JPH087451Y2 - Indexer - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to an indexer for positioning the rotational position of a motor by feedback control.

<Prior art> As an indexer, based on an actuator that combines a direct drive motor (hereinafter referred to as DD motor) and an encoder that detects the rotation of the DD motor,
There is one that builds a desired indexer by adding optional parts to the actuator according to the specifications of the indexer. Here, as the optional parts, there are a clamp that holds a rotational position when the motor is stationary, an external housing that houses the entire actuator, and a sealing member that seals the inside of the motor to the outside.

<Problems to be Solved by the Invention> In the conventional indexer, each option part has a structure independent of each other, and the mechanical coupling portion (hereinafter, mechanical interface) is not unified. For example, when mounting an external housing and clamp,
When only the clamps were attached, the clamps had to have different structures.

Therefore, when the combination of option parts changes, there is a problem that the option parts must be designed for each combination.

The present invention has been made to solve such a problem, and an object thereof is to realize an indexer in which the mechanical interfaces of optional parts are unified and various optional parts can be arbitrarily combined. And

<Means for Solving the Problems> The present invention is an indexer configured as follows.

(1) In the indexer that positions the rotational position of the motor by feedback control, an actuator that combines an outer rotor type direct drive motor and an encoder that detects the rotational position of this motor, and a table of cam curves are stored. A cam curve table storage unit, a position control unit that feedback-controls the rotational position of the motor using a value given by a table stored in the cam curve table storage unit as a command value, and a detection signal of the encoder as a feedback signal; An indexer, characterized in that the coupling parts are unified, and optional parts are attached to the actuator in any combination according to the specifications of the system.

(2) The indexer according to (1), wherein the optional part is a clamp that holds a rotational position when the motor is stationary.

(3) The indexer according to (1), wherein the optional part is an external housing that houses the entire actuator.

(4) The indexer according to claim (1), wherein the optional part is a seal member that seals the inside of the actuator from the outside.

<Operation> In the present invention as described above, optional parts having a unified mechanical interface are attached to the actuator, and the optional parts are arbitrarily combined to construct an indexer according to the specifications.

<Example> Hereinafter, the present invention will be described with reference to the drawings.

FIG. 1 is a configuration diagram of an embodiment of the present invention and is a sectional view showing an exploded state.

In the figure, 1 is an actuator, which is an outer rotor type DD motor 11 and an encoder for detecting the rotation of the motor 11.
It consists of 12. The actuator 1 has a structure similar to that described in the application specification of Japanese Patent Application No. 1-85614 filed by the present applicant.

In the motor 11, 111 is a rotor arranged outside, 1
Reference numeral 12 is a stator arranged inside the rotor 111. Teeth are formed at a constant pitch on the inner circumference of the rotor 111, and the stator 112 is provided with a plurality of salient poles having teeth formed at the tips, and a coil is wound around each salient pole. Reference numerals 113 and 114 denote bearings that rotatably support the rotor 111 on the stator 112.

Encoder 12 is a magnetic resolver, nX resolver 121
And 1X resolver 122. nX resolver 121 and 1X resolver
The rotor 122 and the stator 124 are connected to each other, and the connected rotor 123 and the stator 124 are connected to the rotor 111 and the stator 112 of the motor, respectively. The nX resolver 121 modulates the phase of the detection signal by 360 ° when the motor 11 rotates 1 / n (n is an integer), and the 1X resolver 122 causes the motor 11 to rotate.
When is rotated once, the phase of the detection signal is modulated by 360 °. 1
The X resolver 122 detects the rotational position of the motor 11 with a resolution of 1 / n rotation, and the absolute rotational position is detected by detecting the rotational position within the 1 / n rotation detected by the nX resolver 121.

2 and 3 are a clamp unit and a seal unit as optional parts.

The clamp unit 2 holds a rotational position when the motor 11 is stationary. For example, as shown in FIG. 2, the holding is performed by supplying compressed air P to the closed chamber 21 to deform the elastic member 22 and pressing the deformed portion against the rotor portion of the actuator 11.

The seal unit 3 protects the inside of the actuator from dust and water.

Reference numeral 4 is a control unit that controls the rotation of the motor based on the detection signal of the encoder 12, and reference numeral 5 is a host controller that gives a command to the control unit 4 to control the indexer.

In the control unit 4, reference numeral 41 denotes a cam curve table storage unit that stores a plurality of types of cam curve tables. Reference numeral 42 denotes a position control unit which receives a cam curve table value designated by the host controller 5 and which feedback-controls the rotational position of the motor 11 using this value as a command value and the detection signal of the encoder 12 as a feedback signal. As described above, the indexer according to the present invention positions the rotational position of the motor based on the table value of the cam curve stored in the storage unit 41, and thus is an indexer using an electronic cam.

In such an indexer, when the optional parts are unnecessary, the actuator alone is used as the indexer.

The clamp unit 2 and the seal unit 3 have a common mechanical interface, and the actuator 1 also has a common mechanical interface. Therefore, it is possible to attach only the clamp unit 2, only the seal unit 3, or both the clamp unit 2 and the seal unit 3 to the actuator 1. Thereby, the optional parts are mounted in various combinations according to the specifications of the actuator. FIG. 3 is a structural cross-sectional view of a portion where the seal unit 3 is attached to the actuator 1.

FIG. 4 is a configuration diagram of an indexer with other optional parts, (a) is a vertical cross-sectional view, and (b) is a view as seen from the direction of arrow A.

In this indexer, as an optional part, in addition to a seal unit and a clamp unit, an external housing 6 that houses the entire actuator, an air piping unit 7 that supplies compressed air to the clamp unit 2, and the supply of compressed air are turned on / off. A solenoid valve unit 8 that is turned off is attached. These optional parts can also take various combinations depending on the specifications of the indexer. Fig. 5 shows an example of the combination of optional parts.

<Effect> According to the present invention, since the mechanical interface of the option parts is unified, the option parts can be attached to the actuator in any combination according to the specifications of the indexer.

[Brief description of drawings]

1 is a block diagram of an embodiment of the present invention, FIG. 2 is a partially enlarged block diagram of FIG. 1, and FIGS. 3 and 4 are block diagrams with optional parts mounted, FIG. FIG. 6 is a diagram showing an example of a combination of option parts. 1 ... actuator, 11 ... motor, 12 ... encoder, 2 ... clamp unit, 3 ... seal unit,
4 ... control part, 6 ... external housing, 7 ... air piping unit, 8 ... solenoid valve unit.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Creator Koichi Sato 2-9-32 Nakamachi, Musashino City, Tokyo Yokogawa Electric Co., Ltd. (56) Reference JP-A-2-264306 (JP, A) JP-A 1-1119717 (JP, A) JP 63-238465 (JP, A) JP 60-168204 (JP, A) JP 63-269210 (JP, A) JP 62-293324 (JP, A) Actual development Sho 62-108806 (JP, U)

Claims (4)

[Scope of utility model registration request] 1. An indexer for positioning the rotational position of a motor by feedback control, wherein an actuator combining an outer rotor type direct drive motor and an encoder for detecting the rotational position of this motor, and a table of cam curves are stored. A cam curve table storage unit, and a position control unit that feedback-controls the rotational position of the motor by using the value given by the table stored in the cam curve table storage unit as a command value and the detection signal of the encoder as a feedback signal. An indexer, characterized in that the mechanical coupling portion is unified, and optional parts that are mounted on the actuator in any combination according to system specifications. 2. The indexer according to claim 1, wherein the optional part is a clamp that holds a rotational position when the motor is stationary. 3. The indexer according to claim 1, wherein the option part is an external housing that houses the entire actuator. 4. The indexer according to claim 1, wherein the option part is a seal member for sealing the inside of the actuator from the outside.