JPS62269209A - Carrier positioning and stopping device - Google Patents

Carrier positioning and stopping device

Info

Publication number
JPS62269209A
JPS62269209A JP11231986A JP11231986A JPS62269209A JP S62269209 A JPS62269209 A JP S62269209A JP 11231986 A JP11231986 A JP 11231986A JP 11231986 A JP11231986 A JP 11231986A JP S62269209 A JPS62269209 A JP S62269209A
Authority
JP
Japan
Prior art keywords
cylinder mechanism
moving body
movable body
pulse motor
rails
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP11231986A
Other languages
Japanese (ja)
Inventor
Junji Hashimoto
純二 橋本
Koji Fukui
宏治 福井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tokico Ltd
Original Assignee
Tokico Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tokico Ltd filed Critical Tokico Ltd
Priority to JP11231986A priority Critical patent/JPS62269209A/en
Publication of JPS62269209A publication Critical patent/JPS62269209A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/58—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/22—Feeding members carrying tools or work
    • B23Q5/26—Fluid-pressure drives

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To position and stop a moving body at a necessary position by providing a cylinder mechanism for moving linearly the moving body, and a driving mechanism for positioning the moving body which has been moved by this cylinder mechanism, at a necessary position and stopping it by an electromagnetic force. CONSTITUTION:To one side of an air cylinder mechanism 1, a stator (scale) 9 of a linear pulse motor (driving mechanism) 8 is fixed and attached with a screw 10, and in the center part of the stator 9, a slit 11 is formed. Also, on the upper face of the stator 9, parallel rails (carrier paths) 12, 12 and an uneven part 13 positioned between these rails 12, 12 are provided. A moving body 14 of the linear pulse motor 8 is loaded on the rails 12, 12 through a roller 15 freely movably along these rails 12, 12, and fixed to a coupling part 4, so that it can moves as one body with a piston 3. To changeover valves 5, 6, and the linear pulse motor 8, a control mechanism 16 is connected electrically, and the changeover valves 5, 6 and the liner pulse motor 8 are controlled through this control mechanism 16.

Description

【発明の詳細な説明】 「産業上の利用分野」 本発明は、速やかに起動させかつ所要位置に停止させる
ことができる搬送位置決め停止装置に関する。DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a transport positioning and stopping device that can be started quickly and stopped at a desired position.

「従来の技術」 従来、２つのアクチュエータを用いた搬送位置決め停止
装置として特開昭５７−１８９７８２号に記載されたも
のが知られている。このものは、エアシリンダ機構とボ
ールねじとを用い、第１の所定の位置決め停止部から第
２の所定の位置決め停止部に移動体を移動させるもので
、この移動体の起動、停止をボールねじ駆動により行い
、移動体の移動の中間部においては前記エアシリンダ機
構により駆動するようになっている。``Prior Art'' Conventionally, a transport positioning and stopping device using two actuators is known, as described in Japanese Patent Application Laid-Open No. 189782/1982. This device uses an air cylinder mechanism and a ball screw to move a moving body from a first predetermined positioning stop part to a second predetermined positioning stop part, and starts and stops the moving body using a ball screw. This is done by driving, and in the middle of the movement of the moving body, the air cylinder mechanism is used to drive the moving body.

「発明が解決しようとする問題点」 ところが、従来のこのような搬送位置決め停止装置にお
いては、次のような問題点があった。"Problems to be Solved by the Invention" However, such conventional transport positioning and stopping devices have the following problems.

Ｉ）移動体の起動、停止を行うホールねじ駆動において
は、位置決め停止が可能であるが、エアシリンダ機摺駆
動による移動体の移動中間部では位置決め停止すること
ができない。I) Positioning and stopping is possible in the Hall screw drive for starting and stopping the movable body, but positioning and stopping is not possible at the intermediate portion of the movement of the movable body by air cylinder sliding drive.

１１）移動体の起動、停止を行うボールねじ駆動におい
ては、移動体の移動に対するエアシリンダ機構の抵抗が
あるため、移動体を高速移動させることができず、この
移動体を速やかに起動１停止させることができない。11) In a ball screw drive that starts and stops a moving object, the air cylinder mechanism has resistance to the movement of the moving object, so the moving object cannot be moved at high speed, so the moving object must be started and stopped immediately. I can't do it.

ｉｉｉ　）エアシリンダ機構による駆動状態からボール
ねじによる駆動に、このボールねじによる駆動状態から
エアシリンダ機構による駆動に移り変わるときに移動体
をスムースに移動させることができない。iii) The movable body cannot be moved smoothly when changing from being driven by the air cylinder mechanism to being driven by the ball screw, and from being driven by the ball screw to being driven by the air cylinder mechanism.

本発明は、従来のものが６つ以上のような問題点を解決
した搬送位置決め停止装置を提供することを目的とする
。SUMMARY OF THE INVENTION An object of the present invention is to provide a conveyance positioning and stopping device that solves the six or more problems of conventional devices.

「問題点を解決するための手段」 本発明は、前記目的を達成さけるために次のような構成
としている。即ち、搬送路に沿って移動体を移動さけ、
この移動体を所要位置に停止させる搬送位置決め停止装
置において、前記移動体を直線状に移動させるシリンダ
機構と、該シリンダ機構により移動された前記移動体を
所要位置に位置決めして電磁力により停止させる駆動機
構とを具備している。"Means for Solving the Problems" The present invention has the following configuration in order to achieve the above object. That is, avoid moving the moving object along the conveyance path,
This transport positioning and stopping device that stops a moving body at a desired position includes a cylinder mechanism that moves the moving body linearly, and a cylinder mechanism that positions the moving body moved by the cylinder mechanism at a desired position and stops it by electromagnetic force. It is equipped with a drive mechanism.

「作用　」 移動体の停止位置では移動体を電磁力により停止させる
駆動機構の保持力により移動体を停止させておき、起動
、搬送時には、前記駆動機構への信号の入力により、こ
の駆動機構の保持力を解き、シリンダ機構により移動体
を速やかに起動し、この移動体の停止時には、この移動
体へのシリンダ機構の力を逆作用させて移動体を減速さ
せた後、前記シリンダ機構による移動体の作動力を除き
、前記駆動機構を作動させて、所要の位置に移動体を停
止させる。以上の動作を繰り返すことにより、移動体を
搬送し位置決め停止させる。"Function" At the stop position of the movable body, the movable body is stopped by the holding force of the drive mechanism that stops the movable body by electromagnetic force.When starting or transporting the movable body, the drive mechanism is stopped by inputting a signal to the drive mechanism. The holding force is released, the cylinder mechanism quickly starts the moving body, and when the moving body is stopped, the force of the cylinder mechanism is reversely applied to the moving body to decelerate the moving body, and then the cylinder mechanism moves the body. The operating force of the body is removed and the drive mechanism is operated to stop the movable body at a desired position. By repeating the above operations, the movable body is transported, positioned and stopped.

「実施例」 以下、本発明の一実施例を第１図ないし第３図に基づい
て説明する。第１図及び第２図中１はエアシリンダ機構
（シリンダ機構）であり、このエアシリンダ機構１は、
ロッドレスンリング型の乙のであり、そのシリンダ２内
にはロヅドレスのピストン３が摺動自在に設けられてい
る。ピストン３の一側には結合部４が設けられ、この結
合部４の一部はピストン３の摺動を許容してシリンダ２
の外周壁からノールされて突出している。エアシリンダ
機構１には、第１図に示すように配管を介して切換弁５
が接続され切換弁５には配管を介して切換弁６が接続さ
れ、切換弁６には配管を介して空圧源７が接続されてい
る。シリンダ２内はピストン３により室Ａと室Ｂとに画
成され、これら室Ａまたは室Ｂに切換弁５．６を介して
空圧源７より圧縮空気が導入されるようになされている
。"Embodiment" Hereinafter, an embodiment of the present invention will be described based on FIGS. 1 to 3. 1 in FIGS. 1 and 2 is an air cylinder mechanism (cylinder mechanism), and this air cylinder mechanism 1 is
It is a rodless ring type cylinder 2, and a rodless piston 3 is slidably provided inside the cylinder 2. A coupling part 4 is provided on one side of the piston 3, and a part of the coupling part 4 allows the piston 3 to slide and connects the cylinder 2.
It protrudes from the outer peripheral wall. A switching valve 5 is connected to the air cylinder mechanism 1 via piping as shown in FIG.
The switching valve 5 is connected to a switching valve 6 via piping, and the switching valve 6 is connected to an air pressure source 7 via piping. The interior of the cylinder 2 is defined by a piston 3 into a chamber A and a chamber B, into which compressed air is introduced from a pneumatic source 7 via a switching valve 5.6.

エアシリンダ機構Ｉの一側には、リニアパルスモータ（
駆動機構）８の固定子（スケール）９がねじ１０により
固定して取り付けられている。固定子９の中央部にはス
リットＩＩが形成されている。On one side of the air cylinder mechanism I, a linear pulse motor (
A stator (scale) 9 of a drive mechanism (drive mechanism) 8 is fixedly attached with screws 10. A slit II is formed in the center of the stator 9.

また、固定子９の上面には平行なレール（搬送路）１２
．１２及びこれらレール１２．１２間に位置する凹凸部
１３が設けられている。Further, on the upper surface of the stator 9, a parallel rail (conveyance path) 12 is provided.
．． 12 and an uneven portion 13 located between these rails 12 and 12 are provided.

リニアパルスモータ８の移動子（移動体）（スライダ）
１４はローラ１５を介してレール＋　２．１２上にこれ
らレールＩ　２，１２に沿って移動自在に搭載されてい
る。移動体１４は結合部４に固定され、ピストン３と一
体的に移動可能とされている。Mover (moving body) (slider) of linear pulse motor 8
14 is mounted via rollers 15 on rail + 2.12 so as to be movable along these rails I 2, 12. The movable body 14 is fixed to the coupling portion 4 and is movable integrally with the piston 3.

切換弁５．６．リニアパルスモータ８には制御限？Ｍ　
Ｉ　６が電気的に接続されており、この制御機構を介し
て切換弁５．６．リニアパルスモータ８が制御されるよ
うになされている。Switching valve 5.6. Is there a control limit for linear pulse motor 8? M
I 6 are electrically connected and via this control mechanism the switching valves 5.6. A linear pulse motor 8 is controlled.

次に、前記のように構成された搬送位置決め停止装置の
作用について説明する。移動体１４が停止状態にあると
きには、この移動体１４はリニアパルスモーク８の保持
力（定洛電流で励磁し、移動体１４か安定な状態にある
とき、移動体１　＝１に外力を加えてそれを動かすに必
要な力）により停止している。Next, the operation of the transport positioning and stopping device configured as described above will be explained. When the movable body 14 is in a stopped state, the movable body 14 applies the holding force of the linear pulse smoke 8 (excited with a constant current, and when the movable body 14 is in a stable state, an external force is applied to the movable body 1 = 1). It is stopped by the force required to move it.

ここで、制御機構Ｉ６より移動信号がリニアパルスモー
ク８に出力されると、リニアパルスモータ８の保持力が
解除され、移動体１４が自由状態となる。すると、第１
図に示すように空圧源７より切換弁５，６配管を介して
シリンダ２内の室Ａに流入した空気圧によりピストン３
が同図に示す矢印Ｃ方向に移動し、これに伴い移動体１
４も矢印Ｃ方向に移動を開始（起動）する（第３図）。Here, when a movement signal is output from the control mechanism I6 to the linear pulse smoke 8, the holding force of the linear pulse motor 8 is released, and the moving body 14 becomes free. Then, the first
As shown in the figure, the air pressure flowing into the chamber A in the cylinder 2 from the air pressure source 7 through the switching valves 5 and 6 piping causes the piston to
moves in the direction of arrow C shown in the figure, and as a result, the moving body 1
4 also starts (activates) movement in the direction of arrow C (FIG. 3).

そして、その移動量は移動体１４の下部に設けられてい
る複数のセンサ（図示仕ず）により検出した固定子９の
凹凸部１３の凹凸の演算結果パルス数と、制御機構Ｉ６
からの指令パルス数とを比較して決定される。The amount of movement is determined by the number of pulses calculated from the unevenness of the uneven portion 13 of the stator 9 detected by a plurality of sensors (not shown) provided at the lower part of the moving body 14, and the control mechanism I6.
It is determined by comparing the number of command pulses from

そして、この制御機構１６からの指令パルス数に近付く
と、第３図に示すように、制御機構１６により切換弁５
が第１図に示す状態から切り換えられ、シリンダ２内の
室Ｂに流入した空気圧により移動体１４は減速される。When the number of command pulses from the control mechanism 16 approaches, as shown in FIG.
is switched from the state shown in FIG. 1, and the moving body 14 is decelerated by the air pressure flowing into the chamber B within the cylinder 2.

この減速後、切換弁６が第１図に示す状態から切り換え
られ、シリンダ２内への空気の供給が遮断され、シリン
ダ２内の空気が排気状態とされる。またこの時、制御機
構１６によりリニアパルスモータ８が作動され、残され
たパルス数で移動体１４が停止するように減速制御され
る（第３図）。After this deceleration, the switching valve 6 is switched from the state shown in FIG. 1, the supply of air into the cylinder 2 is cut off, and the air inside the cylinder 2 is brought into an exhaust state. At this time, the linear pulse motor 8 is operated by the control mechanism 16, and deceleration control is performed so that the moving body 14 stops using the remaining number of pulses (FIG. 3).

この後、上記動作が操り返され、移動体１４が搬送１位
置決め停止される。Thereafter, the above operation is repeated, and the moving body 14 is stopped at the transport 1 position.

従って、移動体１４上に、例えばロボットを設置すれば
、このロボットの移動を前記移動体Ｉ４の移動制御と同
様に制御することができる。Therefore, if, for example, a robot is installed on the moving body 14, the movement of this robot can be controlled in the same manner as the movement of the moving body I4.

な１５、前記実施例においてはシリンダ機構としてエア
シリンダ機構１を用いたが、これに限られろことなく、
油圧シリンダ機構を用いてもよい。15. In the above embodiment, the air cylinder mechanism 1 was used as the cylinder mechanism, but the invention is not limited to this.
A hydraulic cylinder mechanism may also be used.

また、移動体１４の停止時にリニアパルスモータ８の保
持力を利用する代わりに、移動体１４とレール１２との
間にストッパ等の停止保持機構を設けることらできる。Further, instead of using the holding force of the linear pulse motor 8 when the moving body 14 is stopped, a stop holding mechanism such as a stopper may be provided between the moving body 14 and the rail 12.

「発明の効果」 本発明によれば、搬送路に沿って移動体を移動させ、こ
の移動体を所要位置に停止させる搬送位置決め停止装置
において、前記移動体を直線状に移動させるシリンダ機
構と、該シリンダ機構により移動された前記移動体を所
要位置に位置決めして電磁力により停止させる駆動機構
とを具備したから、 １）どこでも所要の位置で移動体を位置決めして停止さ
せることができる。"Effects of the Invention" According to the present invention, in a conveyance positioning and stopping device that moves a movable body along a conveyance path and stops the movable body at a predetermined position, a cylinder mechanism that moves the movable body linearly; Since the movable body moved by the cylinder mechanism is provided with a drive mechanism that positions the movable body at a desired position and stops it using electromagnetic force, 1) the movable body can be positioned and stopped at any desired position.

２）移動体の起動時にはシリンダ機構の推力により移動
体を移動させることができ、従って移動体を高速移動さ
せることができ、まｆこ移動体の停止時には、移動体を
シリンダ機構の力で減速させ、電磁力により停止させる
駆動機溝で停止させることができるので、移動体を速や
かにかつ高精度で停止させることができる。2) When the movable body is started, the movable body can be moved by the thrust of the cylinder mechanism, and therefore the movable body can be moved at high speed, and when the movable body is stopped, the movable body is decelerated by the force of the cylinder mechanism. The movable body can be stopped quickly and with high precision because the movable body can be stopped at the drive groove where the movable body is stopped by electromagnetic force.

３）シリンダ機構の力により移動体を減速させた状態で
前記駆動機構を作動させることができるので、移動体の
停止時において無衝撃停止させることができ、移動体の
移動を起動から停止までスムースとすることができろ。3) Since the drive mechanism can be operated while the moving object is decelerated by the force of the cylinder mechanism, the moving object can be stopped without impact when stopped, and the movement of the moving object is smooth from start to stop. You can do that.

４）シリンダ機構と前記駆動機構により装置を構成した
ため、従来のようにボールＩ２じを使用しないので、こ
の装置を廉価に提供することができる。4) Since the device is configured with the cylinder mechanism and the drive mechanism, the ball I2 is not used as in the conventional case, so this device can be provided at a low price.

【図面の簡単な説明】[Brief explanation of drawings]

第１図ないし第３図は本発明の一実施例を示すしので、
第１図は油圧回路図を付加した一部切欠断面図、第２図
は斜視図、第３図は制御状態を示す図である。 １・・・・・エアシリンダ機構（シリンダ機構）、５゜
６・・・・切換弁、８・・・・リニアパルスモータ（駆
動機構）、９・・・・・・固定子（スケール）、Ｉ２　
・・・・レール（搬送路）、１４・・・・・移動子（移
動体）（スライダ）、１６・・・制御機構。Figures 1 to 3 show one embodiment of the present invention, so
FIG. 1 is a partially cutaway sectional view with a hydraulic circuit diagram added, FIG. 2 is a perspective view, and FIG. 3 is a diagram showing a control state. 1...Air cylinder mechanism (cylinder mechanism), 5゜6...Switching valve, 8...Linear pulse motor (drive mechanism), 9...Stator (scale), I2
... Rail (conveyance path), 14 ... Mover (moving body) (slider), 16 ... Control mechanism.

Claims (3)

【特許請求の範囲】[Claims] （１）搬送路に沿って移動体を移動させ、この移動体を
所要位置に停止させる搬送位置決め停止装置において、
前記移動体を直線状に移動させるシリンダ機構と、該シ
リンダ機構により移動された前記移動体を所要位置に位
置決めして電磁力により停止させる駆動機構とを具備し
てなることを特徴とする搬送位置決め停止装置。(1) In a conveyance positioning and stopping device that moves a movable body along a conveyance path and stops the movable body at a desired position,
A transport positioning system comprising: a cylinder mechanism that moves the movable body linearly; and a drive mechanism that positions the movable body moved by the cylinder mechanism at a desired position and stops it by electromagnetic force. Stop device. （２）前記シリンダ機構はエアシリンダ機構であること
を特徴とする特許請求の範囲第１項記載の搬送位置決め
停止装置。(2) The transport positioning and stopping device according to claim 1, wherein the cylinder mechanism is an air cylinder mechanism. （３）前記シリンダ機構は油圧シリンダ機構であること
を特徴とする特許請求の範囲第１項記載の搬送位置決め
停止装置。(3) The transport positioning and stopping device according to claim 1, wherein the cylinder mechanism is a hydraulic cylinder mechanism.
JP11231986A 1986-05-16 1986-05-16 Carrier positioning and stopping device Pending JPS62269209A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP11231986A JPS62269209A (en) 1986-05-16 1986-05-16 Carrier positioning and stopping device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP11231986A JPS62269209A (en) 1986-05-16 1986-05-16 Carrier positioning and stopping device

Publications (1)

Publication Number Publication Date
JPS62269209A true JPS62269209A (en) 1987-11-21

Family

ID=14583693

Family Applications (1)

Application Number Title Priority Date Filing Date
JP11231986A Pending JPS62269209A (en) 1986-05-16 1986-05-16 Carrier positioning and stopping device

Country Status (1)

Country Link
JP (1) JPS62269209A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03293959A (en) * 1990-04-06 1991-12-25 Nec Corp Compound driving device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03293959A (en) * 1990-04-06 1991-12-25 Nec Corp Compound driving device

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