JPH0526944Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] This invention relates to a linear actuator that moves a work robot, etc. back and forth in a straight line, and in particular,
The present invention relates to a linear motor actuator using a linear motor.

[Prior Art] In recent years, work robots that perform work by moving back and forth in a straight line between devices such as machine tools have been used in factories and the like. For example, there is a ball screw type linear actuator shown in FIG. 5 that allows the work robot to move back and forth in a straight line. In this ball screw type linear actuator, a female screw portion 1a is provided at the bottom of a stage 1 on which a robot or the like is attached, and this screw portion 1a is screwed into a ball screw 2.
Both ends of the ball screw 2 are supported by a frame (not shown) via rolling bearings 4, 4, and one end of the ball screw 2 is connected to a rotary motor 3 so as to be driven to rotate in both forward and reverse directions. .

However, the conventional ball screw type linear actuator configured in this way uses the rotary motor 3 as a power source to obtain linear motion,
A ball screw 2 is used as the rotation-to-linear conversion mechanism, which makes the mechanism complicated, increases the number of parts, and often generates vibration noise due to a decrease in mechanical rigidity.

Under these circumstances, it has been considered to configure the linear actuator with a linear motor that can eliminate the rotation-to-linear conversion mechanism. The linear motor has a structure in which a primary side and a secondary side corresponding to a rotary motor are extended in a planar shape, and can move linearly by applying a traveling magnetic field from the primary side unit to the secondary side unit. Therefore, development of a linear motor type actuator using the linear motor is progressing.

[Problems to be solved by the invention] As mentioned above, the linear motor type actuator has fewer parts than the conventional linear actuator using a rotary motor because the rotation linear conversion mechanism is eliminated. It can be made thin and compact, and is therefore ideal as a linear actuator for moving the above-mentioned work robots, which have recently become smaller and more sophisticated.

However, recent work robots are becoming more compact and require higher precision, and along with this, linear actuators have become smaller and require more ingenuity when it comes to incorporating them into equipment. Ta.

This invention was made in view of the above circumstances, and its purpose is to use a linear motor as a linear actuator and to provide a linear motor type actuator that is further miniaturized.

[Means for solving the problem] This invention consists of a linear bearing rail installed along the side of a base installed in a predetermined movable section, and a linear bearing rail that is movably supported along the rail. The linear bearing is equipped with a linear bearing attached to both sides of the core of the primary unit of the linear motor via a frame plate so as to be located in the space above the coil of the primary unit of the linear motor. shall be.

[Function] According to this invention, linear bearings are attached to both sides of the core of the primary unit of the linear motor via frame plates, and the linear bearings are placed in the space above the coil in the primary unit. The width of the entire actuator is shortened by an amount corresponding to the space above the coil of the primary side unit, and miniaturization can be achieved.

[Example] FIGS. 1 to 3 are diagrams showing the configuration of an embodiment of the linear motor actuator according to the invention, FIG. 1 is a cross-sectional view thereof, and FIG. 2 is a cross-sectional view of FIG. -' is a plan view, and FIG. 3 is a perspective view. In these figures, reference numeral 10 denotes a base installed in the moving section of the work robot, and is formed into a long flat plate shape. Side plates 12, 12 each having a U-shaped cross section are attached to both sides of the base 10 along the longitudinal direction, and covers 13 are attached to the ends of the side plates 12, 12 as shown in FIG. , 13 are attached to limit the movement range of the work robot. Moreover, rails 14, 14 for linear bearings are attached to the upper inner surfaces of the side plates 12, 12. The rails 14, 14 have protrusions 14a, 14a formed along the longitudinal direction on their inner sides, and support and guide linear bearings 15, 15, which will be described later, by the protrusions 14a, 14a.

Further, a secondary unit 16 of a linear motor is attached to the upper surface of the guide base 10 along its longitudinal direction. This secondary unit 16 is
It is made of a permanent magnet and has north and south poles arranged alternately in the longitudinal direction. A primary unit 17 is arranged opposite to this secondary unit 16. The primary side unit 17 is
It is composed of an angular core 18 made of laminated thin plates and a coil 19 wound around the lower part of the core 18. The coil 19 has a side end that is connected to the core 18.
It is formed by protruding from the side of the body on both sides, and its tip is bent upward.
By passing a current through the coil 19, the core 18
A traveling magnetic field is generated, and this traveling magnetic field acts on the secondary side unit 16 to generate a thrust force.

Frame plates 20, 20 having an L-shaped cross section are attached to both sides of the core 18 of the primary side unit 17, and the frame plates 20, 20 have upper plates 20a,
A moving plate 21 (stage) is attached to the moving plate 20a, and a working robot is installed on the moving plate 21.

Further, the linear bearings 1 are attached to both sides of the core 18 of the primary unit 17 via frame plates 20, 20.
5 and 15 are attached, and the linear bearing 1
5 and 15 are located in the space above the coil 19 of the primary unit 17, respectively.

The linear bearings 15, 15 are each configured such that two sets of ball bearings 15a, 15b circulate inside, and the ball bearings 15a, 15b face the outside from a recess 15c provided on the outer side. There is. The recesses 15c, 15c are fitted onto the protrusions 14a, 14a of the rails 14, 14, respectively, and ball bearings 15a, 15b rotatably abut against the protrusions 14a, 14a from above and below, respectively. It is possible to move in a straight line along 14.

According to the above embodiment, the linear bearing 1
5 and 15 are the primary side unit 17 of the linear motor.
By attaching it to both sides of the core 18 via the frame plates 20, 20 and disposing it in the space above the coil 19 in the primary unit 17, a normal linear motor attachment method as shown in FIG.
That is, the movable plate 21 is formed so as to surround the primary side unit 17, and the linear bearing 1 is attached to the side thereof.
5 and 15 to make it movable, the width of the entire actuator is smaller than that of the coil 19 of the primary unit 17 of the linear motor.
The actuator can be made smaller by an amount corresponding to the upper space of the actuator. Therefore, it is easy to incorporate the actuator into the device,
The device can be made lighter and smaller.

In addition, in the above embodiment, the linear bearing 1
5 and 15 are of a circulating type in which ball bearings 15a and 15b circulate respectively, but a bearing in which the ball bearing rotates at that location or a sliding type linear bearing may also be used. Further, in the above embodiment, the work robot is attached to the moving plate 21, but this invention can also be used as a linear actuator for other devices whose purpose is to perform linear movement, such as a printer head. May be used.

[Effects of the invention] As explained above, according to this invention, linear bearings are attached to both sides of the core of the primary unit of a linear motor via a frame plate, and the linear bearings are connected to the coil in the primary unit. By arranging the actuator in the upper space, the width of the entire actuator is shortened by an amount corresponding to the upper space of the coil of the primary side unit, making it possible to reduce the size of the actuator. The entire device can be made smaller and lighter.

[Brief explanation of the drawing]

FIGS. 1 to 3 are diagrams showing an embodiment of the linear motor actuator according to this invention,
Fig. 1 is a sectional view thereof, Fig. 2 is a plan view between -', Fig. 3 is a perspective view, Fig. 4 is a sectional view showing a comparative example to one embodiment of this invention, and Fig. 5 is a sectional view of the invention. ,
FIG. 2 is a schematic configuration diagram showing a ball screw method related to a conventional actuator. 10... Guide base, 12... Side plate, 13... Cover, 14... Rail for linear bearing, 14a...
Projection, 15... Linear bearing, 15a, 15b...
Ball bearing, 15c... recess, 16... secondary side unit of linear motor, 17... primary side unit of linear motor, 18... core, 19...
Coil, 20...Frame plate, 21...Movement plate.

Claims (1)

[Scope of utility model registration request] A base installed in a predetermined movable section, a secondary unit of a linear motor placed on the base along its longitudinal direction, and a linear motor placed opposite the secondary unit. The primary side unit of a linear motor is a primary side unit that is composed of a core formed in a polygonal shape and a coil wound around the lower part of the core, and a linear motor that is attached to both sides of the core of the primary side unit and that A linear motor actuator having a frame plate for mounting a moving part on the upper part, a linear bearing rail mounted along the side of the base, and a linear bearing movably received along the rail. A linear motor actuator comprising linear bearings attached to both sides of the core of the primary unit via the frame plate so as to be located in the space above the coil of the primary unit.