JPH063201B2 - Oscillating rotary drive - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a swinging structure in which a driving means such as a motor is connected to an input shaft of a rotary servo actuator to control the rotation of an output shaft and its stop position. The present invention relates to a dynamic rotary drive device.

[Prior Art] Conventionally, as a rotary drive device of this type, a rotary servo actuator previously proposed by the present applicant (Japanese Patent Publication No.
2-11399, hereinafter simply referred to as RSA. ) Is provided by connecting a rotating shaft of a DC servo motor to the input shaft of). This rotation drive device is configured to rotate the input shaft of the RSA by the DC servo motor and thereby rotate the output shaft. By controlling the rotation of the DC servomotor, such a rotation drive device can arbitrarily control the rotation speed and the stop position of the output shaft, and can give a large torque to the output shaft. , NC lathes and the like, and is often used as a rotation driving mechanism of a robot arm that supplies and takes out materials.

[Problems to be Solved by the Invention] However, when the above rotary drive device is used for a robot arm, there is a problem that the entire device becomes expensive and the configuration is complicated and maintenance and inspection is difficult. there were. That is, when the robot arm supplies or takes out the material from the NC lathe or the like, the operation of the robot arm becomes relatively simple. For example, there are three types of rotation stop positions: a position to grip an unprocessed material, a position to release the material, and a position to stop in the middle of the above stop position to avoid interference with peripheral equipment if further added. Good. Moreover, the stop position does not change with each setup, and in most cases, once set, the stop position is used. Therefore, there is no need to control the rotation of the input shaft by an expensive and complicated device such as a DC servo motor as in the above rotary drive device, and the robot arm becomes expensive in return.

The present invention has been made to solve the above problems, and of course, it is possible to simplify the configuration as well as having a sufficient function as a rotation drive mechanism such as a robot arm. Therefore, an object of the present invention is to provide an oscillating rotary drive device which is inexpensive and easy to maintain and inspect.

[Means for Solving the Problems] In the swing-type rotary drive device of the present invention, the drive means for rotating the input shaft is provided on the rotary motor and the rotary shaft of the rotary motor substantially orthogonal to the axis thereof. And a stopper that comes into contact with the arm to stop the rotation of the rotary shaft.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. FIG. 1 is a side sectional view showing an oscillating type rotary drive device of an embodiment. The swing-type rotary drive device shown in this figure is fixed by an RSA 1 and a drive means 2. First, the RSA1 will be described. RSA1 is
As shown in FIGS. 3 and 4, a casing 3, an output shaft 4 rotatably arranged in the casing 3,
The output shaft 4 includes an input shaft 5 which is rotatably arranged with its axis aligned with the axis of the output shaft 4. Inside the casing 3, a rotor 6 formed on the output shaft 4 is provided. And the partition 7 attached to the casing 3 divides it into a first hydraulic chamber 8.8 and a second hydraulic chamber 9.9.

The output shaft 4 has a first oil flow passage 10/10 whose one end opens to the first hydraulic chamber 8.8 and a second oil flow passage whose one end opens to the second hydraulic chamber 9/8. The flow paths 11 and 11 are formed. On the other hand, in the input shaft 5, depending on the relative angular position with respect to the output shaft 4, the first oil passage 10 and the second oil passage 11
A discharge flow channel communicating with the other end of one of the oil flow channels 11 and a return flow channel (not shown) communicating with the other end of the other oil flow channel are formed. . When such an RSA 1 rotates the input shaft 5 relative to the output shaft 4, the RSA 1 has the first hydraulic chambers 8 or 8 or the second hydraulic chambers 8.
The hydraulic oil can be selectively supplied to either one of the hydraulic chambers 9 and 9 and the hydraulic oil can be discharged from the other hydraulic chamber to rotate the output shaft 4 following the input shaft 5. It is like this.

Next, the drive means 2 will be described. The housing 3 is provided in the casing 3. Housing 21
Has a cylindrical shape and is attached to the end of the casing 3 on the input shaft 5 side with its axis aligned with the axis of the input shaft 5. A lid 22 is attached to the open end of the housing 21. An air motor (rotary motor) 23 having an axis aligned with the axis of the input shaft 5 is attached to the center of the lid 22. The air motor 23 has a shaft (rotating shaft) 24 protruding from both end surfaces thereof.
And is configured so that the shaft can be swung by 270 ° around the axis. One end of a shaft 24 of the air motor 23 and the input shaft 5 are connected via a coupling 25. A first arm (arm) 26 and a second arm (arm) 27 are attached to the other end of the shaft 24. Second arm 2
The length of 7 is set longer than that of the first arm 26. These arms 26 and 27 are fixed to the shaft 24 by bolts 28 screwed onto their ends.

On the other hand, a dovetail groove 29 extending along the circumferential direction is formed on the end surface of the lid 22. In this dovetail groove 29, two stoppers 30, 30 which are slidable in the circumferential direction are fitted. The stopper 30 is for setting the position of the rotating end of the shaft 24, and is fixed to the dovetail groove 29 by a screw member 31 screwed into the central portion thereof. Then, the stopper 30 can arbitrarily set the position of the rotating end of the shaft 24 by bringing the first arm 26 into contact with the side of the stopper 30 to stop the shaft 24 and appropriately changing the position thereof. It has become.

A piston cylinder 32 is arranged on the side of the housing 21. The piston cylinder 32 temporarily stops the shaft 24 at a position intermediate between the rotation ends, and has a piston (stopper) 32a protruding from the end surface of the lid 22 and movable in the axial direction.
Then, by making the piston cylinder 32 in the extended state, the second arm 27 can be brought into contact with the piston 32a to stop the shaft 24, and by making the piston cylinder 32 in the contracted state, the shaft 24 can be moved. It can be rotated. In addition, reference numeral 3 in the drawing
3 is a bearing.

In such an oscillating rotary drive, the positions of the stoppers 30 and 30 and the position of the second arm 27 with respect to the shaft 24 are appropriately changed so that the rotational end of the input shaft 5 and the intermediate stop position can be arbitrarily set. Can be set. Therefore, the robot arm is not only provided with a sufficient function as a rotary drive mechanism, but also an expensive and complicated drive means such as a DC servo motor is not required, so that the configuration is greatly simplified. It is possible to make it inexpensive and easy for maintenance and inspection. Further, since the input shaft 5 is configured to be mechanically stopped, the stopping accuracy of the output shaft 4 can be improved.

In addition, in the above-mentioned embodiment, the position of the intermediate stop of the shaft 24 is provided at one place, but the piston cylinder 32 is provided in the housing 2.
It may be arranged such that a plurality of them are arranged in one and stopped at a plurality of places. Further, although the input shaft 5 is rotated by the air motor 23, a hydraulic motor, a rotary solenoid, an AC motor or the like may be used.

[Effects of the Invention] As described above, in the swing-type rotary drive device of the present invention, the drive means for rotating the input shaft is provided on the rotary motor and the rotary shaft of the rotary motor substantially orthogonal to the axis thereof. Since the arm is provided with a stopper that stops the rotation of the rotary shaft by coming into contact with the arm, the structure can be greatly simplified, and therefore, the cost is low and maintenance is easy. It can be anything. Further, since the input shaft is configured to be mechanically stopped, it is possible to obtain the effect that the stop accuracy of the output shaft can be improved.

[Brief description of drawings]

FIGS. 1 to 4 are views showing an embodiment of the present invention, and FIG. 1 is a sectional view showing a rocking type rotary drive apparatus on a crushing side,
2 is a view taken in the direction of arrow II in FIG. 1, FIG. 3 is a side sectional view showing a rotary servo actuator, and FIG. 4 is a sectional view taken along the line IV-IV in FIG. 1 ... Rotary servo actuator, 2 ... Driving means, 3 ... Casing, 4 ... Output shaft, 5 ... Input shaft, 23 ... Air motor (rotating motor), 24 ... Axis (rotating shaft), 26 ...... First arm (arm), 27 ... Second arm (arm), 30 ... Stopper, 32a ... Piston (stopper).

Claims (1)

[Claims] 1. A rotary servo actuator having a casing, an input shaft rotatably arranged in the casing, and an output shaft rotating following the rotation of the input shaft to rotate the input shaft. In the swing-type rotary drive device provided with a drive means, the drive means includes a rotary motor, an arm provided on a rotary shaft of the rotary motor substantially orthogonal to an axis thereof, and the arm being in contact with the arm. An oscillating rotation drive device comprising: a stopper for stopping rotation of a rotating shaft.