JPH06213298A - Self-running device - Google Patents

Abstract

PURPOSE:To provide a self-running device which can move an electric motor itself by operation of the electric motor, can dispense with a toothed pulley, a timing belt, and the like as a rotation transmission mechanism, and can accurately move a body to be moved such as a grinding head. CONSTITUTION:This self-running device 1 is provided with an electric motor 4 having a hollow rotor 2 and a hollow stator 3, a shaft 8 which is formed with a thread groove 6 and a spline groove 6 on the outer circumferential face 7 and arranged so as to penetrate through the hollow rotor 2 and the hollow stator 3 of the electric motor 4, a spline nut 9 which is engaged with the spline groove 6 of the shaft 8 and fixedly secured with the hollow stator 3 of the electric motor 4, and a thread nut 10 which is engaged with the thread groove 5 of the shaft 8 and fixedly secured with the hollow rotor 2 of the electric motor 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled device in which the electric motor itself is moved by the operation of the electric motor.

[0002]

2. Description of the Related Art For example, when a grinding head of a glass plate processing machine is moved in an XY plane, conventionally, an output rotary shaft of an electric motor provided on a bed is passed through a toothed pulley, a timing belt or the like. The grinding head is attached to the slider (moving table) that is connected to the screw shaft and is screwed to the screw shaft. When positioning the grinding head, the electric motor is operated to rotate its output rotary shaft. With the rotation of the output rotation shaft, the screw shaft is rotated to move the slider in the X direction, for example.

[0003]

By the way, in such a conventional grinding head moving device, since the rotation of the output rotary shaft of the electric motor is transmitted to the screw shaft via the toothed pulley, the timing belt, etc. In some cases, the movement of the grinding head does not correspond to the rotation of the output rotary shaft of the electric motor. Further, since the screw shaft is generally long and many sliders screwed onto the screw shaft have a large mass, the screw shaft is apt to be twisted during rotation, which also causes the movement of the grinding head. It may not correspond to the rotation of the output rotation shaft of the electric motor. If the movement of the grinding head and the rotation of the output rotary shaft of the electric motor do not correspond to each other, the grinding head cannot be accurately arranged at a desired position, and it becomes difficult to perform the grinding as programmed.

The present invention has been made in view of the above points, and an object of the present invention is to move the electric motor itself by the operation of the electric motor, thereby providing a toothed pulley, which is a rotation transmission mechanism, and a timing. An object of the present invention is to provide a self-propelled device that can omit a belt and the like and can accurately move a moving body such as a grinding head.

[0005]

According to the present invention, the above object is to provide an electric motor having a hollow rotor and a hollow stator,
A screw groove and a spline groove are formed on the outer peripheral surface of the electric motor, the shaft being pierced through the hollow rotor and the hollow stator of the electric motor, and the spline groove of the shaft engaging with the electric motor. This is achieved by a self-propelled device including a spline nut fixed to a hollow stator and a screw nut engaged with a thread groove of the shaft and fixed to a hollow rotor of an electric motor.

In one preferred example of the present invention, the screw groove is a ball screw groove, the spline groove is a ball spline groove, and a plurality of balls (steel balls) in which the spline nut engages with the ball spline groove and the balls. Is a ball spline nut having a cylindrical portion for movably and rotatably holding, and a large number of balls (steel balls) whose screw nut engages with a ball screw groove and a cylindrical portion for movably and rotatably holding the balls. And a ball screw nut.

In another preferred embodiment of the invention, the shaft is arranged vertically and the electric motor is adapted to run vertically along this shaft. Furthermore, in another preferable example of the present invention, the hollow stator is arranged such that its cylindrical portion covers the cylindrical portion of the hollow rotor.

As a preferred example of the object to be moved attached to the self-propelled device of the present invention, a grinding head, a polishing head, a splitting head, a cutter head, etc. can be presented, but the present invention is not limited thereto. For example, a welding torch or the like may be used.

[0009]

In the self-propelled device of the present invention, the hollow rotor is rotated when electric power is supplied to the electric motor. When the hollow rotor is rotated, the screw nut fixed to the hollow rotor is also rotated, so that the hollow rotor is moved along the axis. On the other hand, since the rotation of the spline nut around the axis is blocked by the mutual engagement of the spline nut and the spline groove, the hollow stator to which the spline nut is attached is
When the hollow rotor is rotated, it is not rotated, but is guided by the spline engagement between the spline nut and the spline groove and moved along the shaft.

The present invention will now be described in detail with reference to the preferred embodiments shown in the drawings. The present invention is not limited to these specific examples.

[0011]

SPECIFIC EXAMPLE In FIG. 1, a self-propelled device 1 of this specific example includes an electric motor 4 having a hollow rotor 2 and a hollow stator 3,
A screw groove 5 and a spline groove 6 are formed on the outer peripheral surface 7, and the shaft 8 arranged through the hollow rotor 2 and the hollow stator 3 of the electric motor 4 and the spline groove 6 of the shaft 8 are engaged with the shaft 8. And a spline nut 9 fixed to the hollow stator 3 of the electric motor 4, and a screw nut engaged with the thread groove 5 of the shaft 8 and fixed to the hollow rotor 2 of the electric motor 4. And 10 are provided.

Spline groove 6 extending along the axis of shaft 8.
In this example, three threads are provided at equal intervals (120 ° intervals), and the spline nut 9 of this example has a large number of balls (steel balls) 15 and balls 15 that engage with each spline groove 6. Is a ball spline nut having a cylindrical portion 16 having a groove for movably and rotatably holding the inner peripheral surface thereof. Therefore, each spline groove 6 is formed as a ball spline groove, while the screw of the present example is used. Nut 10
Is a ball screw nut including a large number of balls (steel balls) 17 that engage with the thread grooves 5 and a cylindrical portion 18 that has grooves for holding the balls 17 movably and rotatably on the inner peripheral surface, Therefore, the screw groove 5 is formed as a ball screw groove.

The hollow stator 3 has a cylindrical portion 21 and a cylindrical portion 21.
And a side wall portion 22 integrally provided with the side wall portion 22, and the flange portion 23 of the spline nut 9 is fixed to the side wall portion 22 with a screw or the like. The hollow rotor 2 includes an inner cylindrical portion 31, an outer cylindrical portion 32 disposed outside the inner cylindrical portion 31 and the cylindrical portion 21, and a side wall portion 33 integrally provided on the inner cylindrical portion 31 and the outer cylindrical portion 32. And the flange portion 34 of the screw nut 10 is fixed to the side wall portion 33 via a screw or the like. The cylindrical portion 21 of the hollow rotor 2 is arranged between the inner cylindrical portion 31 and the outer cylindrical portion 32.

The cylindrical portion 21 of the hollow stator 3 and the hollow rotor 2
A bearing 41 is fitted between the outer cylindrical portion 32 and the outer cylindrical portion 32, and the hollow rotor 2 is rotatable about the shaft 7 with respect to the hollow stator 3 via the bearing 41.

The shaft 8 has one end 45 fixed to the bed 47 with screws 46 and the other end 48 fixed to the upper frame 49 with screws and arranged vertically.

The self-propelled device 1 formed as described above operates as follows. The hollow stator 3 has a spline nut 9
Since it is engaged with the spline groove 6 of the shaft 8 via the shaft, its rotation about the shaft 8 is prevented. Therefore, when electric power is supplied to the electric motor 4, the hollow rotor 2 moves to the shaft 8
Is rotated around. This rotation also causes the screw nut 10 to rotate, so that the screw nut 10, and thus the hollow rotor 2, is moved vertically along the shaft 8, while the hollow stator 3 and thus the electric motor 4 also moves along the shaft 8. Moved vertically.

As described above, in the self-propelled device 1, the hollow rotor 2
Since the hollow stator 3 is directly moved by the rotation of, when the grinding head of the glass plate processing machine is attached to the hollow stator 3, the backlash caused by the toothed pulley, the timing belt, etc. can be prevented. The movement of the grinding head is not affected and the hollow rotor 2 of the electric motor 4 is moved.
Rotation, the shaft 8 is not twisted, the grinding head can be accurately arranged at a desired position, and the glass plate can be ground by the grinding head as programmed. .

[0018]

As described above, the self-propelled device according to the present invention is
A spline nut engaged with the spline groove of the shaft and fixed to the hollow stator of the electric motor; and a screw nut engaged with the screw groove of the shaft and fixed to the hollow rotor of the electric motor. Therefore, it is possible to omit the toothed pulley, the timing belt, and the like, which are rotation transmission mechanisms, and it is possible to accurately move a moving body such as a grinding head.

[Brief description of drawings]

FIG. 1 is a sectional view of a preferred embodiment of the present invention.

[Explanation of symbols]

 1 Self-propelled device 2 Hollow rotor 3 Hollow stator 4 Electric motor 5 Screw groove 6 Spline groove 8 Shaft 9 Spline nut 10 Screw nut

Claims (3)

[Claims] 1. An electric motor having a hollow rotor and a hollow stator, a screw groove and a spline groove formed on an outer peripheral surface thereof, and a shaft arranged to penetrate through the hollow rotor and the hollow stator of the electric motor. And a spline nut engaged with the spline groove of the shaft and fixed to the hollow stator of the electric motor, and engaged with the thread groove of the shaft and fixed to the hollow rotor of the electric motor. Self-propelled device equipped with a screw nut. 2. The self-propelled device according to claim 1, wherein the shaft is arranged vertically, and the electric motor is adapted to travel in the vertical direction along the shaft. 3. The self-propelled device according to claim 2, wherein the screw groove is a ball screw groove, the spline groove is a ball spline groove, the spline nut is a ball spline nut, and the screw nut is a ball screw nut. apparatus.