to the moving body 3 at least partially overlap each other in the X direction, thereby forming the overlapping region OL. Configure. Incidentally, the movable range Ra of the support member 6a farther from the moving body 3 than the support member 6b adjacent to the moving body 3 of the two support members 6a and 6b (one support member), and the two support members The movable range Rc of the support member 6c farther from the moving body 3 than the support member 6d adjacent to the moving body 3 among 6c and d does not overlap in the X direction.

  Also in the actuator 1 configured as described above, support members 6 b and 6 d that support the rotating shaft 2 are provided on both sides of the moving body 3. Each support member 6b, 6d is provided with a movable range Rb, Rd, and each support member 6b, 6d can move in the movable range Rb, Rd according to the movement of the moving body 3. Thereby, each support member 6b, 6d can support the rotating shaft 2 while moving the movable ranges Rb, Rd according to the movement of the moving body 3, and can suppress the resonance of the rotating shaft 2. Moreover, the movable range Rb of the support member 6b on one side of the movable body 3 and the movable range Rd of the support member 6d on the other side of the movable body 3 overlap at least partially in the X direction. In other words, the movable ranges Rb and Rd of these support members 6b and 6d are secured so as to overlap each other, and can cope with the expansion of the moving range of the moving body 3. As a result, it is possible to expand the moving range of the moving body 3 while suppressing the resonance of the rotating shaft 2.

  Also in the actuator 1, the movable range Rb that protrudes to the opposite side of the bearing member 4 a is larger in the support member 6 b that supports the rotating shaft 2 at a position away from the bearing member 4 a among the plurality of support members 6 a and 6 b. Have. Similarly, among the plurality of support members 6c and 6d, the support member 6d that supports the rotating shaft 2 at a position away from the bearing member 4c has a movable range Rd that protrudes on the opposite side of the bearing member 4c. Such a configuration can suppress the vibration by supporting the rotating shaft 2 by the support members 6a and 6c within a predetermined distance from the bearing members 4a and 4c, and can also support the support members 6b and 6d within a predetermined distance from the moving body 3. This is advantageous in suppressing the vibration by supporting the rotating shaft 2.

  In addition, the movable range Rb of the support member 6 b adjacent to the moving body 3 and the movable range Rd of the support member 6 d adjacent to the moving body 3 overlap at least partially in the axial direction X. In other words, the movable range Rb of the support member 6b adjacent to the moving body 3 is closer to the opposite side of the bearing member 4a so as to at least partially overlap the movable range Rd of the support member 6d. The movable range Rd of the support member 6d adjacent to the moving body 3 is closer to the opposite side of the bearing member 4c so as to at least partially overlap the movable range Rb of the support member 6b. Therefore, when the moving body 3 is farthest from the bearing members 4a and 4c, the supporting members 6b and 6d support the rotating shaft 2 near the moving body 3 and can more reliably suppress vibration. As a result, it is possible to expand the moving range of the moving body 3 while suppressing the resonance of the rotating shaft 2.

  Also in this modified example, the rotating shaft 2 is substantially fixed and supported by the bearing members 4a and 4c and the supporting members 6a and 6c adjacent in the X direction, so that the supporting members 6a and 6c On the other hand, on the opposite side of the bearing members 4a and 4c, the rotary shaft 2 is firmly supported by such fixed support. As a result, the resonance frequency of the rotating shaft 2 between the supporting members 6b and 6d and the moving body 3 is relatively high (as opposed to the case where the end of the rotating shaft 2 is simply supported by one member), and the supporting member 6b. Further, it has been found that even if the distances C13 and C16 between 6d and the moving body 3 are relatively long, the resonance of the rotating shaft 2 between the supporting members 6b and 6d and the moving body 3 can be suppressed (this This point has also been confirmed by experiments conducted by the inventors). Therefore, when the moving body 3 is farthest from the bearing members 4a and 4c, the distances C13 and C16 along the rotation axis 2 between the supporting members 6b and 6d and the moving body 3 are set to the supporting members 6a and 6c and the bearing member 4a. It is configured to be longer than the intervals C11 and C14 along the rotation axis 2 with respect to 4c (C13> C11, C16> C14). As a result, as described in Patent Document 1, the support member is provided at the center of the moving body and the bearing member, and this modification is compared with the configuration in which the distance between the support member and the moving body is equal to the distance between the support member and the bearing member. In the example, the moving range of the moving body 3 can be expanded by increasing the distances C13 and C16 along the rotation axis 2 between the support members 6b and 6d and the moving body 3. In this way, it is possible to expand the moving range of the moving body 3 while suppressing the resonance of the rotating shaft 2.

Further, in this variant Katachirei, and support member 6c of the plural (two), 6d are provided between the movable body 3 and the bearing member 4c. When the moving body 3 is furthest away from the bearing member 4c, the interval C12 along the rotation axis 2 between the support members 6c and 6d adjacent in the X direction is longer than the interval C11 (C12> C11). ), The actuator 1 is configured. Thus, in the configuration in which the rotating shaft 2 is supported by a plurality (two) of the supporting members 6c and 6d, the rotating shaft 2 is substantially fixedly supported by the bearing member 4c and the supporting member 6c adjacent thereto. The rotating shaft 2 is firmly supported by such a fixed support on the opposite side of the bearing member 4c to the support member 6c (the moving body 3 side with respect to the outer support member 6c). Therefore, the distance C12 along the rotation axis 2 between the support members 6c and 6d adjacent in the X direction is larger than the distance C11 along the rotation axis 2 between the support member 6c and the bearing member 4c adjacent in the X direction. You can make it longer. In particular, with such a configuration, the distance C12 between the support members 6c and 6d can be increased, and for example, a design for expanding the moving range of the movable body 3 while suppressing the number of support members can be easily performed. Become. Further, the support members 6a and 6b and the bearing member 4a and their intervals C14 and C15 are similarly configured.

  Incidentally, the moving speed of the supporting members 6a to 6d interlocked with the moving body 3 can be set as appropriate. For example, the moving speed Vs of the supporting members 6a to 6d may be proportional to the moving speed Vm of the moving body 3. The proportionality constant at this time is set based on a value M obtained by adding 1 to the number of support members 6a to 6d (two in this modification) provided between the bearing members 4a and 4c and the moving body 3. be able to. Therefore, the moving speed Vs1 of the supporting members 6a and 6c (end supporting members 6a and 6c) adjacent to the bearing members 4a and 4c is less than 1 / M with respect to the moving speed Vm of the moving body 3 (in this modification example). (1/3 or less) may be set (Vs1 ≦ Vm / 3). Furthermore, the moving speed Vm1 of the end support members 6a and 6c is set to a non-integer fraction (for example, 1 / 3.1 or 1 / 3.2) with respect to the moving speed Vm of the moving body 3. May be.

  As for the moving speeds of the supporting members 6b and 6d other than the end supporting members 6a and 6c, the number “N” obtained by counting the supporting members 6a to 6d in order from the bearing members 4a and 4c to the moving body 3 is supported by the end. What is necessary is just to set to the speed which multiplied the moving speed Vs1 of the members 6a and 6c. That is, in this modification, the moving speed Vs2 of the support members 6b and 6d between the end support members 6a and 6c and the moving body 3 may be set to “2 × Vs1”.

  Of course, modifications other than those shown in FIGS. 9 to 15 can be made. Accordingly, various modifications can be made to the specific configuration of the support member 6. For example, in the above embodiment, the protruding portion 64 b of the guide engaging portion 64 protrudes only on one side in the X direction with respect to the shaft contact portion 62. However, the protruding portion 64b of the guide engaging portion 64 may be configured to be T-shaped by protruding on both sides in the X direction with respect to the shaft contact portion 62.

  Alternatively, in the above embodiment, the shaft contact portion 62 and the guide engagement portion 64 are attached to each other via the frame 60. However, the shaft contact portion 62 and the guide engaging portion 64 may be attached by screwing or the like without using the frame 60, or the shaft contact portion 62 and the guide engaging portion 64 may be integrally configured. I do not care.

  The specific configurations of the shaft contact portion 62 and the guide engagement portion 64 are not limited to the above configuration. Therefore, the shaft contact portion 62 may be constituted by one or three or more divided bushes 622, and the shaft contact portion 62 may be constituted by parts other than the divided bushes 622.

  In the above embodiment, the roller 66 is urged toward the hook 32 by an elastic force in a state where the hook 32 of the moving body 3 and the roller 66 of the support member 6 are in contact with each other. However, the hook 32 may be configured to be urged toward the roller 66 by an elastic force.

  Moreover, in the said embodiment, the hook 32 was provided in the mobile body 3, and the roller 66 was provided in the support member 6. FIG. However, the roller 66 may be provided on the moving body 3 and the hook 32 may be provided on the support member 6.

  In the actuator 1 shown in FIG. 1, the configuration for connecting the moving body 3 and the support member 6 is not limited to the configuration using the hook 32 and the roller 66 described above.

  Further, the number of support members 6 (6a, 6b, 6c, 6d) provided between the bearing member 4 (4a, 4c) and the moving body 3 is not limited to two, and may be one or three or more.

  Further, the specific configuration for interlocking the support member 6 is not limited to the configurations of the first and second examples, and the position and moving speed of the support member 6 can be changed as appropriate.

DESCRIPTION OF SYMBOLS 1 ... Actuator 2 ... Rotating shaft 3 ... Moving body 32 ... Hook 4 ... Bearing member 5 ... Guide rail 6 ... Support member 6a ... Support member 6b ... Support member 60 ... Frame 601 ... Shaft opposing part 602 ... Guide opposing part 602b ... Projection Part 603 ... Contact part 62 ... Shaft contact part 622 ... Divided bush 624 ... Semicircular member 624a ... Contact part 64 ... Guide engagement part 64a ... Engagement part 64b ... Projection part 66 ... Roller 7 ... Stopper 8 ... Stopper 100 ... Interlocking mechanism 112 ... Pulley 114 ... Pulley 116 ... Pulley 200 ... Interlocking mechanism 215 ... Gear 225 ... Gear 235 ... Gear Ps (1), Ps (2), Ps (3), Ps (4) ... Stop position M2 ... Motor X ... Axial direction Y ... Width direction C1, C4, C11, C14 ... Spacing between bearing member 4 and support member 6 C2, C5, C12, C15 ... Spacing between support members 6 C3, C6, C 13, C16: Space between support member 6 and moving body 3 Ra, Rb, Rc, Rd: movable range of support member

Claims (3)

An axis of rotation extending in the axial direction;
A moving body attached to the rotating shaft and moving in the axial direction according to the rotation of the rotating shaft;
One bearing member that receives the rotating shaft on one side in the axial direction;
The other bearing member that receives the rotating shaft on the other side opposite to the one side in the axial direction;
One support member that supports the rotating shaft between the movable body and the one bearing member and is movable according to the movement of the movable body;
The other support member that supports the rotating shaft between the movable body and the other bearing member and is movable according to the movement of the movable body;
A movable range limiting mechanism that limits a movable range in which each of the one support member and the other support member can move;
The movable range of the one support member and the movable range of the other support member at least partially overlap in the axial direction ;
The movable range limiting mechanism provides a stop position for each of the one support member and the other support member,
The one support member is movable within the movable range provided on the one bearing member side from the corresponding stop position, and the movable body moves on the opposite side of the one bearing member with respect to the stop position. While it is stopped at the stop position, and while the moving body enters the movable range, it moves with the moving body,
The other support member is movable within the movable range provided on the other bearing member side from the corresponding stop position, and the movable body moves on the opposite side of the other bearing member with respect to the stop position. While it is stopped at the stop position, and while the moving body enters the movable range, it moves with the moving body,
One member of the movable body and the one support member has one hook and the other member has a roller that can be engaged with and disengaged from the one hook.
When the movable body collides with the one support member that stops at the stop position, the one support member engages with the movable body and moves with the movable body,
When the one support member that engages with the moving body comes into contact with a stopper corresponding to the stop position, the one support member comes off from the moving body and stops at the stop position,
One member of the moving body and the other support member has the other hook, and the other member has a roller that can be engaged and disengaged with the other hook,
When the movable body collides with the other support member that stops at the stop position, the other support member engages with the movable body and moves with the movable body,
An actuator that, when the other support member engaged with the moving body comes into contact with a stopper corresponding to the stop position, disengages the other support member from the mobile body and stops at the stop position . A plurality of each of the one support member and the other support member are provided,
The movable range of the one supporting member adjacent to the moving body and the movable range of the other supporting member adjacent to the moving body at least partially overlap in the axial direction. Actuator.   Of the plurality of the one support members, the movable range of the one support member on the side farther from the movable body than the one support member adjacent to the movable body, and the movement of the plurality of the other support members. The actuator according to claim 2, wherein the movable range of the other support member on the side farther from the moving body than the other support member adjacent to the body does not overlap in the axial direction.

Images