JPH11108142A - Actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify the structure so as to facilitate the assembling by forming a driving force of a driving source, and providing a moving body to be displaced along the longitudinal direction in the guide working condition with a guide frame, a motor unit to be installed in one end of the guide frame, and an idle unit to be installed in the other end of the guide frame. SOLUTION: A moving member 84, in which a motor pulley unit 90 is connected to one end of a guide unit 46 and an idle pulley unit 92 is connected to the other end thereof, is fixed to a structural body 12. A rotor 88 arranged in the motor pulley unit 90 is rotated with the rotation of a motor 14. A timing belt 80 is turned by engaging a projecting part of the timing belt 80 with a recessed part of the rotor 88. Turning movement of the timing belt 80 is transmitted to the inside of a moved body 82, and the moved body 82 is moved in the turning direction of the timing belt 80. The moved body 82 can be moved to the end of the idle pulley unit 92 from the end of the motor pulley unit 90 at the maximum.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an actuator for converting fluid energy into mechanical energy using a motor, a hydraulic cylinder, a linear motor, a hydraulic motor, or the like.

[0002]

2. Description of the Related Art Conventionally, for example, in an actuator which is a device for sucking or holding and transporting a work by using a mechanical hand or a chuck, casting extrusion,
A moving body such as a table is attached to a main body integrally formed by drawing or the like via a guide, and the moving body is moved by a driving source such as a servo motor or a stepping motor via a driving mechanism such as a ball screw or a timing belt. ing. With this movement, the suction holding means connected to the moving body also moves, and the work sucked by the suction holding means is conveyed to a desired position under the movement of the moving body.

[0003]

However, the above-mentioned prior art employs a configuration in which a moving body such as a table is directly attached to a main body and a work is conveyed to a desired position. Therefore, as described above, once the desired positioning for transporting the work is set and set, and then the operation of adjusting or changing the moving position, performing maintenance and inspection, etc., disassemble the set configuration. Reconfiguration, which is very complicated. In addition, since the main body, the moving body, the driving mechanism, the driving source, and the like are integrally formed as an actuator, there are inconveniences such that an installation place is limited and work on site is difficult.

An object of the present invention is to provide an actuator whose structure is simplified and which can be easily assembled and configured.

[0005]

In order to achieve the above object, the present invention provides a drive source, an elongated guide frame having a mounting hole and functioning as a base, and the drive source. The driving force is transmitted, and the moving body is displaced along the longitudinal direction of the guide frame under the guide action of the guide frame, a motor unit mounted on one end of the guide frame, and mounted on the other end. And an idle unit.

According to the present invention, the motor unit and the idle unit are directly mounted on the guide frame for guiding the moving body. Therefore, the structure is simplified and the assembly is facilitated.

[0007]

Next, preferred embodiments of an actuator according to the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, an actuator 10 according to a first embodiment of the present invention basically has a structure 12 constituting an outer frame and a motor 14 having an encoder or using a harmonic drive. , A moving member 20 including a ball screw 16 and a moving body 18. FIG. 2 is an exploded perspective view of FIG.

In the structure 12, two rail-shaped grooves 22 are defined on the inner bottom, concave portions 24 are formed on both inner side surfaces and concave portions 26 and 28 are formed on the outer side surfaces in the longitudinal direction. , And are integrally formed by metal injection molding or resin casting.

The moving member 20 includes a circular motor 14 (for example, an electric motor) functioning as a drive source, a casing 30 for transmitting the rotational driving force of the motor 14 to the ball screw 16, Moving body 1 which is moved in a linear direction by the rotational movement of
8, a plate-shaped ball screw support 34, a guide 46 and a frame 36 for positioning the casing 30 and the moving body 18 on a straight line. Further, the ball screw 16 is made the same as the motor rotation shaft,
The coupling may be omitted by integrating the rotation balance. A maintenance window 41 is provided on the upper surface of the casing 30. The frame portion 36 is provided with screw holes 40 for fixing the moving member 20 to the structure 12 via screws 38 at predetermined intervals.

The ball screw 16 has a motor 1 at one end.
The other end is inserted into the bearing hole 42 of the ball screw support 34. A female screw provided in a hole (not shown) of the nut 32 connected to the moving body 18 is screwed with a male screw engraved on the outer periphery of the ball screw 16 between the casing 30 and the bearing hole 42. Similarly, the ball screw 16
Can be replaced with string screws or trapezoidal screws. The moving body 18 is provided with a table having projections 44 at both ends of the upper surface. A positioning groove 45 is provided substantially at the center of the protrusions 44 at both ends. On the upper surface of the frame portion 36, a guide portion 46 (see FIG. 2) is provided, which functions as a guide that comes into contact with the concave portion of the moving body 18 and moves the moving body 18 linearly. The casing 30 and the ball screw 16 function as a drive mechanism for moving the moving body 18 linearly.

The operation of the actuator 10 according to the first embodiment employing such a configuration will be described.

First, as shown in FIG.
The moving member 20 having the motor 14, the casing 30, the ball screw 16, the moving body 18, the ball screw support 34, and the like connected thereto is fixed to the structure 12. At that time, the frame part 3
The T-nut or the nut 32 is inserted into the two rail-shaped grooves 22 engraved on the bottom of the structure 12 through the screw holes 40 provided in the 6, and the moving member 20 is fixed by tightening with the screws 38. After the moving member 20 is fixed to the structure 12, the motor 14 connected to a power source (not shown) is driven. Since a transmission (not shown) is provided inside the casing 30, the ball screw 16 rotates in conjunction with the rotation of the motor 14. The rotational motion of the ball screw 16 is transmitted to a nut 32 connected to the moving body 18, and the male screw on the outer peripheral surface of the ball screw 16 and the inner peripheral surface of a hole (not shown) provided at the center of the nut 32 are formed. Fit. The moving body 18 connected and integrated with the nut 32 is moved from the end of the casing 30 to the end of the ball screw support 34 as much as possible by the rotation of the ball screw 16 in the fitted state. It is possible to move to. The same actuator 10 as in the present embodiment may be mounted on the projection 44 of the table provided on the upper surface of the moving body 18 and the bottom may be fixed to the projection 44, or a suction pad or the like may be used. It is also possible to fix another member to which the work suction / holding means is connected to the projection 44.

As described above, after the positioning for transporting the work is set and set, if the movement position is to be readjusted or changed, the screws 38 of the frame 36 fixed to the structure 12 must be adjusted. Loosen and move the moving member 20 to the structure 1
2 can be displaced in its length direction. In this case, the moving member 20 can be moved while the structure 12 is fixed to, for example, a work board. When the maintenance and inspection of the actuator 10 is performed, the structure 12
Loosen the screw 38 fitted in the rail-shaped groove portion 22 of
The moving member 20 is detached from the structure 12 for easy maintenance and maintenance.
Inspection can be performed.

Next, an actuator according to a second embodiment is shown in FIG.

The actuator 50 according to the second embodiment
The difference from the first embodiment is that a concave portion 54 is provided at the bottom of the structure 52 constituting the outer frame, and a plate 60 is mounted in the concave portion 54. This plate 60
The moving member 20 can be moved through a plate 60 fixed to the frame portion 36 of the moving member 20 via the screw 38 and mounted in the recess 54.

In the second and subsequent embodiments, the same components as those in the first embodiment will be denoted by the same reference numerals, and detailed description thereof will be omitted.

Regarding the operation of the second embodiment, first,
The frame portion 36 of the moving member 20, on which the motor 14, the moving body 18 and the like are connected, is fixed to the plate 60 via screws 38. Therefore, the recess 5 provided at the bottom of the structure 52
In 4, the plate 60 connected to the frame portion 36 of the moving member 20 is slid in the length direction from the end of the structure 52, and is mounted in the recess 54. Also, it can be attached to an arbitrary position from the upper surface. In this way, when the moving member 20 is connected to the structure 52 and the transfer position of the work is set and then readjustment or position change is performed, the screws 38 are required.
Is loosened, and the plate 60 mounted in the concave portion 54 can be easily moved by sliding.

Next, a third embodiment using a plurality of moving members of such an actuator will be described.

As shown in FIG. 4, an actuator 62 according to the present embodiment has a long structure 64 constituting an outer frame.
In addition, a moving member A66 and a moving member B68 are arranged close to each other in series, and a moving body 18 is provided at two places. A locking member 70 is attached to one end of the structure 64. In addition to the above-described configuration of the actuator 10, a cover member 74 that accommodates the motor 14 and the casing unit 30 and has a plurality of slits 72 carved thereon is attached to the moving member A 66. In addition, a plate-shaped cover member 76 is provided on the table of the moving body 18, and the protrusions 44 at both ends of the table are formed so as to protrude. Moving member A66 of actuator 62,
The operation of the moving member B68 is the same as in the above-described embodiment, and a detailed description thereof will be omitted.

Next, an actuator according to a third embodiment of the present invention will be described.

A feature of the actuator shown in FIG. 5 is that the moving body is moved using a timing belt as a driving mechanism (see FIG. 6).

The actuator 78 according to the third embodiment
Is basically a structure 12 constituting an outer frame and a motor 1
4, a moving member 84 including a timing belt 80 and a moving body 82;

In the structure 12, a rail-shaped groove is defined at the center of the inner bottom, and concave portions 24 are formed in both sides on the inner side in the longitudinal direction, and are integrally formed by casting or the like. Note that a locking member 70 is attached to an end of the structure.

The moving member 84 is housed in a box-shaped cover member 86 in which a plurality of slits 85 are engraved, and is a cylindrical motor 14 functioning as a driving unit. , A motor pulley unit (motor unit) 90 having a tension adjusting mechanism, a timing belt 80 functioning as a driving mechanism, and moving in the right and left linear directions by rotating the timing belt 80. An idle pulley unit (idle unit) 92 having a moving body 82 and a disk-shaped rotating body 89 located at one end of the timing belt 80.
A motor pulley unit 90 is provided on one end side, and an idle pulley unit 92 is continuously provided on the other end side. Are located. The guide part 4
6, screw holes 94 (mounting holes) for connecting to the frame portion 36 via screws (not shown) are provided at predetermined intervals.

The timing belt 80 has projections 96 formed at predetermined intervals, and the projections 96 are formed in the concave portions (not shown) of the rotating bodies 88 and 89 of the motor pulley unit 90 and the idle pulley unit 92. ), The timing belt 80 rotates. Also,
A concave portion 98 is defined at the bottom of the moving body 82, and the moving body 82 can slide on the guide section 46 by engaging with the upper surface of the guide section 46. Further, the moving body 82
A substantially rectangular plate-like cover member 76 is provided on the upper surface of the table, and the protrusions 44 at both ends of the table are formed so as to protrude.

The operation of the actuator according to the third embodiment under such a configuration will be described.

First, as shown in FIG. 6, a moving member 84 having a motor pulley unit 90 at one end of the guide portion 46 and an idle pulley unit 92 at the other end is fixed to the structure 12. At this time, the plate is connected to the frame part 36 through a screw hole 94 provided in the guide part 46, and the plate is inserted into the rail-shaped groove part 54 engraved on the bottom of the structure 12, and then tightened with the screw 38, and the moving member 84 is fixed. After the moving member 84 is fixed to the structure 12, the motor 14 connected to a power supply via a CIM controller and a sequencer (not shown) is driven. The rotating body 88 arranged in the unit 90 rotates. The projection of the timing belt 80 meshes with the recess of the rotating body 88, so that the timing belt 80 rotates.
The revolving motion of the timing belt 80 is transmitted to the inside of the moving body 82 (not shown), and the moving body 82 moves in the revolving direction of the timing belt 80. The moving body 82 can move to the maximum from the end of the motor pulley unit 90 to the end of the idle pulley unit 92. The protrusions 44 provided on both ends of the upper surface of the moving body 82 can be mounted with the same actuator 78 as in the present embodiment, or can be connected to another member to which the work suction / holding means is connected. is there.

As described above, when the moving position is readjusted after positioning for carrying the work,
First, the cover members 76 and 86 are removed, the screw 38 fixing the frame portion 102 of the moving member 84 to the structure 12 is loosened, and the moving member 84 itself is slid, and then fixed to the structure 12 with the screw 38 again. Let it.

Next, FIGS. 7 to 11 show an embodiment of a module type actuator in which the components of the moving member can be easily assembled and disassembled. Each of the embodiments in FIGS. 7 to 9 uses an electric motor as a drive source, and FIG.
0 and FIG. 11 are different in that compressed air or fluid pressure such as vacuum pressure is used as a driving source.

FIG. 7 shows an actuator according to a fourth embodiment of the present invention, and is an exploded perspective view of a moving member constituting the actuator.

The moving member 100 includes a frame portion 102 serving as a base, a locking portion 104 provided at one end of the frame portion 102, a moving body 106, a guide portion 108,
A ball screw 112 to which a ball holding unit 110 serving as a driving mechanism is connected, an electric motor 114 serving as a driving source, a connection unit 116 that transmits and transmits the rotational movement of the electric motor 114 and the ball screw 112, an annular body 118, It is composed of a metal fitting 120.

The assembling method according to the present embodiment will be described. First, from one end side of the frame portion 102 having several linear grooves 122 in the longitudinal direction, the projecting portions 124 of the locking portions 104 are provided.
Is slid along the groove 122 in the horizontal axis direction.
Next, similarly, from the other end side of the frame portion 102, the groove 1
The protrusion 126 of the connection part 116 can be slid from the horizontal axis direction and fixed along 22. Subsequently, the guide portion 108 is fitted into the concave portion 128 of the frame portion 102, and then the ball screw 112 and the electric motor 114 are inserted.
Is inserted into the hole 130 of the locking portion 104 and the hole 132 of the connecting portion 116 via the annular body 118 and the holding fitting 120, respectively. After the attachment is completed, the ball screw 11
The lower part of the moving body 106 is slid from the horizontal axis direction into the cylindrical portion 134 of the ball holding portion 110 connected to the second member 2 and inserted. Then, the concave portion 13 provided on the lower surface of the moving body 106
The moving body 106 is attached to the block 6 so that a block 138 connected to the guide unit 108 is fitted.

As described above, the moving member 100 can be easily assembled on site, and can be easily disassembled for easy maintenance and inspection.
Also, if the parts need to be replaced after the maintenance and inspection,
Can be easily replaced. Further, the frame unit 10
2 can be adjusted in length by cutting to an arbitrary length.

FIG. 8 shows a fifth embodiment of the actuator.

The fifth embodiment shown in FIG. 8 differs from the fourth embodiment shown in FIG. 7 in that the groove 144 on the side surface of the frame 142 is formed at an acute angle. Therefore,
When attaching the locking portion 146 and the connecting portion 148, there is no need to slide and fix the end portion of the frame portion 142 in the horizontal axis direction, and the groove portion 144 of the frame portion 142 is moved from any desired position in the vertical axis direction. Locking part 146
And the claw part 150 of the connection part 148 can be inserted and fixed so that it may be sandwiched from the side. Other configurations and operations are the same as those of the third embodiment, and therefore, detailed description thereof will be omitted.

FIG. 9 shows a sixth embodiment constituting a moving member of an actuator. Unlike the fourth and fifth embodiments, a timing belt 154 is used as a drive source.

The moving member 152 shown in the fifth embodiment includes:
Frame part 156, guide part 158, table top 1
Moving body 16 including 60 and slide table 162
4, a motor pulley unit 166, an idle pulley unit 168, a timing belt 154, and a motor 170.

The assembling method of the moving member 152 is as follows.
2 can be assembled by inserting them into the motor pulley unit 166, the idle pulley unit 168, and the hole 174 of the table top 160, respectively.

FIGS. 10 and 11 show a seventh embodiment and an eighth embodiment, respectively, in which fluid pressure such as compressed air or vacuum pressure is used as a drive source, and a rodless cylinder or band type is used as a drive mechanism. FIG. 3 is an exploded perspective view of a moving member of an actuator characterized by using a cylinder using a seal slit.

In FIG. 10, the rodless cylinder 18
Reference numeral 2 includes a rectangular parallelepiped housing 184, a cylindrical tube 186, an internal piston (not shown), and the like. An electromagnetic valve 190 for switching the supply of the compressed air to the rodless cylinder 182 is provided at the connecting portion 188 which is attached to the groove portion 144 of the frame portion 142 by sandwiching the claw portion 150. The rodless cylinder 182 introduces compressed air from ports (not shown) at both ends of the tube 186, and switches the compressed air by the solenoid valve 190 to move a piston (not shown) in the tube 186 between the left and right sides. The reciprocating linear motion can be continued by moving in the end direction. A ring-shaped magnet (not shown) is connected to the piston. On the other hand, a magnet (not shown) is also built in the housing 184, and the housing 184 moves by the action of the magnet holding force as the piston moves. The table top 192 can be used by being connected to the upper surface of the housing 184 that moves in this manner. Also, this rodless cylinder 182
Similarly, a rodless cylinder using a rectangular or elliptical piston for reducing the height direction without changing the pressure receiving area of the piston can be used.

FIG. 11 is common in that a rodless cylinder 196 is used in the same manner as described above, but differs in that two piston rods 200 are provided to prevent rotation of the housing 198. Reference numeral 202 indicates a connection portion, reference numeral 204 indicates an electromagnetic valve, reference numeral 206 indicates a locking member, and reference numeral 208 indicates a shock absorber which is a compressed air introduction and discharge port. In addition, due to the holding force of the magnet connected to the piston,
The operation of moving the housing 198 and the like are the same as those described above, and a detailed description thereof will be omitted.

Next, a case where a plurality of actuators according to the present invention are assembled and used will be described.

As shown in FIG. 12, the actuator 210 according to the sixth embodiment includes a plurality of columnar members 212 forming a skeleton, first to third actuators 214,
16, 218, work table 220, work 222
, A work storage plate 224, a work holding plate 226, and a suction pad 228 as a work holding means
And a cylinder rod 232
And a cylinder 234 in a state where it protrudes.

The first actuator 214 includes a second actuator 21 mounted on the upper surface of the moving body 236.
6 is moved in a linear direction, and a moving body 238 of a second actuator 216 connected orthogonally to the first actuator 214 has suction pads 228.
Are connected to each other. Also,
A cylinder 234 is connected to the moving body 240 of the third actuator 218, and is used for positioning the work 222.

In operation, first, compressed air is supplied through a tube (not shown) connected to a cylinder 230 connected to the second actuator 216. By supplying the compressed air, the cylinder rod 2 of the cylinder 230 is
32 is displaced downward, and the work 222 arranged on the work storage plate 224 is sucked by the suction pad 228. Again, compressed air is supplied to the cylinder rod 23
2 is displaced upward, the moving body 236 of the first actuator 214 is moved in the vertical axis direction while maintaining the state, and the second actuator 216 connected to the moving body 236 of the first actuator 214 is moved. The second actuator 216 stops moving when the workpiece 222 sucked by the suction pad 228 approaches above a desired position, and the moving body 2 of the second actuator 216
The workpiece 222 is inserted into a desired hole 242 of the workpiece holding plate 226 by moving the workpiece 38 in the horizontal axis direction. At this time, the third actuator 2 is used to ensure that the work 222 is inserted into the hole 242 of the work holding plate 226.
The positioning can be performed by displacing the eighteen cylinder rods 232.

In this embodiment, the actuator 210 is assembled in a chair shape, and the three actuators 21
4, 216, and 218 are arranged and the work 222 is conveyed, but the work can be conveyed up and down freely in various combinations using a plurality of columnar members 212 and actuators 210 and the like. Become.

Next, as in FIG.
FIGS. 13 to 15 show a case where a plurality of 10 are assembled and used. FIG. 13 shows that the air cylinder 250 and the electric actuator 252 are mounted in the structure 12, and the respective control boxes 254 and 256 are connected to the columnar member 25.
8 shows a state in which it is attached. Here, reference numeral 2
Reference numeral 60 denotes a motor box, and reference numeral 262 denotes a valve unit. Note that a compressor, a dehumidifier, an aftercooler, and the like (not shown) can be integrated and inserted into each actuator block. In this case, the compressor or the like is integrated or connected in the columnar member 258 and wired. It is also possible to circulate and transmit the vacuum pressure using a known suction device such as a compressor or a scroll compressor.

FIG. 14 shows an example in which actuator controllers 264 and 265 are respectively attached to the frame portion 36 and housed in the structure 12. In FIG. 14,
Transmission of various signals input to the actuator controllers 264 and 265, for example, an electric signal, a fluid pressure signal, a power signal, etc., is performed by the structure 12 and the columnar member 258, respectively.
Done through the interior of the.

[0050]

According to the actuator of the present invention,
The following effects can be obtained.

That is, even after the actuator is once positioned and set so as to convey the work to a desired position, the motor unit and the idle unit are displaced to readjust the moving position of the moving body, or Can be changed. Further, the motor unit and the idle unit can be easily removed from the guide frame to perform maintenance and inspection work.

[Brief description of the drawings]

FIG. 1 is a perspective view of a first embodiment according to an actuator of the present invention.

FIG. 2 is an exploded perspective view of FIG.

FIG. 3 is an exploded perspective view of a second embodiment of the actuator according to the present invention.

FIG. 4 is a perspective view of a third embodiment according to the actuator of the present invention.

FIG. 5 is a perspective view of a fourth embodiment according to the actuator of the present invention.

6 is a perspective view of a moving member of the actuator shown in FIG.

FIG. 7 is a perspective view showing a moving member according to a fifth embodiment of the actuator of the present invention.

FIG. 8 is a perspective view showing a moving member according to a sixth embodiment of the actuator of the present invention.

FIG. 9 is a perspective view showing a moving member according to a seventh embodiment of the actuator of the present invention.

FIG. 10 is a perspective view showing a moving member according to an eighth embodiment of the actuator of the present invention.

FIG. 11 is a perspective view showing a moving member according to a ninth embodiment of the actuator of the present invention.

FIG. 12 is an explanatory diagram when a plurality of actuators according to the present invention are used to transfer a work.

FIG. 13 is an explanatory diagram in a case where a plurality of actuators according to the present invention are used to transfer a work.

FIG. 14 is an explanatory diagram in a case where a plurality of actuators according to the present invention are used to transfer a work.

FIG. 15 is an explanatory diagram in a case where a plurality of actuators according to the present invention are used to transfer a work.

[Explanation of symbols]

10, 50, 62, 78, 210, 214, 216, 2
18 Actuator 12, 52, 64 Structure 14, 170 Motor 16, 112 Ball screw 18, 82, 106 Moving body 20, 66, 68, 84, 140, 152 Moving member 36, 142, 156 Frame parts 46, 108, 158 Guide parts 80, 154 Timing belt 90, 166 Motor pulley units 92, 168 Idle pulley units 116, 148, 188, 202 Connection parts 160 Table top 162 Slide table 182 196: Rodless cylinder 212, 258: Columnar member

Claims (1)

[Claims] 1. A drive source, an elongated guide frame having a mounting hole and functioning as a base, and a driving force of the drive source is transmitted to the guide frame under a guide action of the guide frame. An actuator comprising: a moving body displaced along a longitudinal direction of a frame; a motor unit mounted on one end of the guide frame; and an idle unit mounted on the other end.