JPH0635716U - Single-axis compound motion device with motor - Google Patents

Abstract

(57) [Abstract] [Purpose] A simple structure enables downsizing of the device, heat generation of the motor is reduced, and rotation / straight movement can be easily obtained by one axis. A shaft 1 having a spline groove 1a on its outer periphery, a first spline nut 2 that engages with the spline groove 1a to rotate the shaft 1, and a shaft 11 that engages with the spline groove 1a. It is provided with a second spline nut 3 rotatably arranged and a motor M in which the rotor portion 4 is connected to the first spline nut 2, and the shaft 1 has a linear drive source 15
Are connected and moved in the axial direction, and the shaft 1 is rotated and moved in the axial direction by the linear drive source 15 and the motor M. [Effect] The rotation drive of the shaft may be performed by one motor, and the heat generation of the motor can be significantly reduced as compared with the conventional one. Furthermore, by the combined operation of the first spline nut that is rotationally driven by the motor and the linear drive source,
Complex operation can be easily realized. Also, since only the spline nut is engaged with the shaft, a large stroke can be obtained.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a uniaxial compound motion device that rotates a shaft by a spline nut and moves the shaft in the axial direction by another moving drive source connected to the shaft.

[0002]

[Prior art]

 It has a drive source for operating a chuck or a hand provided on an orthogonal XY robot or a SCARA type robot, or an operating means for a work or tool such as a machine tool. As the drive source, since the hand of the robot, the operating means of the machine tool, and the like perform various operations, the shaft of the drive source needs a combined operation of rotation and rectilinear movement. However, a servo motor is generally used as a drive source, but this type of servo motor has a limitation in its operation because its axis simply rotates. For this reason, for example, a rotary / straight-movement unit is provided with a servomotor for rotary motion and a servomotor for straight-forward motion, and the servomotor for rotary motion is moved by the power of the servomotor for straight-forward motion to rotate / straight-run. It was configured to do the work.

[0003]

[Problems to be solved by the device]

 However, in the rotation / linear movement unit using the above two servo motors, for example, in order to move the servo motor for rotation operation, the power of the servo motor for linear movement is required, and a large output is required. Since this motor is required, there is a problem that the heat generation of the motor becomes large and the speed of the rectilinear movement becomes slow. In addition, since a motor is installed side by side, a space corresponding to the projected area in the axial direction is required, which inevitably increases the size. Further, when the rotation of the servomotor and the shaft for rotation operation is transmitted by a belt, the belt must be replaced every predetermined time, and there is a problem that maintenance of these is complicated.

The present invention has been made in order to solve such a problem, and makes it possible to downsize the device with a simple structure, reduce heat generation of the motor, and rotate / straighten on one axis. It is an object of the present invention to provide a uniaxial combined movement device with a motor that can easily obtain the above-mentioned operation.

[0005]

[Means for Solving the Problems]

 The present invention includes a shaft provided with a spline groove on the outer periphery, a first spline nut that engages with the spline groove to rotate the shaft, and is rotatable with respect to the housing when engaged with the spline groove. A second spline nut disposed on the shaft and a motor having a rotor portion connected to the first spline nut, and a linear drive source is connected to the shaft to move the shaft in the axial direction. It is characterized in that the shaft is rotated and moved in the axial direction by the source and the motor.

[0006]

[Action]

 When the shaft is rotated by the first spline nut connected to the motor and the linear drive source is connected to the shaft to move in the axial direction to rotate and move the shaft in the axial direction, the rotational drive of the shaft is Since one motor is enough to eliminate other loads, heat generation of the motor is significantly reduced compared to the conventional one. Further, by the combined operation of the motor and the linear drive source, a complicated operation such as a spiral movement can be easily realized. Moreover, since only the spline nut is engaged with the shaft, a uniaxial compound operating device with a large stroke can be obtained.

[0007]

【Example】

 An embodiment of a uniaxial compound motion device with a motor according to the present invention will be described below with reference to the drawings. In FIG. 1, a spline groove 1 a parallel to the axis is provided on the outer circumference of the shaft 1. Then, the first spline nut 2 and the second spline nut 3 are engaged with the spline groove 1a and are arranged apart from each other. Further, between the first spline nut 2 and the second spline nut 3, the motor M for rotational drive coaxial with the shaft 1 and the rotation angle of the first spline nut 2 are accurately detected. A rotary encoder RE is installed in parallel. The rotor portion 4 of the motor M, which will be described later, is connected to the first spline nut 2 and the rotary encoder RE via a connecting member 5 rotatably arranged on the outer periphery of the shaft 1. There is. As described above, by disposing the first spline nut 2 and the second spline nut 3 at both ends of the device, and disposing the motor M and the rotary encoder R E between them, both nuts 2 and 3 are Since it functions as a kind of seal, it is possible to prevent scattering of dust and the like from the outside with respect to the rotary encoder RE.

The motor M is provided integrally with the connecting member 5 and, for example, a rotor portion 4 formed of an annular permanent magnet whose N and S poles are magnetized in the circumferential direction. Further, a stator core 6 is arranged on the outer circumference of the rotor portion 4 so as to face each other with a predetermined gap. A plurality of salient poles (not shown) are formed on the stator core 6, and a drive coil 7 of each phase is wound around each salient pole. By supplying a predetermined drive current to the drive coil 7, the rotor portion 4 is rotationally energized, and the first spline nut 2 and the rotary encoder RE are rotated at a predetermined rotation angle via the connecting member 5. Driven. The rotation of the first spline nut 2 causes the shaft 1 to rotate by a θ angle. This rotation angle is accurately determined by the output signal of the rotary encoder RE. Further, the outer circumferences of the first spline nut 2 and the second spline nut 3 are rotatably attached to the substantially cylindrical casings 10 and 11 via support bearings 8 and 9, respectively. A side plate 12 and a stator core 6 of the motor M are sandwiched and fixed between the housings 10 and 11.

On the other hand, the shaft 1 is connected to a linear drive source 15 composed of, for example, an air cylinder. The linear drive source 15 moves the shaft 1 forward or backward by an appropriate control device, and the operation is controlled in the Z-axis direction. In this way, when the shaft 1 is moved straight by the straight drive source 15, the first spline nut 2 and the second spline nut 3 can move the shaft 1 straight in the axial direction. Is configured.

Next, the operation of the motor shaft compound motion device will be described. Now, when the motor M is rotated, the first spline nut 2 is directly rotated via the connecting member 5 connected to the rotor portion 4. At this time, the second spline nut 3 rotatably supports the shaft 1 by the support bearing 8. Since the first spline nut 2 is engaged with the spline groove 1a of the shaft 1, this rotation causes the shaft 1 to rotate in the θ-axis direction which is the circumferential direction. This rotation angle is also accurately determined by the output signal of the rotary encoder RE.

Further, as described above, the straight-ahead driving source 15 performs a straight-ahead operation separately from the rotating operation by the first spline nut 2. Therefore, by combining the rotational movement by the first spline nut 2 and the linear movement by the linear drive source 15, it becomes possible to operate the shaft 1 in a spiral shape, for example, and perform various complicated operations. You can

It should be noted that the above-described embodiment is merely an example, and the first and second spline nuts are not limited to the ball nuts, and may have a general nut configuration. The configuration of the motor can be variously modified without departing from the scope of the present invention.

[0013]

Effects of the invention]

 As is apparent from the above description, according to the single-shaft compound motion device with a motor of the present invention, the shaft is rotated by the first spline nut connected to the motor, and the shaft is connected in the axial direction by connecting the linear drive source. Since it is configured to move the shaft to rotate and move in the axial direction, one motor is sufficient for rotational drive of the shaft, and other loads are eliminated. Can be significantly reduced. Furthermore, a complex operation such as a spiral movement can be easily realized by the combined operation of the first spline nut rotationally driven by the motor and the linear drive source. Further, since only the spline nut is engaged with the shaft, there is an advantage that a 1-axis compound motion device having a large stroke can be obtained.

[0014]

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing an embodiment of a uniaxial compound operation device with a motor of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 shaft 1a spline groove 2 1st spline nut 3 2nd spline nut 4 rotor part 5 connecting member member 10, 11 housing 15 linear drive source M motor

Claims (1)

[Scope of utility model registration request] 1. A shaft having a spline groove on its outer circumference, a first spline nut that engages with the spline groove to rotate the shaft, and engages with the spline groove and is rotatable with respect to a housing. A second spline nut arranged,
A motor in which a rotor portion is connected to the first spline nut, a linear drive source is connected to the shaft to move in the axial direction, and the linear drive source and the motor rotate the shaft in the axial and axial directions. A single-axis compound motion device with a motor configured to move to the above.