JPH071378A - Rotary direct-acting type actuator unit - Google Patents

Abstract

PURPOSE:To provide an actuator unit that is simple in structure without using any ball bearing and inexpensive in manufacturing cost. CONSTITUTION:This actuator unit is provided with a rotary actuator 11 and a chuck unit 13 and a rotating part inclusive of a connecting rod 15 connecting this rotary actuator 11 and the chuck unit 13, a tubular rod 21 housing this connecting rod 15 rotatably, a piston 23 clamped to this rod 21, and a cylinder 31 housing this piston 23 shiftably inside, respectively. In this constitution, when the rotary actuator 11 rotates around a center axis, the rotating part rotates in relation to the rod 21, and a direct-acting part is formed by this rotating part, the rod 21 and the piston 23, and this direct-acting part travels along the center axis to the cylinder 31 by what the piston 23 travels to this cylinder 31.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator device configured to rotate and linearly move a chuck device.

[0002]

2. Description of the Related Art Conventionally, a rotary / direct-acting type actuator device for rotating and linearly driving a chuck device has been proposed. It is configured to have a rotary actuator for rotating the chuck device and a piston device for linearly driving the chuck device.

FIG. 4 shows the appearance of such a rotary / direct-acting type actuator device. The rotary / direct-acting actuator device includes a chuck device 13 mounted on the lower side and the chuck device 1.
Rotary actuator 11 for rotating 3
And a main body 31. The chuck device 13 has a central shaft 51.
Is supported by the rotary actuator 11, and the chuck device 13, the rotary actuator 11, and the central shaft 51 constitute a movable portion.

The movable portion is rotatably driven by the rotary actuator 11 about the central axis, and can be moved vertically along the central axis by the piston device housed in the main body 31.

By attaching the main body 31 of the rotary / direct acting type actuator device to the arm 71 which is movable in the horizontal direction, the chuck device 13 can perform the rotary motion, the vertical linear motion and the horizontal linear motion. it can.

As the chuck device 13, for example, an air chuck configured to move a chuck claw by an air cylinder is used.

FIG. 5 shows the structure of a conventional rotary / linear motion type actuator device. This actuator device has a central shaft 51
A pair of bearings 53 mounted on the central shaft, a spacer 55 supporting the bearing 53, a ball bearing 57 mounted on the outer surface of the spacer 55, a piston 61 mounted on the central shaft 51, and the like. And a cylinder or body 63 that houses the piston 61.
A ball bearing (not shown) may be mounted between the piston 61 and the main body 63.

Central shaft 51, piston 61 and bearing 5
3, the spacer 55 and the inner ring of the ball bearing 57 form a rotating portion, and the rotating portion is configured to be rotatable with respect to the main body 63.

The central shaft 51 and the piston 61 constitute a linear motion portion, and the linear motion portion is movable with respect to the bearing 53 in the central axis direction.

Two holes 63A and 63B are formed in the main body 63, and these holes 63A and 63B communicate with the air chambers 65 and 65 on both sides of the piston 61, respectively. For example, air is introduced from one hole 63A and the other hole 63B is introduced.
The piston 61 moves relative to the main body 63 by exhausting more air. The main body 63 is the arm 7
Since it is attached to the fixed part such as 1, the linear motion part including the piston 61 moves in the central axis direction.

[0011]

In the conventional actuator device as shown in FIG. 5, since the central shaft 51 is configured as a drive shaft for the rotary portion and the linear motion portion, the rigidity and accuracy of the central shaft 51 can be improved. However, there is a drawback that the manufacturing cost becomes high.

A large number of ball bearings are used in order to improve the rotational accuracy of the central shaft 51, and there is a drawback that the overall manufacturing cost becomes high.

In view of the above problems, an object of the present invention is to provide an actuator device having a simple structure and a low manufacturing cost without using a ball bearing.

[0014]

According to the present invention, for example, as shown in FIG. 1, a rotary portion including a rotary actuator 11, a chuck device 13, and a connecting rod 15 connecting the rotary actuator 11 and the chuck device 13. And a tubular rod 21 that rotatably accommodates the connecting rod 15.
A piston 23 fixed to the rod 21, a cylinder 31 movably housing the piston 23 therein,
When the rotary actuator 11 rotates about the central axis, the rotating portion rotates with respect to the rod 21, and the rotating portion, the rod 21, and the piston 23 form a linear moving portion. By moving 23 with respect to the cylinder 31, it is configured to move along the central axis with respect to the cylinder 31.

According to the present invention, for example, as shown in FIG.
A concave portion 21E is formed on the inner circumferential surface of No. 1 so that the friction between the inner circumferential surface of the rod 21 and the outer circumferential surface of the connecting rod 15 engaging with it is reduced.

According to the present invention, for example, as shown in FIG. 2, in the rotary direct acting actuator device, the chuck device 13 has a reference surface 13b perpendicular to the central axis, and the rod 21 has an end portion on the chuck device side. Has a reference surface 21b perpendicular to the central axis, the connecting rod 15 has a flange portion 15B at the end on the chuck device side, and the flange portion 15B corresponds to the reference surface 13b of the chuck device 13 and is perpendicular to the central axis line. The first reference surface 15b-2 and the second reference surface 15b-1 corresponding to the reference surface 21b of the rod 21 and perpendicular to the central axis, and the connecting rod 15 and the chuck device 13 engage with each other. Connected by screws.

[0017]

According to the present invention, the rotary actuator 1
1, the connecting rod 15 and the chuck device 13 constitute a rotating portion, the rotating portion, the rod 21 and the piston 23 constitute a linear moving portion, and the cylindrical inner surface of the rod 21 constitutes a bearing surface for the rotating portion. The outer circumferential surface of 21 is configured as a bearing surface of the linear motion portion.

[0018]

Embodiments of the present invention will be described below with reference to FIGS. 1 to 3, the same parts as those in FIGS. 4 to 5 are designated by the same reference numerals, and detailed description thereof will be omitted.

FIG. 1 shows an example of a rotary / direct acting type actuator device of the present invention. In the actuator device of this example, a rotary actuator 11 arranged at the upper end and a chuck device 13 arranged at the lower end are connected to each other. Connecting rod 1
5 and.

The connecting rod 15 may have a hollow tubular shape or a solid rod shape, but is preferably formed in a tubular shape. Connecting rod 15
Both ends of are connected to the rotary actuator 11 and the chuck device 13 by a suitable method. For example, as shown in FIG.
11A of the protrusion 1 and 13A of the chuck device 13
May be connected by engaging.

However, preferably, the chuck device 13 is formed by forming an internal thread on the inner surface of the tubular portion at the lower end of the connecting rod 15.
A male screw may be formed on the outer surface of the protrusion 13A, and the connecting rod 15 may be connected to the chuck device 13 by engaging both screws.

Thus, the rotary actuator 11
The chuck unit 13 and the connecting rod 15 constitute a rotating unit.

A tubular rod 21 is arranged outside the connecting rod 15. The outer circumferential surface of the connecting rod 15 and the rod 21
And the inner cylindrical surface of the above constitutes a bearing surface that engages with each other. When the connecting rod 15 rotates relative to the rod 21, such bearing surfaces slide on each other.

A ring-shaped support member 25 and a stopper 27 adjacent to the support member 25 are attached to the upper end of the rod 21.

According to the present example, a piston device for moving the chuck device 13 along the central axis is provided, and such a piston device includes a piston 23 mounted on the outside of the rod 21 and the piston 23. It has a receiving cylinder or body 31. A fluid chamber 33 is formed on both upper and lower sides of the piston 23, and holes 31A and 31B communicating with the fluid chamber 33 are provided in the main body 31.

An appropriate fluid, for example, air is introduced into the fluid chamber 33 via the holes 31A and 31B. By introducing air from one of the holes 31A and 31B and exhausting air from the other, the piston 23
Moves relative to the body 31.

The body 31 is formed in a cylindrical shape so as to house the piston 23 therein, and the annular portions at both ends are engaged with the outer circumferential surface of the rod 21. A suitable sealing device 35 is mounted on the annular portion of the body 31. The fluid chamber 33 is sealed by the sealing device 35.

The main body 31 and the sealing device 3 attached to it
The linear motion part is constituted by the part where 5 and 5 are removed. That is, the rotary actuator 11 and the chuck device 13
The rotating portion including the connecting rod 15 and the rod 21 and the piston 23 constitute a linear moving portion.

The operation of the actuator device of this example will be described. When rotating the chuck device 13, the rotary actuator 11 is operated. By operating the rotary actuator 11, the rotating portion, that is, the connecting rod 15 and the chuck device 13 attached thereto are rotated. The rod 21, piston 23, support member 25, main body 31, etc. do not rotate.

When moving the chuck device 13 in the vertical direction, the piston device is operated. Hole 31A of the main body 31,
Air is introduced from one side of 31B and air is exhausted from the other side. As a result, the linearly moving portion, that is, the rotating portion, the rod 21, and the piston 23 move along the central axis. Usually, the body 31 is attached to a suitable fixed part, so that the linear motion part moves with respect to the fixed body 31. The stopper 27 limits the moving stroke of the linear motion portion.

According to this embodiment, since the piston 23 moves linearly with respect to the cylinder or the main body 31 but does not rotate, it is not necessary to provide a ball bearing between the piston 23 and the main body 31, and the manufacture is simpler. Become.

An appropriate type of chuck device 13 is used. Preferably, for example, an air chuck configured to move the chuck claw by an air cylinder is used.

FIG. 2 shows the details of the upper end and the lower end of the connecting rod 15 and the rod 21 of this example. As shown in the figure, the upper surface 15a of the tubular portion at the upper end of the connecting rod 15 constitutes a reference surface and is arranged perpendicular to the central axis.

The actuator 11 has an annular reference surface 11
a is formed and is arranged perpendicular to the central axis.

A flange portion 15B is formed on the tubular portion at the lower end portion of the connecting rod 15, and the upper surface 15b-1 and the lower surface 15b-2 of the flange portion 15B constitute a reference surface, and the central axis line is It is arranged vertically to the contrary. Rod 2
The annular surface 21b at the lower end of 1 constitutes a reference surface.

The chuck device 13 has an annular reference surface 13b.
Are formed and are arranged perpendicular to the central axis.

Next, a process of assembling the actuator device of the present invention will be described. First, the connecting rod 15 is connected to the chuck device 13. At this time, the reference surface 13b of the chuck device 13 is engaged with the reference surface 15b-2 of the connecting rod 15. Next, the rod 21 is engaged with the connecting rod 15. At this time, similarly,
The reference surface 15b-1 of the connecting rod 15 and the reference surface 2 of the rod 21
Engage 1b. Next, the piston 23, the main body 31, the stopper 27, the support member 25, etc. are mounted.

The reference surface 15a at the upper end of the connecting rod 15 is adjusted so that the annular surface 21a at the upper end of the rod 21 and the upper annular surface 25a of the support member 25 are aligned with each other. Preferably, the annular surface 21a at the upper end of the rod 21 is adjusted so as to be located slightly below the reference surface 15a at the upper end of the connecting rod 15. Next, the rotary actuator 11 is attached to the upper end of the connecting rod 15. At this time, the connecting rod 15
The reference surface 15a at the upper end of the rotary actuator 1
It is engaged with the annular reference surface 11a.

When the annular surface 21a at the upper end of the rod 21 is arranged slightly below the reference surface 15a at the upper end of the connecting rod 15, the annular surface 21a of the rod 21 and the reference surface 11a of the rotary actuator 11 are arranged. A small gap is formed between and. In such a case, the position of the support member 25 is adjusted so that the upper annular surface 25a of the support member 25 engages with the annular reference surface 11a of the actuator device 11.

The upper annular surface 25a of the support member 25 constitutes a bearing surface, and the annular reference surface 11a of the rotary actuator 11 constitutes a bearing surface. When the connecting rod 15 rotates relative to the rod 21, the annular surface 25a of the support member 25 engages with the annular reference surface 11a of the corresponding rotary actuator 11 and slides.

Thus, the rotary actuator 11
The connecting rod 15 and the chuck device 13 can be integrally configured by being arranged along one central axis and aligned therewith.

FIG. 3 shows another example of the rod 21 of the actuator device of the present invention. In the above-mentioned example, the outer circumferential surface of the connecting rod 15 and the inner cylindrical surface of the rod 21 are in contact with each other over the entire length in the longitudinal direction and engage with each other. It is configured to contact and engage.

As shown in the figure, the cylindrical inner surface of the rod 21 is provided with one or a plurality of recesses 21E. Therefore, in the portion where such recesses 21E are not formed, the outer circumferential surface of the connecting rod 15 is formed. And the cylindrical inner surface of the rod 21 come into contact and engage with each other.

In this way, since the contact area between the connecting rod 15 and the rod 21 is small, the frictional force is reduced, the rotation of the rotating portion becomes smoother, and the power consumption is reduced.

Although not shown in the drawing, instead of providing a concave portion on the cylindrical inner surface of the rod 21, a concave portion is provided on the outer circumferential surface of the connecting rod 15, so that the contact area between the connecting rod 15 and the rod 21 is increased. May be configured to be small.

Although the embodiments of the present invention have been described in detail above, those skilled in the art will understand that the present invention is not limited to the above-mentioned embodiments and various other configurations can be adopted without departing from the gist of the present invention. Easy to understand.

[0047]

According to the present invention, since a ball bearing is not used, there is an advantage that it is possible to provide a rotary / linear motion type actuator device which is relatively inexpensive to manufacture.

According to the present invention, there is an advantage that it is possible to provide a rotary / linear motion type actuator device which is relatively easy to manufacture because it does not use a ball bearing.

According to the present invention, since the piston 23 only moves linearly with respect to the cylinder or the main body 31 and does not rotate, there is an advantage that the life of the piston device including the piston 23 and the main body 31 is extended.

According to the present invention, since a ball bearing is not used, there is an advantage that a rotary / linear motion type actuator device having a relatively high rigidity can be provided.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration example of a rotary / direct-acting actuator device of the present invention.

FIG. 2 is a diagram showing details of both ends of the rotary / direct-acting actuator device of the present invention.

FIG. 3 is a diagram showing an example of a rod of the rotary / direct-acting actuator device of the present invention.

FIG. 4 is a diagram showing an outer appearance of a rotary / direct-acting actuator device.

FIG. 5 is a diagram showing an example of the configuration of a conventional rotary / linear motion type actuator device.

[Explanation of symbols]

 11 Rotary Actuator 11A Projection 11a Reference Surface 13 Chuck Device 13A Projection 13b Reference Surface 15 Connecting Rod 15B Flange 15a Reference Surface 15b-1, 15b-2 Reference Surface 21 Rod 21a Annular Surface 21b Reference Surface 21E Recess 23 Piston 25 Support Member 27 Stopper 31 Main Body 31A, 31B Hole 33 Fluid Chamber 35 Sealing Device 51 Center Shaft 53 Bearing 55 Spacer 57 Ball Bearing 61 Piston 63 Main Body 63A, 63B Hole 65 Air Chamber 71 Arm

Claims (3)

[Claims] 1. A rotary unit including a rotary actuator, a chuck device, and a connecting rod connecting the rotary actuator and the chuck device, a tubular rod rotatably accommodating the connecting rod, and a rod fixed to the rod. A piston and a cylinder that movably accommodates the piston therein. The rotary unit rotates with respect to the rod by the rotation of the rotary actuator around the central axis, and the rotary unit and the rod And a linear motion part is formed by the piston, and the linear motion part is configured to move along the central axis with respect to the cylinder when the piston moves with respect to the cylinder. A rotary direct acting actuator device. 2. The rotary / direct-acting actuator device according to claim 1, wherein a recess is formed on the inner circumferential surface of the rod, whereby the inner circumferential surface of the rod and the circumference of the connecting rod engaged therewith. A rotation / linear motion type actuator device, which is configured to reduce friction with an outer surface. 3. The rotary direct acting actuator device according to claim 1, wherein the chuck device has a reference surface perpendicular to the central axis line, and the rod has the central axis line at an end portion on the chuck device side. Has a reference plane perpendicular to, and the connecting rod has a flange portion at the end on the chuck device side, and the flange portion corresponds to the reference surface of the chuck device and is perpendicular to the central axis. A reference surface and a second reference surface corresponding to the reference surface of the rod and perpendicular to the central axis, wherein the connecting rod and the chuck device are connected by screws engaging with each other. A rotary direct acting actuator device.