KR870000764B1 - A linear drive device - Google Patents

Abstract

A career, which rotates back and forth with a constant angle range, is established on the body. A gear assembled on the body has the same rotating center with the career. A planetary gear joints with the gear and rotates with the career. A slide pin is attached on the planetary gear shaft eccentrically. A moving arm has a hole on its radius, which joints with the slide pin, and rotates the same shaft with the career. A power output arm, which has a slide pin at the edge, is established with the moving arm. A slider, which is supported to reciprocates, has a hole jointed with the slide pin of the power output arm with a vertical moving direction.

Description

Linear Drive

1 is a cross-sectional view showing the structure of one embodiment of a linear drive device according to the present invention.

2 is a sectional view taken along line II-II.

3 is a diagram showing the movement trajectory of the slide pin.

4 is a graph showing the relationship between the displacement, speed and time of the conveying lever according to the present embodiment.

5 is a graph showing its acceleration characteristics.

6 is an overall view showing a schematic shape of another embodiment according to the present invention.

7 is a sectional view showing the internal structure of the main part thereof.

8 is a cross-sectional view along the line.

9 is a graph showing the relationship between the displacement speed and the time of the transfer lever according to the present embodiment.

10 is a graph showing acceleration characteristics thereof.

* Explanation of symbols for main parts of the drawings

(11) (39): Guide rails (12) (36) (44) (56): Home

(13) (41): Slider (14) (40): Return Lever

(15) (35) (45) (54): Slide pin (16) (46): Output arm

(17) (47): Shaft 18 (48): Body

(19) (59): Warham Wheel (20) (51): Carrier

(22) (58): Warhamm (25) (62): Drive motor

(32) (50): Sun gear (33) (52): Planetary gear

(34) (53): Planetary shaft (37) (55): Oscillating arm

38: trestle 42: pin

(43): slider driving arm

The present invention relates to a linear drive device which prays to increase the speed of movement without increasing the acceleration and to reduce the impact at the time of starting stop. In particular, the conveying drive source of a workpiece for a machine tool represented by a transfer machine As appropriate.

Background Art Conventionally, hydraulic cylinders are most often used as a half speed drive source of a workpiece for a machine tool such as a transfer machine. This is because the conveying speed can be considerably higher than that of the motor driving through the reduction gear, and even a small one has a large driving torque.

However, as the conveying stroke becomes longer, the maximum acceleration is gradually increased as the hydraulic cylinder, so the shock during start-up and deceleration tends to be large, and the strength and rigidity of the apparatus tend to be insufficient, thereby increasing practical problems.

In view of the above inconveniences in such a linear drive device using a conventional hydraulic cylinder, the present invention can make the conveying stroke extremely long from a completely new perspective, and the impact at the start stop is small, and the conveying speed is further improved. An object of the present invention is to provide a linear drive device using a motor that can be set at a high level.

The configuration of the linear drive device of the present invention, which achieves the above object, comprises a carrier which is attached to the main body of the drive rotation and which rotates forward and backward at a predetermined angle, and which is mounted on the main body concentrically with the rotation center of the carrier. A sun gear, a planetary gear that is rotatably attached to the carrier while meshing with the sun gear, a slide pin that is eccentrically attached to the rotation axis of the planet gear, and a groove in which the slide pin is slidably coupled radially. And a swing arm attached to the main body pivotally and concentrically with the rotation center of the carrier, an output arm mounted integrally with the swing arm and having a slide pin formed at the tip, and reciprocating linearly moving. Obtain a slider having a groove in which the slide pin of the output arm slides in a direction perpendicular to the movement direction. One that it is characterized.

Therefore, according to one embodiment of the present invention, since the slide pin of the planetary gear becomes cycloidic motion or epicycloidal motion with respect to the sun gear, the output arm integral with the swinging arm coupled to the slide pin of the planetary gear, The angular speeds at the start and end of the rotation can be slowed down, and the angular speeds during the rotation can be greatly increased. As a result, the impact at the start stop of the slider can be made extremely small.

On the other hand, the configuration of the linear drive device according to another embodiment of the present invention includes a carrier which is attached to the main body and driven forward and reverse at a predetermined angle, and a sun gear mounted on the main body concentric with the rotation center of this carrier. And a planetary gear meshed with the sun gear and rotatably attached to the carrier, a slide pin attached eccentrically with respect to the rotation axis of the planetary gear, and a groove to which the slide pin slides in a radial direction. A swing arm pivotally attached to the main body concentrically with the center of rotation of the carrier, an output arm mounted integrally with the swing arm, and having a slide pin formed at the front end thereof, and a proximal end pivotally mounted to the main body; In addition, the slide pin is formed at the tip and the slide pin of the output arm slides in the radial direction. And a slider having an excitation slider drive arm, and a groove having a reciprocating linear movement, and a groove in which the slide pin of the slider drive arm is slidably engaged in a direction perpendicular to the movement direction.

Therefore, according to this embodiment, since the slider is driven by the above-described output arm via the slider drive arm, there is almost no impact at the start-stop of the slider, and furthermore, the slider has no increase in the maximum acceleration. The conveying speed can be increased, it is extremely advantageous in terms of strength and rigidity, and the conveying stroke can be set to a very large one.

Hereinafter, a linear drive device according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 5.

As shown in FIG. 1 showing a schematic cross-sectional structure of the present embodiment and FIG. 2 showing a II-II cross section, a pair of guide rails 11 mounted on a mount (not shown) in parallel to each other, Sliders 13 having grooves 12 perpendicular to the longitudinal direction of these guide rails 11 are slidably fitted, and conveyance levers 14, such as a workpiece (not shown), are integrally fitted to the sliders 13. It is installed in. The shaft 17 of the output arm 16 to which the slide pin 15 slidingly engages in the groove 12 of the slider 13 is attached to the front end thereof so as to rotate on the main body 18 integral with the mount. It is attached, and the shaft 17 is rotatably fitted with the cylindrical carrier 20 which integrally mounted a part of the fan-shaped worm wheel 19 on the shaft 17. The worm wheel 19, which is concentric with the shaft 17, is engaged with the worm 22 formed on the worm shaft 21, which is attached to the main body 18 in a rotational manner, and at one end of the worm shaft 21. On the transmission pulley 24 connected via the torque limiter 23, a V belt 27 connected to the drive pulley 26 of the movable motor 25 capable of forward / reverse rotation mounted on the main body 18 is hooked. Lost The worm shaft 21 is provided with an air rake 28 at the other end thereof, and an overtorque detector 29 for detecting the operation of the torque limiter 23 is attached to the main body 18. . And, in order to regulate the reciprocating turning range of the worm wheel 19 to operate the air brake 28, a dog 31 which can abut the pair of limit switches 30 mounted on the main body 18 is provided. The end face of the worm wheel 19 is protruded. The carrier 20 has a planetary shaft 34 having a planetary gear 33 that meshes with an arc-shaped sun gear 32 integrally mounted on the main body 18 concentrically with the shaft 17. The planetary shaft 34 is supported by the slide pin 35 integrally in an eccentric state, and the eccentricity of the slide pin 35 in this embodiment is equal to the pitch circle diameter of the planetary gear 33. It is set to half. The swinging arm 37 which radially formed the groove 36 to which the slide pin 35 slides is integrally connected to the shaft 17 of the output arm 16. In addition, in this embodiment, although the worm wheel 19 and the worm 22 were used as a drive mechanism of the carrier 20, a simple spur gear or the like may be used. It is also possible to use a roller or the like instead of the slide pins 15 and 35.

Therefore, when the driving motor 25 is operated and the rotational force of the worm shaft 21 is transmitted to the carrier 20 via the worm wheel 19, the planetary shaft 34 turns the attention of the shaft 17. However, since the planetary gear 33 and the sun gear 32 are engaged, the planetary shaft 34 rotates about the carrier 20, and the slide pin 35 pivots around the planetary shaft 34. Will be. For this reason, the swinging arm 37 which the slide pin 35 engages rotates with the output arm 16, and moves the slider 13 along the guide rail 11 with the conveyance lever 14. As shown in FIG. When the dog 31 contacts one limit switch 30, the drive motor 25 stops and the air brake 28 operates to stop the slider 13 at one reciprocating end. In addition, in the present embodiment, the swinging arm 37 and the output arm 16 rotate the range of 90 degrees, and the planetary shaft 34 rotates one time between them, so that the planetary shaft at the reciprocating end of the slider 13 The slide pin 35 of the shaft 34 is always set to be located at the innermost side in the radial direction of the swinging arm 37. That is, as shown in FIG. 3 showing the movement trajectory of the slide pin 35 according to the present embodiment, since the slide pin 35 draws a cycloid curve, the swinging arm 37 (output arm) coupled thereto is shown. Each speed of 16 is slow at the start stop of the slider 13, and rapidly increases at more than that. 4 shows the relationship between the conveyance stroke (solid line portion) and the conveying speed (dashed line portion) and time of the slider 13 according to the present embodiment, and the change in acceleration is shown in FIG. As is also apparent from these graphs, since the acceleration at the time of starting stop of the slider 13 is slow, it is possible to prevent the occurrence of an impact.

Next, a linear drive device which is another embodiment of the present invention will be described in detail with reference to FIGS.

As shown in FIG. 6 of the present embodiment, FIG. 7 shows the cross-sectional structure of the main part thereof, and FIG. 8 shows the cross-sectional structure of the X-ray line, the guide rail horizontally installed on the mount 38 ( 39, the slider 41 which integrally attached the conveying lever 40 is slidably fitted, and the base end is provided in the groove | channel which is not shown in the groove formed in this slider 41 at right angles to the sliding direction. The slide pin (not shown) of the front end of the slider drive arm 43 which is rotated freely via the pin 42 is slidably engaged. A groove 44 is formed in the center portion of the slider drive arm 43 in the radial direction thereof, and an output arm 46 having a slide pin 45 slidingly coupled to the groove 44 at the distal end thereof. The integral shaft 47 is rotatably supported by the main body 48 integral with the mount 38. On the other hand, the sun gear 50 is integrally installed on the fixed shaft 49 mounted on the main body 48 in a state in which the shaft 47 is rotated and fitted concentrically with the shaft 47. The planetary shaft which integrally attached the planetary gear 52 which meshes with the sun gear 50 to the cylindrical carrier 51 concentrically rotated about this fixed shaft 49 in concentricity with the 49. 53 is supported by rotation. The planetary shaft 53 is integrally mounted with a slide pin (roller) 54 in which the half of the pitch circle of the planetary gear 52 is eccentric with respect to the planetary shaft 53 in this embodiment. The pin 54 is slidably coupled to the groove 56 formed in the radial direction of the swinging arm 55 integrally mounted on the shaft 47. On the outer circumferential surface of the carrier 51, a worm wheel 59 engaging with the worm 58 of the worm shaft 57 attached to the main body 48 is installed, and one end of the worm shaft 57 is installed. On the side, the transmission pulley 61 is connected via the torque limiter 60. The V-belt 64 is hooked to the drive pulley 63 and the transmission pulley 61 of the drive motor 62 provided on the main body 48. The worm shaft ( 57) The drive rotation is performed via the torque limiter 60. An air brake 65 is attached to the other end of the worm shaft 57, and the limit switch 66 for controlling the operation of the air brake 65 and the drive motor 62 is attached to the main body 48. The dog 68 of the dog shaft 67 attached freely rotates. That is, the dog shaft drive gear 70 integral with the dog shaft 67 is engaged with the rotation detection gear 69 integrally attached to the carrier 51, and the dog (at the reciprocating end of the carrier 51) 68 contacts the limit switch 66, stops the drive motor 62, and operates the air brake 65 to stop the carrier 51 in position. Similarly, the main body 48 is attached with an overtorque detector 71 which detects the operation of the torque limiter 60 and emergency stops the drive motor 62.

In this embodiment, the swinging arm 55 (output arm 46) is rotated 180 degrees, and the slide pin 54 is rotated in the radial direction of the swinging arm 55 similarly to the above-described embodiment at the rotating end thereof. It is set so as to be located on the axis 47 side. In addition, the planetary shaft 53 rotates once by the 180 degree rotation of the carrier 51, and the slide pin 54 performs the cycloidal movement similarly to the case shown in FIG. 3. However, the rotation of the output arm 46 slides. It is transmitted to the slider drive arm 43 via the pin 45, and the slider 41 moves linearly with the conveyance lever 40 according to rotation of this slider drive arm 43. As shown in FIG. In this case, the movement of the slider 41 becomes a combined movement of the output arm 46 and the slider driving arm 43, and the conveying stroke (solid line portion) and the conveying speed (dashed line) as shown in FIG. Part) is obtained. In addition, since the change of the acceleration is shown in FIG. 10, the rotation of the output arm 46 is transmitted to the slider 41 via the slider drive arm 43 in any case. The load on the shaft 47 can be reduced than in the example, and the acceleration characteristic can also be improved. As a result, in addition to the effect of the first embodiment, the conveying stroke of the conveying lever can be made longer.

Claims (2)

A carrier which is attached to the main body in a rotational manner, and which rotates forward and backward at a predetermined angle, a sun gear mounted on the main body concentrically with the center of rotation of the carrier, and the sun gear meshed with and rotated on the carrier. Rotating material to the main body having an attached planetary gear, a slide pin eccentrically attached to the rotation axis of the planetary gear, and a groove to which the slide pin slides in a radial direction, and concentric with the rotation center of the carrier. A swing arm attached to the swing arm, an output arm mounted integrally with the swing arm, and having a slide pin formed at the front end thereof, and a slide pin of the output arm sliding in a direction perpendicular to the direction of movement, which is freely supported by the reciprocating linear movement. A linear drive device comprising a slider having a groove to freely engage. The carrier is attached to the main body of the drive and rotates forward and backward at a constant angle, the sun gear mounted on the main body concentrically with the center of rotation of the carrier, and the sun gear meshed with the sun gear and rotated on the carrier. Rotating material to the main body having an attached planetary gear, a slide pin eccentrically attached to the rotation axis of the planetary gear, and a groove to which the slide pin slides in a radial direction, and concentric with the rotation center of the carrier. A swing arm attached to the swing arm, an output arm mounted integrally with the swing arm, and having a slide pin formed at the front end thereof, and a proximal end pivotally mounted to the main body, and a slide pin formed at the front end of the swing arm of the output arm. Slider drive arm with radially grooved groove in which the pin slides freely, and reciprocating linear movement is supported. In addition to the travel direction and a direction orthogonal linear drive device, characterized in that a slider with a groove for the slide pins coupled to the sliding material of the sliding drive arm.

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