JPH0942221A - Sapnworm type actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify the laying of a common piping member by enabling fluid pressure to be supplied from the common piping member to a brake unit and to a pair of forward- and backward-motion stepping units as it is distributed above a casing, and making stepping possible using a single casing. SOLUTION: A pair of stepping units 51 , 52 are incorporated into the middle of a casing 1. The casing 1 steps pitch by pitch to the right by the stroke of the stepping piston 50 of a rightward-motion stepping unit 51 . By feeding and exhausting air to and from the pressure chamber 53 of a leftward-motion stepping unit 5a instead of the rightward-motion stepping unit 51 , the casing 1 is made to step pitch by pitch to the left by the stroke of the stepping piston 50 of the leftward-motion stepping unit 52 . Since the casing is a single one, a valve block into which valves constituting a fluid supply means are incorporated is mounted in the casing and thereby fluid pressure can be input to each unit from a common piping member via each valve with good responsiveness, with the result that the laying of the piping member around an actuator is simplified.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a scale-taker insect type actuator which moves relative to a guide member in steps of one pitch, and more particularly, holds a position of a work receiver on a jig and The present invention relates to an actuator suitable for a positioning drive device when changing according to a model.

[0002]

2. Description of the Related Art Conventionally, as a worm insect type actuator,
According to Japanese Patent Laid-Open No. 47-32631, a pair of casings that are extendably connected via a hydraulic jack are slidably engaged with a rod-shaped guide member, and each casing is used as a guide member. Incorporating a hydraulic brake unit that locks and unlocks the other, the brake unit of one casing is locked, the brake unit of the other casing is unlocked, and the other casing is stepped by the extension operation of the hydraulic jack. And then
With the brake unit of the other casing in the locked state and the brake unit of the one casing in the unlocked state, one casing is stepped to the other casing side by the contraction operation of the hydraulic jack, and the actuator is guided by repeating the above operation. It is known that a member is made to step toward one pitch along a member.

[0003]

By the way, in order to improve the responsiveness of control of the actuator, a valve for controlling oil supply / discharge to / from the hydraulic jack or the brake unit is attached to the casing, and the hydraulic jack or the brake unit and the valve are attached. It is desirable to reduce the fluid path length between and as short as possible.

In the above-mentioned conventional example, since the hydraulic jack can be integrated in one casing, a valve block having a valve for a brake unit and a valve for the hydraulic jack built in the casing can be attached to the casing.
Fluid pressure can be input to the brake unit and the hydraulic jack via each valve by a common piping member connected to the valve block, but since the other casing moves relative to the one casing, it is built in the other casing. When the valve for the second brake unit is housed in the valve block attached to the one casing, the valve block and the second brake unit have no choice but to be connected via a flexible hose, and the second brake unit has to be connected. The control response of the unit deteriorates, and bending and stretching of the flexible hose accompanying relative movement of the other casing causes fatigue of the hose, resulting in poor durability.

In this case, it is conceivable to attach the valve for the second brake unit to the other casing, but in this case, the piping member connected to the pressure source is separately provided on one casing side and the other casing side. It is necessary to handle the piping, which makes the piping troublesome.

Further, in the above-mentioned conventional example, since the step is carried out at the pitch corresponding to the stroke of the hydraulic jack in any of the reciprocating movements, the step pitch in the forward movement and the step pitch in the backward movement are When the actuator is used as a positioning drive device for the workpiece receiver on the jig, the position of the workpiece receiver can be changed only at a pitch that is an integral multiple of the stepping pitch, which impairs the degree of freedom of position change.

Furthermore, in the above-mentioned conventional example, since the actuator is composed of two casings that move relative to each other,
Only a part of the actuator (one of the two casings) can be used as a fixed part of the driven object such as a work receiver, which impairs the rigidity and accuracy of positioning the driven object.

In view of the above points, the present invention enables simplification of the handling of the piping member by enabling the stepping using a single casing, and the rigidity of positioning the driven object. It is an object of the present invention to provide a shakuzoku insect type actuator that ensures accuracy and is capable of differentiating the step pitch during forward movement and the step pitch during backward movement.

[0009]

In order to achieve the above object,
The present invention is a worm insect type actuator that moves relative to a guide member, a casing that is slidable with respect to the guide member in the longitudinal direction of the guide member, and a brake unit incorporated in at least one end of the casing. The brake unit includes a pair of forward and backward stepping units installed in the casing with a space therebetween, and the brake unit locks the casing with respect to the guide member in conjunction with the brake piston. And a lock member for unlocking, a biasing means for biasing the brake piston in the lock direction of the lock member, and a pressure chamber for pressing the brake piston in the unlock direction of the lock member, Is the forward direction for the forward step unit, the reverse direction for the backward step, and the backward step for the backward step unit. With the forward direction as the forward direction and the forward direction as the reverse direction, between the stepping piston, the receiving member biased in the forward direction toward the stepping piston, and between the stepping piston and the receiving member. An interposed clamp member that clamps the guide member when receiving a pressing force in the reverse direction from the stepping piston and a pressure chamber that presses the stepping piston in the reverse direction are provided. Fluid supply that inputs fluid pressure to the pressure chamber of the forward step unit and brake unit, and inputs fluid pressure to the pressure chamber of the backward step unit and brake unit during the backward step Means are provided.

Normally, the lock member is maintained in the locked state by the urging force of the urging means of the brake piston, and the casing is locked with respect to the guide member. When a fluid pressure is input to the pressure chamber of the forward step unit, the clamp member of the step unit is axially compressed between the step piston and the receiving member to clamp the guide member, and the step The stepping piston of the unit becomes immovable with respect to the guide member, and the casing is pressed in the forward direction by the reaction force due to the fluid pressure in the pressure chamber. At this time, the fluid pressure is also input to the pressure chamber of the brake unit. According to this, the lock member is switched to the unlocked state via the brake piston, and the fluid pressure in the pressure chamber of the forward step unit increases. The casing steps in the forward direction by the stroke of the stepping piston.

After the step, both the pressure chamber of the brake unit and the pressure chamber of the forward step unit are opened to the atmosphere.
According to this, the lock member of the brake unit is switched to the locked state to lock the casing in the step position, the clamp member of the step unit is switched to the unclamped state, and the clamp member is urged by the receiving member. The stepping piston is pushed back with respect to the casing to the stroke end position in the forward movement direction via, and returns to the original state. Then, by repeating the above-described operation, the casing steps in the forward movement direction for one pitch with the stroke of the forward movement piston of the forward movement stepping unit.

Even when fluid pressure is input to the pressure chamber of the backward step unit and the brake unit, the casing operates in the same manner as described above, and the casing is equivalent to the stroke of the forward piston of the backward step unit. Step back. In this way, since the forward movement and the backward movement are performed by using different step units, it is possible to make a difference between the forward step and the backward step.

Further, since the casing is single, there is provided a valve block incorporating a valve for the brake unit, a valve for the forward step unit and a valve for the backward step unit which constitute the fluid supply means. A fluid pressure can be input to each unit with high responsiveness from a common pipe member connected to the casing and connected to the valve block, and the handling of the pipe member with respect to the actuator is simplified. Furthermore, since the actuator is composed of a single casing, the entire actuator can be used as a fixed part of the driven object, and the rigidity and accuracy of positioning the driven object are ensured.

By the way, when a heavy object is moved by the actuator, it is desirable to provide a pair of brake units at both ends of the casing in order to ensure locking. In this case, if the lock members of the brake units are arranged so that the locking directions of the lock members are directed inward in the longitudinal direction of the casing, the pressure chambers of the brake units are disposed inward of the brake piston in the longitudinal direction of the casing. This is advantageous because the fluid supply means can be centrally arranged near the center of the casing.

Further, a pair of forward and backward stepping units are arranged so that the forward directions of the stepping units respectively face outward in the longitudinal direction of the casing, and the receiving members of the stepping units are arranged. If both receiving members are urged in the forward direction by a common urging means provided between them, it is advantageous because the parts can be shared.

Various types of lock members and clutch members are conceivable, but they may be constituted by disc spring-like members whose inner diameter is reduced when the pressing force from the brake piston or step piston is received. If so, the structure becomes simple. Further, if the lock member and the clamp member are provided with a collet chuck that is externally inserted to the guide member, durability is improved and the restraining force on the guide member can be increased, which is advantageous.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an arrangement portion of a work receiver on a jig used in an automobile manufacturing line or the like, in which a rod-shaped guide member b is horizontally provided on a jig main body a, and A work receiver c, which is a driven object, is attached to an actuator A that moves left and right along the structure, and the position of the work receiver c can be changed according to the model of the work.

The actuator A is provided with a casing 1 slidably engaged with a guide member b, a valve block 2 is attached to the outer surface of the casing 1, and a pipe member 3 connected to the valve block 2 is connected to the valve block 2. A pressure fluid such as compressed air is supplied to actuate the actuator A by air pressure.

The details of the actuator A are as shown in FIG. 2, in which a pair of brake units 4 and 4 are installed at both left and right ends of a cylindrical casing 1 slidably inserted in a guide member b. The stepping unit 5 ₁ for right movement is incorporated in the right side of the middle part of the casing 1, and the stepping unit 5 ₂ for left movement is incorporated in the left side of the middle part of the casing 1.

Each brake unit 4 is provided with a brake piston 40 and a lock member 41 interlocking with the piston 40 for locking and unlocking the casing 1 with respect to the guide member b. As shown in FIG. 3, the lock member 41 is composed of a disc spring-shaped member 100 having a radial slit extending from the inner peripheral side to the middle in the radial direction, and the member 100 is opposed to the brake piston 40. The disc spring-shaped member 100 is provided between the casing 1 and the receiving portion 42 integrated with the casing 1, and when the pressing force from the brake piston 40 to the receiving portion 42 side is received, the disc spring-shaped member 100 is axially compressed and its inner diameter is reduced. The inner peripheral edge of the member 100 bites the guide member b so that the casing 1 is locked with respect to the guide member b.

The brake unit 4 further includes a biasing means 43 for biasing the brake piston 40 toward the lock member 41, that is, a biasing means 43 for biasing the brake piston 40 toward the receiving portion 42, and an unlock direction toward the lock piston 41. And a pressure chamber 44 that presses the lock member 41 at all times. The lock member 41 is normally kept in a locked state by the urging force of the urging unit 43, and the lock member 41 is locked by the air pressure input to the pressure chamber 44 from the air supply / exhaust port 44a. 41 is switched to the unlocked state.

The urging means 43 is composed of a coil spring, but it may be composed of an air spring or the like. It is also possible to dispose the receiving portion 42 outside the longitudinal direction of the casing 1 with respect to the brake piston 40 and set the locking direction of the locking member 41 outside the longitudinal direction of the casing 1. Then, the receiving portion 42 is arranged inward in the longitudinal direction of the casing 1 with respect to the brake piston 40, and the locking direction is set inward in the longitudinal direction of the casing 1. According to this, since the pressure chamber 44 of each brake unit 4 is arranged inward of the brake piston 40 in the longitudinal direction of the casing 1, the supply / exhaust ports 44a, 44a of both brake units 4, 4 are provided.
The distance between them is shortened, and the valve block 2 can be downsized.

[0023] Migidoyo stepping unit 5 ₁ a stepped piston 50, the receiving Me member 51 is biased to the right toward the stepped piston 50, stepped piston 50 and the receiving Me member 51 A clamp member 52, which is interposed between the guide member b and the guide member b, and a pressure chamber 53 that presses the stepping piston 50 leftward are provided.

The clamp member 52 is composed of a disc spring-like member 100 similar to the lock member 41, and the receiving member 51 has a piston portion 51a formed at its tail end portion.
In the above, the urging means 54 composed of an air spring is urged to the right. When the stepping piston 50 reaches the right stroke end position, the receiving member 5
1 is moved to the right by the stopper portion 5 provided on the casing 1.
Therefore, the clamp member 52 is not compressed in the axial direction at all times and is held in the unclamped state. On the other hand, when the stepping piston 50 is pressed to the left by the input of the air pressure from the air supply / exhaust port 53a to the pressure chamber 53, the disc spring-shaped member 1 which is the clamp member 52 is pressed.
00 is axially compressed with the receiving member 51 to reduce the inner diameter thereof, and the inner peripheral edge of the member 100 is a guide member b.
Bites into the clamped state, and the stepping piston 50
Is prevented from moving to the left, and the casing 1 is pressed to the right by the reaction force due to the air pressure in the pressure chamber 53. The biasing means 54 of the receiving member 51 may be composed of something other than an air spring such as a coil spring.

[0025] Hidaridoyo stepping unit 5 _2, the only structure itself Migidoyo stepping unit 5 ₁ and direction is in the opposite are identical, the same components as Migidoyo stepping unit 5 ₁ The same reference numerals are given and their explanations are omitted.

By the way, on the left side, the step unit 5 _{1 for} right movement is provided.
It is also possible to provide the left moving step unit 5 ₂ on the right side and the right side, but as in this embodiment, the right moving step unit 5 ₁ is provided on the right side and the left moving step unit 5 ₂ is provided on the left side. In other words, the receiving members 51 of the step units 5 ₁ and 5 ₂ are arranged inward of the step piston 50 in the longitudinal direction of the casing 1, so that the step units 5 ₁ and 5 ₂ are disposed. Common urging means 5 in which the receiving members 51 of the
Advantageously, it can be biased at 4.

The valve block 2 mounted on the casing 1 has a pressure chamber 4 of a pair of brake units 4 and 4.
A pair of brake valves 20, 20 for controlling supply / exhaust to / from 4, 44, a right valve 21 for controlling supply / exhaust to / from the pressure chamber 53 of the right step unit 5 ₁ , and a left step unit. A valve 22 for left movement for controlling supply / exhaust of 5 _{2 to / from} the pressure chamber 53 is provided. Each of these valves 20, 2
Reference numerals 1 and 22 are electromagnetic valves, and are switched and controlled by a signal from a controller (not shown). In addition, each valve 20,
The air supply ports 20a, 21a, 22a and the exhaust ports 20b, 21b, 22b of 21, 21 are silenced with the common piping member 3 via the air supply and exhaust manifold passages 23, 24 in the valve block 2, respectively. Connected to the container 25. still,
Even when each valve 20, 21, 22 is individually attached to the casing 1, by attaching the manifold to the casing 1,
Air can be supplied to the valves 20, 21, 22 from the common piping member 3.

Next, the operation of the actuator A will be described. When causing the actuator A is shifted rightward, first enter the air pressure in the pressure chamber 53 of Migidoyo stepping unit 5 _1, to clamp the guide member b by the clamp member 52 of the walking advance unit 5 ₁ as described above, The left movement of the stepping piston 50 of the stepping unit 5 ₁ is blocked, and then the air pressure is input to the pressure chambers 44, 44 of the brake units 4, 4 to lock the lock members 41 of the brake units 4, 4. , 41 to the unlocked state. According to this, the casing 1 by the reaction force due to the air pressure in the pressure chamber 53 of Migidoyo stepping unit 5 ₁
4 steps to the right by the stroke of the stepping piston 50 as shown in FIG.

When the casing 1 is stepped as described above, the pressure chambers 44, 44 of both brake units 4, 4 are opened to the atmosphere, and as shown in FIG.
The lock members 41, 41 of No. 4 are switched to the locked state, and then the pressure chamber 53 of the step unit 5 ₁ for right movement is opened to the atmosphere. According to this, the clamp member 52 is switched to the unclamped state, and the stepping piston 50 is moved relative to the casing 1 and the guide member b via the clamp member 52 by the urging force of the receiving member 51 while moving to the right. Is pushed back to the stroke end position, and the state shown in FIG. 2 is restored.

By repeating the above operation, the casing 1 steps to the right by one pitch by the stroke of the stepping piston 50 of the step unit 5 ₁ for right movement.

[0031] When the air supply and exhaust to the pressure chamber 53 of Hidaridoyo stepping unit 5 ₂ instead Migidoyo stepping unit 5 _1, the same effects as described above, stepping casing 1 Hidaridoyo increment unit 5 ₂ Stroke to the left for one pitch with the stroke of the working piston 50.

Here, in the illustrated example, the strokes of the stepping pistons 50 of the stepping units 5 ₁ and 5 ₂ are set to be equal, but if the strokes are different, the position of the work receiver c is considerably increased. You will be able to change it with great freedom. For example, 5 mm piston stroke of Migidoyo stepping unit 5 _1, by setting the piston stroke of Hidaridoyo stepping unit 5 ₂ to 2 mm, 2 to the left by 1 KaiAyumiSusumu rightward KaiAyumiSusumu By doing so, the work receiver c can be displaced to the right by 1 mm, and the position can be changed at a finer pitch than the piston stroke.

By the way, in the above embodiment, the lock member 4 is used.
1 and the clamp member 52 are respectively constituted by the disc spring-shaped member 100, the collet chuck 101 externally fitted to the guide member b is replaced by the disc spring-shaped member 10 as in the embodiment shown in FIG.
It is fitted to the inner circumference of 0 to lock member 41 and clamp member 5
2 may be configured. In the illustrated example, the collet chuck 101 for the clamp member 52 is integrated with the receiving member 51. Further, the lock member 41 is attached to the collet chuck 1.
With 01, since the guide member b can be reliably locked regardless of the moving direction thereof, the number of the brake unit 4 may be one.

Further, the lock member 41 and the clamp member 52
Can be composed of a plurality of segment plates 102 divided in the circumferential direction as shown in FIG. In this case, as shown in FIG.
Is brought into contact with the braking piston 40 and the stepping piston 50 via the retainer ring 103 that supports the outer edge portion thereof. According to this, when the pressing force from each piston 40, 50 acts, the segment plate 102 tilts so as to stand up in the radial direction by using the retainer ring 103 as a radial reaction force receiver, and its inner edge portion is guided by the guide member. bite into b. The lock member 41 and the clamp member 52 may be configured by combining the segment plate 102 and the collet chuck 101 as in the embodiment shown in FIG.

Further, the lock member 41 and the clamp member 52
Is a ball type collet chuck 1 as shown in FIG.
It is also possible to configure with 04. The chuck 104
Is an outer race 104a with a tapered inner peripheral surface
And a collet-shaped inner race 104b having a tapered outer peripheral surface, and a ball 104c interposed between both races 104a and 104b.
a, 104b as a pair of end pieces 104d, 1 at both ends
When the outer race 104a is pressed by a piston for braking or stepping in the direction of the arrow, the inner race 104b is reduced in diameter via the ball 104c. The guide member b is clamped. In the figure, 104e is a ball retainer.

As described above, various kinds of lock members 41 and clamp members 52 are conceivable, but in order to reduce the number of parts and reduce the cost, the disc spring member 100 is used.
It is preferable to use a combination of the disc spring-shaped member 100 and the collet chuck 101 in order to achieve both cost reduction and durability. Further, in the above embodiment, air is used as the working fluid of the actuator A, but liquid such as oil can be used.

[0037]

As is apparent from the above description, according to the present invention, a forward direction and a backward direction are provided by a brake unit incorporated in a single casing and a pair of forward and backward steps units. Since it is possible to distribute the fluid pressure by distributing it on the casing from the piping member common to each unit, it is possible to simplify the handling of the piping member with respect to the actuator and to reduce the entire actuator. Since it can be used for the fixed part of the driven object, the rigidity and accuracy of positioning of the driven object can be ensured, and further, the step pitch can be made different between the forward movement and the backward movement. The degree of freedom in changing the position of the can be increased.

[Brief description of drawings]

FIG. 1 is a diagram showing an example of use of the actuator of the present invention.

FIG. 2 is a cutaway side view of a first embodiment of the actuator of the present invention.

FIG. 3 is a front view of a disc spring member used as a lock member or a clamp member in the first embodiment.

4 (a) and 4 (b) are views showing the operation of the first embodiment.

FIG. 5 is a cutaway side view of the second embodiment.

FIG. 6 is a cutaway side view of the third embodiment.

FIG. 7 is a front view of a segment plate used as a lock member or a clamp member in the third embodiment.

FIG. 8 is a cutaway side view of the fourth embodiment.

FIG. 9 is a sectional view of a ball-type collet chuck used as a lock member or a clamp member.

[Explanation of symbols]

A actuator b guide member 1 casing 2 valve block (fluid supply means) 4 brake unit 40 brake piston 41 lock member 42 receiving portion 43 urging means 44 pressure chambers 5 ₁ , 5 _{2 step} unit 50 step piston 51 reception Female member 52 clamp member 53 pressure chamber 54 urging means 100 disc spring member 101 collet chuck

Claims (6)

[Claims] 1. A scale taking insect type actuator that moves relative to a guide member, the casing being slidable with respect to the guide member in the longitudinal direction of the guide member, and a brake unit incorporated in at least one end of the casing. A pair of stepping units for forward movement and backward movement, which are incorporated in the casing at a distance, and the brake unit includes a brake piston and the casing with respect to the guide member in association with the brake piston. A lock member that locks and unlocks; a biasing unit that biases the brake piston in the lock direction of the lock member; and a pressure chamber that presses the brake piston in the unlock direction of the lock member. For the forward step unit, the forward direction is forward, the backward direction is reverse, and the backward step unit is With the backward direction as the forward direction and the forward direction as the reverse direction, the stepping piston, the receiving member biased in the forward direction toward the stepping piston, and the stepping piston and the receiving member It is provided with a clamp member, which is interposed between the clamp member and the guide member to clamp the guide member when it receives a pressing force in the reverse direction from the stepping piston, and a pressure chamber which presses the stepping piston in the reverse direction. When advancing, fluid pressure is input to the pressure chamber of the forward step unit and brake unit, and fluid pressure is input to the pressure chamber of the backward step unit and brake unit during the backward step. A shingled insect type actuator characterized in that a fluid supply means is provided. 2. A pair of brake units are arranged at both ends of the casing such that the lock direction of the lock member of each brake unit is directed inward in the longitudinal direction of the casing. The above-mentioned scale-taker insect type actuator. 3. A pair of stepping units for forward movement and backward movement are arranged such that the forward direction of each of the stepping units faces outward in the longitudinal direction of the casing, and a receiving member for both the stepping units. The worm-type insect actuator according to claim 1 or 2, wherein both the receiving members are urged in the forward direction by a common urging means provided therebetween. 4. The lock member receives a pressing force in the lock direction from the brake piston, which is interposed between a receiving portion fixed to a casing facing the brake piston in the lock direction and a brake piston. 2. A disc spring-shaped member whose inner diameter is reduced.
4. The shingled insect type actuator according to any one of items 1 to 3. 5. The clamp member is a disc spring-like member, which is interposed between the stepping piston and the receiving member, and whose inner diameter is reduced by receiving a pressing force in the opposite direction from the stepping piston. It is comprised, The scale insect insect type actuator in any one of Claim 1 thru | or 4 characterized by the above-mentioned. 6. The lock member and the clamp member,
6. The device according to claim 1, wherein the guide member is provided with a collet chuck that is externally inserted.
An actuator of the shakudo insect type according to the item.