JPS58155201A - Swing motor driven by fluid pressure - Google Patents

Abstract

PURPOSE:To accurately control swing motion, by securing a ball nut on a piston so that the axis of the nut is parallel with the direction of movement of the piston and by engaging the ball nut with a screw shaft fitted in a cylinder. CONSTITUTION:A piston 9 integrally provided with a telescopic rod 10 is fitted, in a cylinder 1, at both the ends of which are provided with a head cover 3 and a rod cover 4 which have respectively fluid inlet/outlet ports 6, 7, so that the piston can slide only in the axial direction. The rod 10 is supported its tip by the rod cover 4 through a core 11. A screw shaft 14 is inserted into the rod 10 and supported at one end by the head cover 3 and at the other end by the rod 10 and core 11. Many balls 24 are interposed between the screw part 15 of the shaft 14 and a ball nut 23 coupled to the piston 9, so that the screw and the nut are engaged with each other. As a result, the screw shaft 14 and an output shaft 36 are revolved through the nut 23 as the piston 9 slides.

Description

[Detailed description of the invention] The present invention relates to a hydraulic swing motor.

The swing motor to which the invention is directed includes both hydraulic pressure and pneumatic pressure as its working fluid pressure, as well as those in which the piston body is driven by a single-acting type or a double-acting type.

Swing motors can be roughly divided into vane type and piston type. Piston types include rack binion no cedar type and piston helical spline type.

Piston chain type and piston link type are available.

The piston-helical spline type is the closest to the rocking motor related to "non-explosion". That is, when the piston installed in the main cylinder is shredded by hydraulic pressure, the helical spline that slides together with the piston engages with it and gives a rotational force to the unfixed helical spline in the rotating part wJII11. It has a structure. The length of the helical spline can be set freely in this helical spline type piston, so w1! The l1lJ angle can also be selected arbitrarily. However, on the other hand, there are problems such as the large amount of rotational energy, large energy loss, and the fact that the operation becomes bloody. .

An object of the present invention is to solve the above problems.

The means (41L) adopted by the present invention for this purpose are as follows.

A ball punch is fixed to the piston body attached to the cylinder body in a downward motion that makes the axis of the piston body equal to the movement force of the piston body. The shaft is rotatable with respect to the cylinder main shaft IiQ, and the screw shaft is attached to the bolt excitation regulation set, and this screw shaft is the driving force for my wJ operation! 111 Ji! l
The hydraulic oscillating motor 111 has a ball screw instead of a helical spline, and has an edge motion→rotation (oscillation) motion.

-J:, Md summary Sakaki constituent action is as follows.

(A) When the piston body is moved by applying or removing the full fluid pressure, it is held by the piston body and the screw shaft is moved. The pole engaged in the @& groove rolls along the spiral groove.

The screw shaft is exposed to stress at the side wall eζ of the helical groove from the pole group which rolls and moves tmi11J together with the piston body.

Since sliding of the screw shaft is restricted, only the straight needle perpendicular to the 4i111 core works effectively to rotate the screwsha 714-111 out of the stress of the screw shaft. 7. Since the length of the screw shaft can be set freely, the swing angle can also be selected arbitrarily.

(B) Screw shaft [& groove pitch P1
If the movement of the piston body is #JiltL, then the rotation angle θ of the screw shaft is: ■ When L=P, θ=860°H Assuming that the resolution angle of rotation amount detection is ψ, the corresponding interlocking amount of the piston body is If X, then x = - P
2, PR is much smaller than Pl.
Therefore, the rotation angle θl・θ for the same momentum LVc
.

From equation (g), θ2 is θ, which is probably p larger.

Also, (from the formula, I2 is much smaller than xl.

However, θ1 r Xl is conventional gold, θ2. x2 represents the invention.

To sum up the above, is it fine-grained control in controlling the swing angle? It is about conduct and politeness. Also, in order to obtain the same swing angle, the lll1II length is shorter than the conventional one.

(C) Hole screw has much smaller frictional resistance than helical spline r and is extremely smooth.
Nacho.

Thus, the effects of the present invention can be described as follows.

0) Swing control t - 1° too small to perform with high precision.

←) Compact warehouse design.

(c) The movement is smooth, which is advantageous for saving drive energy.

Next, Example 1r of the present invention will be explained based on FIG.
.

Cylinder body il) n, cylinder tube (2),
Consists of head cover (3), rod cover (4), etc.

flit is Tyrofd, till, [71 is by #]
This is the inlet and outlet for fluids (oil, air). Piston body (8
) is the piston (9) and press rod (10).
) whole gold plate.

Piston body i81 V'i, suitable means (described later)
Rotation with respect to the cylinder body fl) is restricted by VC.

The telescopic rod (l(2)) is an 8-stage type, and its tip is supported by the core (Il).The core (11) is fixed to the rod cover 14) and is attached to a cylindrical end cover (l1).
m) is supported. (I2) is the piston 74 fitting, - is the piston gas foot, and (18m) is the seal ring.

The screw shaft (llj, its - what is the head cover (3) and the other side is held by the telescopic rod ((2) and the core body (II) VCC. The screw shaft 04) is connected to the g#!ll1lsQ shaft and the bearing part. (181 is a presser cover,
0@ is a threaded tube, t- is a bearing, and 3 is a packing. .

The support part a has a hook t, which follows the bearing 9 to restrict the sliding movement of the screw shaft θ(1) with respect to the cylinder body +1'l.

Boat nuts c! Al is screwed concentrically to the piston (3). Boat nut ■Ha, Sufu 1) Holds a large number of balls (2) that are resting in the spiral groove 1C of Y7 and J4I. A group of balls circulates in a ball nut (c).

It can be said that the above explanation mostly relates to S1 of the gist of the present invention. It is also possible to attach the swinging member directly to the output shaft portion (+7) itself.

The configuration shown includes other hook ropes mt.

Below, they will be subtracted.

The base plate and the curved plate (llυ) are connected with 7 flange on both sides, and the gear box is connected to the gear box.The retainer connection is connected to the front plate by the middle plate (88). .

The board cll is fixed to the presser cover.

The middle coaxial connection is straight in-shaft II threat output IIItl
l capital (lη has a spline tear metal. Intermediate M (
341$4: Reducer - All valves are interlocked and connected to the final output shaft □□□). Linghui output lll1II (to)
r, it is supported so as to be freely circular relative to each other along the ten-direction axis - π-direction. The reducer shown in the figure is a so-called harmonic drive, which is compact and has a large reduction ratio, and has no backlash. Since the harmonic drive is well known, detailed explanation will be omitted.

@ is the electromagnetic brake and (to) is the pulse encoder.

The electromagnetic brake (2) has its base value c11 identified on the board. Pulse encoder (2) 1 is fixed to the cutting board. Plate 011 number of quirods (fixed to the board (to) through 411 racks. Electromagnetic brake (
・The input format to the pulse encoder is as follows.

A rigid gear (6) in the middle 11C and a gear m fixed in the front link 9 are engaged.

A magnetic disk is fitted to the passive shaft μ3J in a slidable and pre-N restricted state. An electromagnetic coil for adsorbing the disk (4iiiI) is mounted inside the main body t3!1VtC. The passive sleeve is the input $ of the pulse encoder (2).
111f4f9 is connected to the flexible joint value 1. -2 (◆9) is a bearing.

The operation is roughly as follows.

When a flow rate is injected from the entry/exit date (6), the piston (9) and ball nut (c) move to the left, and the telescopic pin rod 001 contracts. Along with this, the screw shaft 7 (141) rotates, and at the same time the final output is 1liIl.
ll (to) also turns 1i11. On the other hand, gear (@, (
The input shaft of the pulse encoder (2) is also enclosed through the tray.

The output aw of the pulse encoder (to) is detected by the controller, and when this coincides with the set value, the controller's control deviation amount assists in closing the electromagnetic pulp of the 11g1 path of the output. Inner time Km hate 1 hour Gl/l
Do k fF *J.

Screwsha 7) (The length of m-axis part 0 clause of 141 is θ
If the pinch of 0 steel, 11&groove is j gu, piston (8)
7) 04) Uzo rotates with the /stroke.
The stroke of the piston (9) takes some time.

When the reduction ratio of the reducer is Iθ, the piston (9)
It is only necessary to rotate the final shaft in the /N stroke. Instead, the torque level of the output axis (to) is extremely large.

If the gear ratio of gears +42 and +441 is l=1,
While the final output l1II@ rotates /, the input shaft (to) of the pulse encoder (to) rotates j0. The final output shaft (to) is 1/80 rotation with respect to the same rotation of the input shaft (gripping). If the resolution ψ of the pulse encoder is 100, the fluctuation of the final output IIl#I (to) If N degrees of angle control is 80 11160 8 ψ=1, the accuracy is .00O126°.

It is preferable to use a microcomputer or the like as a controller in which the pulse encoder (2) is subjected to MR, since it is possible to control the pulse encoder (2) with extremely high surface accuracy. In that case, vi magnetic brake ml t-1st! It is best to use it for deceleration and inching (B) as shown in the figure. Furthermore, in connection with the 1tti magnetic pulp of the fluid circulation, it is preferable that if overshoot occurs due to inching, tI is corrected by switching the direction of fluid injection in the opposite direction.

Also, to prevent the sudden movement (dancing) of the piston (9) when the brake is released, it is recommended to equip a pressure equalizer 444 like the one in the 8th cause. This consists of a bypass and a differential pressure responsive pulp day, where pressure P1 and pressure r8 are P
Control is performed so that lχP2 is achieved.

In the embodiment shown in FIG. 1, a telescopic rod is used instead of a piston rod for the piston (9), which has the following advantages. In the case of a piston rod, a seal structure is required in the through hole of the rod cover (4).
Moreover, it is necessary to leave a space for the piston rod to protrude to its maximum extent.

With a telescopic rod, there is no such problem and you can get a compact VC rod.

In addition, since it has a harmonic drive type speed reducer, the speed reduction ratio is large, and large torque and ultra-low oscillation excitation can be obtained. There's no banter rush either.

Next, another embodiment will be described. Illustration omitted.

(D piston body (8) cylinder main salary 11) Vct
8. Regarding the means of regulating rotation.

(1') Install a rod that completely passes through the histone (9) on the cylinder body + IIVC.

(1υ Tenskovic Rondo flQl Toronto force 7
No.-(4) Also, the core body (14 diameter) is fitted.

(II) The piston (11) and tube (2) are fitted with different diameters.

■ Regarding the installation of Ball Nand (c) piston body +8) VC.

(1) Axis center of piston t++8+ and bolt hole l-
Even the ElO center axis is parallel, but parallelism is maintained.

(II) Attach the ball nut (c) to the telescopic screwdriver.

(V) A piston rond assembly installed in place of the telescopic rod (10).

(i) The swing angle detector may be anything other than a pulse encoder. It may also be a mechanical output type.

■The controller that uses w1 angle detector input is How many warehouses may be controlled.

■ Electromagnetic brake (371 & any other type of brake may be used instead. One without a brake is also fine.

(V) The reduction gear can be of any type. It can be any type of speed reducer.

[Brief explanation of drawings]

Figure 1 is a section +11'i diagram, Figure 2 is a graph, and Figure 8 e is an outline of the composition, with one song [・1]. (1)... Cylinder base salary, (8)... Piston body, [1,1)-... Screw screw)' throat, (c)... Ball nut, (To )・・・・・・
ball. Japanese Patent Publication No. 58-155201 (5)

Claims (1)

[Claims] N-order piston body +81 K attached to silling body il+
The ball is fixed in such a way that its axes are parallel to the movement direction of the piston body (8), and the screw shaft that engages the ball group held by this pole nut is connected to the above-mentioned screw shaft. A fluid pressure oscillating motor that is rotatably mounted on a shilling (1) in a state where sliding is restricted, and this screw seam f 7 to t14 is configured as a drive shaft for oscillating motion.