200934071 九、發明說明： 【發明所屬之技術領域】 本發明係關於將驅動馬達之旋轉運動變換成直線’ 行輸出之線性致動器。 動進 本申請案主張基於2007年9月20於日本提交申性 特願2〇07-243918號之優先權，其内容列入本文作本 【先前技術】 ° 先前’作為將驅動馬達之旋轉運動變換成直線運動 輸出之線性致動器，已知有例如專利文m所揭示者。: 線性致動器具備驅動馬達、設於驅動馬達之輸出轴之行= =減速機、螺合於該行星式減速機之輸出構件之從^構 驅動馬達之旋轉，於行星式減速機減速後傳達到輸 件，變換成使螺合於該輸出構件之外周面之從動構件於該 驅動馬達之旋轉軸之軸線方向直線運動之推力。 ❹ 輸出構件之旋轉傳達到從動構件時，為使該輸出構件與 從動構件不於前述旋轉軸周圍同步旋轉，有必要設鐘 構件。 因此專利文獻1中，驅動馬達之外周使用形成平扭面之 • a平馬達’使該驅動馬達之平坦面與設於從動構件之 部接觸般滑動’進行前述止轉。 另，專利文獻2、3所揭示之線性致動器，係使驅動馬達 之固定子固定於線性致動器本體之框架’藉由將於固定子 之内周側之旋轉子連接設置之螺母構件之母螺紋部郎該 134700.doc 200934071 旋轉子之更内周側設置之輸出轴之公螺紋部螺合，彳吏_ _ 馬達之旋轉變換成輸出軸之直線運動。 [專利文獻1]日本特開2003-250246號公報 [專利文獻2]曰本特開2001-231241號公報 [專利文獻3]曰本特開2000-220715號公報 【發明内容】 [發明所欲解決之問題] ❹ 但，專利文獻1所揭示之線性致動器中，因使用尺寸精 度低之驅動馬達之外周之平坦面進行從動構件之止轉，故 存在驅動馬達之旋轉軸周圍該從動構件搖晃，其位置精声 降低之問題。另該線性致動器之直線運動之衝程，只可確 保驅動馬達之平坦面之前述旋轉軸之軸線方向之長度，故 其使用之用途受到限定，難以應對於各種各樣之期望^ 另，該專利文獻i之線性致動器中，因從“㈣方向 承受之推力荷重由㈣馬達之旋轉軸或行星式減速機承 觉，故考慮到裝置之耐久性其用途被進—步限定。 另，專利文獻2、3所揭示之線性致動器中，雖有必要使 輸出直線運動之輸出轴貫通於驅動馬達之内部進行配設， 但如此構成之驅動馬達並非—般性構件，因此 =2:無法避免。另因該輸出軸形成為較小徑， =確保其強度而於輸出抽設引導機構等，則裝置整體將 本發明係鑒於前述情 線性致甘 其目的在於提供一種 線！生致動益’其驅動馬 捉锝釉周圍從動部件可無搖晃 134700.doc 200934071 地高精度定位、傳送，另可確保直線運動之衝程相對較 長，確保相對於推力荷重之強度，可使裝置 化構成。 家矣 [解決問題之技術手段]200934071 IX. Description of the Invention: [Technical Field] The present invention relates to a linear actuator that converts a rotational motion of a drive motor into a linear output. The continuation of this application is based on the priority of the Japanese Patent Application No. 2〇07-243918, filed on September 20, 2007, which is incorporated herein by reference. [Prior Art] ° Previously as a rotary motion of the drive motor A linear actuator that is converted into a linear motion output is known, for example, from the patent document m. : The linear actuator is provided with a drive motor, a line provided on the output shaft of the drive motor == reducer, and a rotation of the output drive member screwed to the output of the planetary reducer, after deceleration of the planetary reducer The conveyance is transmitted to the thrust force that linearly moves the driven member screwed to the outer peripheral surface of the output member in the axial direction of the rotation shaft of the drive motor. ❹ When the rotation of the output member is transmitted to the driven member, it is necessary to provide a clock member so that the output member and the driven member do not rotate synchronously around the rotation axis. Therefore, in Patent Document 1, the flat motor surface forming the flat twist surface is used to slide the flat surface of the drive motor in contact with the portion provided on the driven member. Further, the linear actuator disclosed in Patent Documents 2 and 3 is such that the stator of the drive motor is fixed to the frame of the linear actuator body 'the nut member provided by the rotary sub-connection on the inner peripheral side of the stator The female threaded part of the 134700.doc 200934071 is rotated on the inner circumference side of the output shaft, and the male thread is screwed, and the rotation of the motor _ _ is converted into a linear motion of the output shaft. [Patent Document 1] Japanese Laid-Open Patent Publication No. 2001-231241 [Patent Document 3] JP-A-2000-220715 (Summary of the Invention) However, in the linear actuator disclosed in Patent Document 1, since the driven member is stopped by the flat surface of the outer circumference of the drive motor having a low dimensional accuracy, there is a follower around the rotary shaft of the drive motor. The component is shaken and its position is reduced. In addition, the stroke of the linear motion of the linear actuator can only ensure the length of the axial direction of the flat surface of the drive motor, so the use of the linear motor is limited, and it is difficult to meet various expectations. In the linear actuator of Patent Document i, since the thrust load received from the "(4) direction is sensed by the rotary shaft of the motor or the planetary reducer, the use of the durability of the device is limited. In the linear actuator disclosed in Patent Documents 2 and 3, it is necessary to arrange the output shaft whose output linear motion is transmitted through the inside of the drive motor. However, the drive motor configured as such is not a general member, and therefore =2: Unavoidable. Because the output shaft is formed into a smaller diameter, = ensuring its strength, and outputting a guiding mechanism, etc., the apparatus as a whole is linear in view of the foregoing, and the purpose is to provide a line! Benefits' its driven horse catching glaze around the driven parts can be shaken 134700.doc 200934071 High-precision positioning, transmission, and ensure that the linear motion stroke is relatively long, to ensure relative The strength of the thrust load can be made into a device. Home [Technical means to solve the problem]
φ 為達成前述㈣，本發明提供以下手段。即本發明之線 性致動器具備：驅動馬達；收容前述驅動馬達之軸部；可 旋轉地連接於驅動馬達之旋轉軸，且其外周面具有公螺紋 部之輸出構件；配置於輸出構件及軸部之外周，且其内周 面具有承受公螺紋部之旋轉之母螺紋部之從動構件；規制 軸部與從動構件之相對性旋轉之㈣規㈣；承受旋轉轴 之軸線方向之推力荷重之軸承部。 根據本發明之線性致動器，設有規制軸部與從動構件之 相對旋轉之旋轉規制部，藉由該旋轉規制部可對該等軸部 與從動構件於前述軸線周圍之相對位置高精度定位。因此 如先前般，因使用尺寸精度低之例如驅動馬達之外周之平 坦面進行軸部與從動構件之相對性旋轉之規制而產生之搖 晃將不會發生。即，因可良好地防止軸部與從動構件之彼 此之前述轴線周圍之搖晃，且該等軸部與從動構件之前述 軸線方向之直線運動被高精度引導，故可高精度定位、傳 送。 另則述直線運動，因並非如先前般，沿軸線方向之長度 較短之驅動馬達之外周之平坦面進行，而沿設於該等軸部 及從動構件之旋轉規制部進行，故藉由將該旋轉規制部之 前述軸線方向之長度設定為較長，可確保線性致動器之直 134700.doc 200934071 線運動之衝程相對較長。 另，因作為驅動馬達並無 一般小型馬達，故驅動馬達 之效果。 必要準備特別形狀者，可使用 之費用可降低而發揮削減費用 馬達且其直徑相對於裝置整體之 可良好地確保強度，故耐久性 另，軸部收容保護驅動 直徑形成為相對較大徑， 高。 ❹ 要 因此如先前般為確保軸部 ’可使裝置緊湊化構成。 之強度之引導機構等非為必 具備承又刖述軸線方向之推力荷重之軸承部，故 無如先前般驅動馬達之旋轉軸或減速機承受推力荷重引起 動作不良或破損等之自t k __ 貝寻之h性’因此可進-步提高裝置之耐 久性。 2本發明之線性致動器中，前述旋轉規制部亦可具備： 於前述軸部之外周面沿前述軸線方向延伸設置之旋轉規制φ In order to achieve the above (4), the present invention provides the following means. That is, the linear actuator of the present invention includes: a drive motor; a shaft portion that accommodates the drive motor; a rotation shaft rotatably coupled to the drive motor; and an output member having a male screw portion on an outer peripheral surface thereof; and an output member and the shaft The outer circumference of the portion, and the inner peripheral surface thereof has a driven member that receives the rotation of the male thread portion; the relative rotation of the regulating shaft portion and the driven member (four) gauge (four); the thrust load in the axial direction of the rotating shaft Bearing part. According to the linear actuator of the present invention, there is provided a rotation regulating portion that regulates relative rotation of the shaft portion and the driven member, and the rotation regulating portion can have a relative position of the shaft portion and the driven member around the axis Precision positioning. Therefore, as before, the wobble caused by the regulation of the relative rotation of the shaft portion and the driven member, such as the flat surface of the outer circumference of the drive motor, which is low in dimensional accuracy, will not occur. That is, since the shaking around the aforementioned axis of the shaft portion and the driven member can be satisfactorily prevented, and the linear motion of the axial direction of the shaft portion and the driven member is guided with high precision, the positioning can be performed with high precision. Transfer. In addition, the linear motion is performed not on the flat surface of the outer circumference of the drive motor having a shorter length in the axial direction as in the prior art, but is performed along the rotation regulation portion provided in the axial portion and the driven member. Setting the length of the aforementioned rotation direction of the rotation regulating portion to be long ensures that the stroke of the linear actuator 134700.doc 200934071 is relatively long. In addition, since there is no general small motor as the drive motor, the effect of the motor is driven. If it is necessary to prepare a special shape, the cost can be reduced to reduce the cost of the motor, and the diameter of the motor can be well ensured with respect to the entire device. Therefore, the durability of the shaft portion is protected by a relatively large diameter and a high diameter. . ❹ Therefore, as before, the shaft portion can be made compact. The guiding mechanism of the strength is not necessarily the bearing portion that bears the thrust load in the axial direction. Therefore, the rotating shaft of the driving motor or the reducer is subjected to the thrust load caused by the thrust load, such as malfunction or damage, etc. since tk __ Looking for h's' can therefore improve the durability of the device. In the linear actuator of the present invention, the rotation regulating portion may further include: a rotation regulation that extends in the axial direction outside the shaft portion
槽；及設於前述從動構件’且扣合於前述旋轉規制槽之旋 轉規制構件。 根據本發明之線性致動器，轴部之外周φ設有於驅動馬 達之旋轉軸之軸線方向延伸之例如由齒條（spHne)槽構成之 旋轉規制槽，從動構件之内周面設有例如由突起狀之滑動 材構成之旋轉規制構件，該等旋轉規制槽與旋轉規制構件 扣合構成旋轉規制部。又該旋轉規制部為規制軸部與從動 構件之彼此之前述軸線周圍之相對旋轉防止從動構件之搖 晃’且高精度引導前述軸線方向之直線運動，故可高精产 134700.doc 200934071 定位、傳送。 另本發明之線性致動器中，於前述軸部，進而收容有使 前述驅動馬達之旋轉減速之減速機，前述輸出構件，亦可 设於前述減速機之輸出軸。又，作為該減速機，若使用具 有例如不思議行星齒輪機構者，因其減速比設定為非常 局’即使相對較小之驅動馬達亦可充分確保直線運動之推 力。因此，驅動馬達可進一步小型化，進而可使裝置緊湊 化構成。 另，本發明之線性致動器中，亦可具備檢測前述軸部與 前述從動構件之相對位置之位置檢測機構。又，若使用例 如作為該位置檢測機構之線性電位計，檢測轴部與從動構 件之前述轴線方向之相對位置並基於此控制驅動馬達之旋 轉、停止、正旋轉、逆旋轉’則可進行更複雜之控制，可 應對於各種各樣之期望、用途》 【實施方式】 φ [發明之效果] 根據本發明之線性致動器，驅動馬達之旋轉軸周圍從動 構件可無搖晃地高精度定位、傳送，另可確保直線運動之 衝程相對較長’確保相對於推力荷重之強度，可使裝置低 •費用且緊凑化構成。 [實施方式] 以下’參照圖式，對本發明之實施形態進行說明。 圖1、囷2係本發明之一實施形態之線性致動器之概略構 成之侧剖面圖’圖3、圖4係本發明之一實施形態之線性致 13470〇.如〇 200934071 動器之外觀立體圖。另，圖1、圖3係線性致動器於收縮狀 態，圖2、圖4係線性致動器於伸展狀態。 如圖1、圖2所示，本實施形態之線性致動器1，具備： 小型驅動馬達2及收容減速機3之略圓筒狀之軸部4;具有 形成為與該軸部4略同徑之外徑的略圓筒狀之輸出構件5 ; 收容該等軸部4及輸出構件5之略圓筒狀之從動構件6;配 置於該從動構件6外周之位置檢測構件7。 作為驅動馬達2，可使用例如通用之小型DC馬達。本實 施形態之驅動馬達2為略圓柱狀，其前端（圖1、圖2中之右 侧）具備旋轉軸2a，該旋轉軸2a於軸線C周圍旋轉般形成。 另驅動馬達2之後端（圖1、圖2中之左側）具備向驅動馬達2 供給電力之端子2b。 另，驅動馬達2之前端側，配設有與驅動馬達2之外徑略 同徑之減速機3。該減速機3具有所謂之不思議行星齒輪機 構，具備連接於驅動馬達2之旋轉軸2a且以旋轉軸線c為中 Φ 心可旋轉之太陽齒輪3a，及嚙合於該太陽齒輪3a之外周面 之齒形般配設之複數行星齒輪3b。 該等行星齒輪3b之外方， ，於内周面分別具備嚙合於行星a groove; and a rotation regulating member provided on the driven member' and engaged with the rotation regulating groove. According to the linear actuator of the present invention, the outer circumference φ of the shaft portion is provided with a rotation regulating groove extending, for example, by a spHne groove extending in the axial direction of the rotary shaft of the drive motor, and the inner peripheral surface of the driven member is provided For example, a rotation regulating member composed of a projecting sliding material, and the rotation regulating grooves are engaged with the rotation regulating member to constitute a rotation regulating portion. Further, the rotation regulating portion regulates the relative rotation around the aforementioned axis of the shaft portion and the driven member to prevent the swaying of the driven member and guides the linear motion in the axial direction with high precision, so that the high-precision 134700.doc 200934071 can be positioned. , transmission. Further, in the linear actuator of the present invention, the shaft portion further includes a speed reducer for decelerating the rotation of the drive motor, and the output member may be provided on an output shaft of the speed reducer. Further, as the speed reducer, if a planetary gear mechanism having, for example, an unbelievable planetary gear mechanism is used, the reduction ratio is set to be very small. Even a relatively small drive motor can sufficiently ensure the thrust of the linear motion. Therefore, the drive motor can be further miniaturized, and the device can be made compact. Further, the linear actuator of the present invention may further include a position detecting mechanism that detects a relative position of the shaft portion and the driven member. Further, by using, for example, a linear potentiometer as the position detecting means, detecting the relative position of the shaft portion and the driven member in the axial direction, and controlling the rotation, the stop, the positive rotation, and the reverse rotation of the drive motor based on this, More complicated control can be applied to various expectations and uses. [Embodiment] φ [Effects of the Invention] According to the linear actuator of the present invention, the driven member around the rotating shaft of the driving motor can be shaken without precision Positioning, transmission, and ensuring a relatively long stroke of linear motion 'ensure the strength relative to the thrust load, making the device low, costly and compact. [Embodiment] Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 and 2 are side cross-sectional views showing a schematic configuration of a linear actuator according to an embodiment of the present invention. FIG. 3 and FIG. 4 are views showing the appearance of a linear actuator of an embodiment of the present invention. Stereo picture. In addition, Fig. 1 and Fig. 3 are linear actuators in a contracted state, and Figs. 2 and 4 are linear actuators in an extended state. As shown in FIG. 1 and FIG. 2, the linear actuator 1 of the present embodiment includes a small drive motor 2 and a substantially cylindrical shaft portion 4 that houses the speed reducer 3, and is formed to be similar to the shaft portion 4. A substantially cylindrical output member 5 having an outer diameter of the diameter; a substantially cylindrical driven member 6 accommodating the shaft portion 4 and the output member 5; and a position detecting member 7 disposed on the outer circumference of the driven member 6. As the drive motor 2, for example, a general-purpose small DC motor can be used. The drive motor 2 of the present embodiment has a substantially cylindrical shape, and its front end (right side in Figs. 1 and 2) is provided with a rotating shaft 2a which is formed to rotate around the axis C. Further, the rear end of the drive motor 2 (the left side in FIGS. 1 and 2) is provided with a terminal 2b for supplying electric power to the drive motor 2. Further, on the front end side of the drive motor 2, a speed reducer 3 having a diameter equal to the outer diameter of the drive motor 2 is disposed. The speed reducer 3 has a so-called unbelievable planetary gear mechanism, and includes a sun gear 3a that is coupled to the rotating shaft 2a of the drive motor 2 and that is rotatable about a center of rotation φ, and a tooth that meshes with the outer surface of the sun gear 3a. A plurality of planetary gears 3b are arranged in a shape. Outside the planetary gears 3b, they are meshed with the planets on the inner peripheral surface.
像便孕由線C靠近其中心般同軸， 使轴線C靠近其中心般同軸固定於 ’卜裝部分，另可動内齒齒輪3d，同 暖同軸，且可於軸線C周圍旋轉地 134700.doc 200934071 配5又。另’該可動内齒齒輪3(1之齒數與固定内齒齒輪氕之 齒數最小限度不同般設定，#由該#構成減速機3可得到 南減速比。 另’可動内齒齒輪3d之前端部分，為比其本體部分縮小 直徑之略圓筒狀之輸出軸3e。於靠近該輸出軸化之前述本 體部分之基端之外周面’ 3£設由徑向滾珠軸承構成之第一Like the pregnancy, the line C is coaxial with its center, so that the axis C is coaxially fixed to the 'bucket portion' near the center thereof, and the movable internal tooth gear 3d is coaxial with the warmth and can be rotated around the axis C. 134700.doc 200934071 with 5 again. In addition, the movable internal gear 3 (the number of teeth of 1 is different from the minimum number of teeth of the fixed internal gear 氕, ################################################################### a slightly cylindrical output shaft 3e having a smaller diameter than the body portion. The peripheral surface of the body portion adjacent to the output shaft is disposed first by a radial ball bearing
軸承部11，軸支輸出軸3e。另對開口於該輸出軸化之前端 之穴部之内周面3f施以母螺紋加工。 另’以包覆第-轴承部u及前述之驅動馬達2、減速㈣ 之方式配设有軸部4,該軸部4之内周面固定於第一軸承部 "之外周面及驅動馬達2之外周面。軸部4之後端，藉由絕 緣體所構成之軸帽4a密封’驅動馬達2之端子沘貫通軸帽 4a從軸部4之後端突出。 制二:：：周面’於軸線C方向延伸之3條齒條槽(旋轉規 山 按圓周方向等間隔(120。間隔)設置。另轴部4之前 由推力滾珠軸承構成之第二軸承部(軸 之前端端面，配=:置’進而該第二_12 5。輸出構件5其二外周具有公螺紋部之輸出構件 於第-軸承邮 鸲開口之圓柱穴狀之底面部分抵接 於第一軸承部12之前端 螺合於前述之内汽㈣ 轴承部12，且藉由 該輸出二:Γ螺栓13固定於輸出軸3e。 之内周面，藉由二設有從動構件6。該從動構件6 螺紋部k旋轉之 件5之公螺紋部5a嚙合以承受公 母螺紋部6a，於其軸線c方向遍及略全 134700.doc 200934071 長地連續設置。另，你 3條齒條槽仆八 構件6之後端之端部，於軸部4之 刀別/f接般突出之突起狀之旋轉規制構件 合，！^樣於圓周方向等間隔設置之該等3條齒條槽❹扣 二。二！该等旋轉規制構件⑽齒條槽朴構成旋轉規制部 —疋規制構件6b，由例如樹脂等構成之滑動材形成， 固定於從動構件6。 另從動構件6之外周，配設有於轴線C方向延伸之線性 ，位4 (位置檢測機構）7。該線性電位計7，其後端部分固 定於=部4之軸帽4a ’另於其軸線c方向滑動之檢測端〜安 裝於從動構件6 ’該等從動構件6與轴部4之軸線c方向之相 對性位置關係’可基於電壓變化檢測般構成。#，該線性 電位器7與控制部（未圖示）電性連接，控制部與驅動馬達2 之端子2b電性連接。 另圖3、圖4中，從動構件6之前端（圖3、圖4中之右側） 之外周面，具備對向配置之2個有底圓筒狀之突起部&， 另軸部4之軸帽4a之後端（圖3、圖4中之左側）之外周面同 樣具備對向配置之2個有底圓筒狀之突起部4c。因此，例 如》亥等大起部6c、4c，藉由分別連接於配置於機械手臂之 指關節部分構成關節之兩個構件，可將該線性致動器1之 往復直線運動變換成機械手臂之把持作業加以利用。 下面’對本實施形態之線性致動器1之動作進行說明。 圖1中’該線性致動器1為其全長收縮為最短之狀態。 首先’自控制部向驅動馬達2供給電力使旋轉轴2a旋 轉’與之連接之減速機3將該旋轉減速傳達至輸出軸3e， 134700.doc -12· 200934071 使該輸出轴3e於軸線c周圍旋轉。 連接於輸出軸3e之輸出構件5，伴隨該輸出軸&之旋轉 於從動構件6之内部於轴線C周圍旋轉。輸出構件5之公螺 紋部與從動構件6之母螺紋部6a螺合’另，因軸部從 , 動構件6由旋轉規制部之齒條槽4b及旋轉規制構件讣滑 接般扣合，故規制成彼此於軸線C周圍不相對旋轉移動。 , 因此，若輸出構件5於軸線C周圍旋轉，則該等軸部4與從 φ 動構件6於軸線C方向彼此滑動，使線性致動器丨伸展。 接著，如圖2所示，該線性致動器丨伸展其全長為最長之 狀態，接受來自線性電位計7之檢測信號之控制部，使該 驅動馬達2之旋轉停止，使線性致動器1之伸展停止。 另相反地，使該線性致動器丨收縮時，以獲得與前述旋 轉方向相反方向旋轉之方式從控制部向驅動馬達2供給電 力即可。又，如圖丨所示，線性致動器丨收縮為其全長為最 短之狀態’接受來自線性電位計7之檢測信號之控制部使 〇 驅動馬達2之旋轉停止。 、另’因來自線性電位計7之檢測信號f時向控制部傳 , 4 ’故線性致動器1之全長並不限於為最短、最長之狀態 之情形，可於任意之長度控制驅動馬達2之旋轉、停止、 正旋轉、逆旋轉。 如以上之說明，根據本實施形態之線性致動器1，轴部4 之外周面設有於驅動馬達2之旋轉軸2&之轴線c方向延伸之 齒=(旋轉規制槽）4b，另從動構件6之内周面設有由突起 β動材構成之旋轉規制構件6b，該等齒條槽朴與旋轉 134700.doc 13 200934071 規制構件6b滑接般扣合構錢轉規制㈣，切止彼此於 旋轉軸線c周圍之搖晃，高精度引導該等轴部4與從 6於轴線C方向之直線運動。因此’可高精度定位、傳送 另’該線性致動器i之直線運動，因並非如先前般沿驅 動馬達之外周平坦面進行，而沿設於轴部4之外周面之齒 條槽4b進行’故藉由將該軸部4之齒條祕及從動構件6於 ❹ ❿ 軸線C方向之長度分別設定為較長，可確保該直線 衝程相對較長。 另因具備承受軸線c周圍之徑方向之徑向荷重之第一 轴承部η ’與承受轴線C方向之推力荷重之第二轴承部 12，该等兩軸承可有效承受來自各方向之荷重，故裝置之 耐久性高。特別是，因具備第二軸承部12，故如先前般軸 線c方向之推力何重因驅動馬達之旋轉轴或減速機承受引 起動作不良或破損等之可能性不存在。另根據該構成，該 線性致動器1即使直線運動使其全長達到最大伸展狀態亦 可相對於荷重確保充分強度。 另’驅動馬達2’因可使用所謂通用小型馬達…須 為該驅動馬達2準備特殊規格者，可降低其費用。 另因作為減速機3使用具備不思議行星齒輪機構者，故 其減速比可設定為非常高，即使相對較小之驅動馬達2亦 可充刀確保直線運動之推力。因此，裝置可緊凑化構成。 _另軸"卩4收谷驅動馬達2及減速機3並保護該等且其直 徑相對於裝置整體之直徑形成為相對大徑，可良好地確保 強度故耐久性高。 ’ I34700.doc 14 200934071 另，根據前述之構成’例如該線性致動器1可緊湊化控 制其直徑為15 mm左右、全長（短縮時）為50 mm左右，且直 線運動之衝程可確保達3〇 mm左右，此外其推力可提升至 500N左右。因此，可應對先前無法完成之各種各樣之期 望、用途。The bearing portion 11 and the shaft output shaft 3e. Further, the inner peripheral surface 3f of the hole portion opened at the front end of the output shaft is subjected to female thread processing. Further, the shaft portion 4 is disposed so as to cover the first bearing portion u and the drive motor 2 and the deceleration (4), and the inner peripheral surface of the shaft portion 4 is fixed to the outer peripheral surface of the first bearing portion and the drive motor 2 outside the perimeter. The rear end of the shaft portion 4 is sealed by a shaft cap 4a composed of an insulator. The terminal of the drive motor 2, the through shaft cap 4a, protrudes from the rear end of the shaft portion 4. System 2::: The circumferential surface of the three rack slots extending in the direction of the axis C (the rotating gauge mountain is arranged at equal intervals (120. intervals) in the circumferential direction. The second bearing portion of the other shaft portion 4 is formed by the thrust ball bearing (the front end end of the shaft, the ratio =: 'and the second _12 5. The output member 5 has an output member having a male thread portion on the outer circumference of the second bearing portion of the first bearing cylinder opening The front end of a bearing portion 12 is screwed to the inner (four) bearing portion 12, and is fixed to the output shaft 3e by the output two: the bolt 13 is provided. The inner peripheral surface of the bearing portion 12 is provided with two driven members 6. The male screw portion 5a of the member 5 in which the threaded portion k rotates is engaged to receive the male and female thread portions 6a, and is continuously disposed in the direction of the axis c thereof over a length of 134700.doc 200934071. In addition, you have three rack grooves. The end portion of the rear end of the occupant member 6 is a slewing-shaped rotating regulation member that protrudes in the direction of the shaft portion 4/f, and the three rack-and-groove fasteners are arranged at equal intervals in the circumferential direction. 2. The second rotation regulation member (10) rack groove constituting a rotation regulation portion - a regulation member 6b, It is formed of a sliding material made of, for example, a resin, and is fixed to the driven member 6. The outer periphery of the driven member 6 is provided with a linear line extending in the direction of the axis C, and a position 4 (position detecting means) 7. The linear potentiometer 7. The rear end portion is fixed to the shaft cap 4a of the = portion 4, and the detecting end portion slidable in the direction of the axis c thereof is attached to the driven member 6'. The driven member 6 is opposed to the axis c of the shaft portion 4 The positional relationship ' can be configured based on voltage change detection. # The linear potentiometer 7 is electrically connected to a control unit (not shown), and the control unit is electrically connected to the terminal 2b of the drive motor 2. Fig. 3 and Fig. 4 In the outer peripheral surface of the front end (the right side in FIGS. 3 and 4) of the driven member 6, two bottomed cylindrical protrusions & and the rear end of the shaft cap 4a of the other shaft portion 4 are provided. (the left side in FIGS. 3 and 4) The outer peripheral surface also has two bottomed cylindrical projections 4c arranged in the opposite direction. Therefore, for example, the large-rise portions 6c and 4c such as "Hai" are connected to each other by arrangement. The knuckle portion of the robot arm constitutes two members of the joint, and the linear actuator 1 can be reciprocated straight The movement is converted into a gripping operation of the robot arm. Next, the operation of the linear actuator 1 of the present embodiment will be described. In Fig. 1, the linear actuator 1 is in a state in which the full length contraction is the shortest. The power is supplied to the drive motor 2 to rotate the rotary shaft 2a. The speed reducer 3 connected thereto transmits the rotational speed reduction to the output shaft 3e, and 134700.doc -12·200934071 rotates the output shaft 3e around the axis c. The output member 5 of the output shaft 3e rotates around the axis C along the rotation of the output shaft & the male thread portion of the output member 5 is screwed with the female thread portion 6a of the driven member 6' Further, since the shaft portion is slidably engaged by the rack groove 4b of the rotation regulating portion and the rotation regulating member 讣, the movable member 6 is configured to rotate relative to each other around the axis C. Therefore, when the output member 5 rotates around the axis C, the equiaxed portion 4 slides from the φ moving member 6 in the direction of the axis C to extend the linear actuator 丨. Next, as shown in FIG. 2, the linear actuator 丨 stretches the state in which the entire length is the longest, receives the control portion from the detection signal of the linear potentiometer 7, and stops the rotation of the drive motor 2, thereby causing the linear actuator 1 The stretch stops. On the other hand, when the linear actuator is contracted, the electric power is supplied from the control unit to the drive motor 2 so as to be rotated in the opposite direction to the rotation direction. Further, as shown in Fig. ,, the linear actuator 丨 is contracted to the state in which the total length is the shortest. The control unit that receives the detection signal from the linear potentiometer 7 stops the rotation of the 〇 drive motor 2. In addition, since the detection signal f from the linear potentiometer 7 is transmitted to the control unit, 4', the total length of the linear actuator 1 is not limited to the shortest and longest state, and the drive motor 2 can be controlled at any length. Rotation, stop, positive rotation, reverse rotation. As described above, according to the linear actuator 1 of the present embodiment, the outer peripheral surface of the shaft portion 4 is provided with teeth extending in the direction of the axis c of the rotary shaft 2& of the drive motor 2 = (rotation regulating groove) 4b, and The inner peripheral surface of the driven member 6 is provided with a rotation regulating member 6b composed of a projection β-moving material, which is slidably coupled with the rotating member 134700.doc 13 200934071 regulating member 6b. Shaking around each other about the axis of rotation c, the linear movement of the shaft portions 4 from the direction of the axis C is guided with high precision. Therefore, the linear motion of the linear actuator i can be accurately positioned and transmitted, because it is not carried out along the peripheral flat surface of the drive motor as before, but is carried out along the rack groove 4b provided on the outer peripheral surface of the shaft portion 4. Therefore, by setting the length of the rack of the shaft portion 4 and the length of the driven member 6 in the direction of the axis C of the shaft to be long, it is possible to ensure that the linear stroke is relatively long. In addition, the first bearing portion η′ that receives the radial load in the radial direction around the axis c and the second bearing portion 12 that receives the thrust load in the direction of the axis C can effectively withstand loads from all directions. Therefore, the durability of the device is high. In particular, since the second bearing portion 12 is provided, there is no possibility that the thrust in the direction of the axis c is excessively affected by the driving shaft or the speed reducer of the driving motor. Further, according to this configuration, the linear actuator 1 can ensure sufficient strength with respect to the load even if the linear motion is such that the entire length thereof reaches the maximum extension state. Further, since the drive motor 2 can use a so-called general-purpose small motor, it is necessary to prepare a special specification for the drive motor 2, and the cost can be reduced. Further, since the speed reducer 3 is used with an unbelievable planetary gear mechanism, the reduction ratio can be set to be very high, and even a relatively small drive motor 2 can be filled with a knife to ensure the thrust of the linear motion. Therefore, the device can be compact. The other shafts are used to protect the motor 2 and the speed reducer 3, and the diameter thereof is formed to have a relatively large diameter with respect to the entire diameter of the apparatus, so that the strength can be favorably ensured and the durability is high. ' I34700.doc 14 200934071 In addition, according to the aforementioned configuration, for example, the linear actuator 1 can be compactly controlled to have a diameter of about 15 mm, a full length (short) of about 50 mm, and a linear motion stroke of up to 3 〇mm or so, in addition, its thrust can be increased to about 500N. Therefore, it is possible to cope with various expectations and uses that have not been completed before.
❹ 另’因該線性致動器1中使用作為位置檢測機構之線性 電位計7 ’檢測軸部4與從動構件6之相對位置並基於此控 制驅動馬達2之旋轉、停止、正旋轉、逆旋轉，故可進行 更複雜之控制’且可應對更多種多樣之期望、用途。 另，本發明並不局限於前述之實施形態，在不脫離本發 明之主旨範圍内可進行各種各樣之變更。例如本實施形態 中，作為旋轉規制部10，軸部4之外周面設有3條齒條槽 (旋轉規制槽）4b，另從動構件6設有3個與該等齒條槽仆扣 合之旋轉規制構件6b，該等齒條槽仆及旋轉規制構件讣雖 於圓周方向等間隔配置般構成，但並不局限於此，既可增 減齒條槽4b之條數及旋轉規制構件讣之數量’另亦可改^ 圓周方向之間隔進行配置。 乃奉貫施形 π，| 一〜，A·你双邯：>a興從動構 件6之母螺紋部6a嚙合，伴隨輸出構件5以轉使㈣_ 5a與母螺紋部合使輸出構件5與從動構件㈣抽線c相 對移動之構成。但’輸出構件5與從動構件6之相對移動， =限於藉由該等滑動接觸之移動，藉由滚轉接觸之移 内。例如’亦可於輸出構件5及從動構件6使用 ^珠螺絲’經由介於公螺紋部㈣母螺紋部6a之間存 134700.doc 200934071 在之複數滾珠使輸出構件5與從動構件6相對移動。 另’本實施形態中’將扣合於齒條槽4b之旋轉規制構件 6b作為突起狀之滑動材進行說明，但並非局限於此，作為 旋轉規制構件6b亦可使用滾珠或軋輥等轉動體構成。據 此’軸部4與從動構件6之滑動可更滑順地進行，且提升相 對於來自軸線C周圍之徑向荷重之強度，可更高精度定 位、傳送。 另，作為旋轉規制槽雖使用齒條軸4b進行說明，但旋轉 規制槽只要係於軸線C方向延伸之槽狀則不局限於此，若 可與從動構件6之旋轉規制構件补扣合之構成即可，亦可 為其他形狀。 此外，該旋轉規制槽，亦可於軸部4之外周面形成為平 緩曲線狀或螺旋狀般於軸線向延伸。據此，例如，於 線性致動器1之伸展時與收縮時，使軸部4及從動構件6之❹ In addition, the linear potentiometer 7' as the position detecting mechanism is used in the linear actuator 1 to detect the relative position of the shaft portion 4 and the driven member 6, and based on this, the rotation, the stop, the positive rotation, and the reverse of the drive motor 2 are controlled. Rotation, so you can perform more complex control' and can handle a wider variety of expectations and uses. The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit and scope of the invention. For example, in the present embodiment, as the rotation regulating portion 10, three outer peripheral surfaces of the shaft portion 4 are provided with three rack grooves (rotation regulating grooves) 4b, and the other driven members 6 are provided with three slaving grooves. The rotation regulating member 6b is configured such that the rack grooves and the rotation regulating members are arranged at equal intervals in the circumferential direction. However, the present invention is not limited thereto, and the number of the rack grooves 4b and the rotation regulating member can be increased or decreased. The number 'can also be changed can be configured in the circumferential direction. It is a form of π,| a ~, A · you double 邯: > a female driven member 6 of the female threaded portion 6a engaged, with the output member 5 to turn (4) _ 5a with the female threaded portion to make the output member 5 The configuration is relatively moved with the driven member (four) drawing line c. However, the relative movement of the output member 5 and the driven member 6 is limited to the movement by the sliding contact by the movement of the sliding contact. For example, 'the output member 5 and the driven member 6 may be separated from the driven member 6 by using a plurality of balls between the male screw portion 6a and the female screw portion 6a via the male screw portion 6a. mobile. In the present embodiment, the sliding regulation member 6b that is fastened to the rack groove 4b is described as a protruding sliding material. However, the present invention is not limited thereto, and the rotating regulation member 6b may be formed by a rotating body such as a ball or a roller. . Accordingly, the sliding of the shaft portion 4 and the driven member 6 can be performed more smoothly, and the strength can be more accurately positioned and transmitted with respect to the intensity of the radial load from the periphery of the axis C. In addition, although the rotation regulating groove is described using the rack shaft 4b, the rotation regulating groove is not limited to this as long as it is a groove extending in the direction of the axis C, and can be replenished with the rotation regulating member of the driven member 6. It can be configured, and can be other shapes. Further, the rotation regulating groove may be formed to have a gentle curve shape or a spiral shape extending in the axial direction on the outer peripheral surface of the shaft portion 4. According to this, for example, when the linear actuator 1 is extended and contracted, the shaft portion 4 and the driven member 6 are caused.
軸線。周®之相對性位置關係分別旋轉90。構成亦可實現， 其使用之用途可進一步擴大。 另 丰貫施形態中’作為減速機3雖使用具備不思議行 星齒輪機構者進行說明，但並非局限於此，亦可為使用例 如仃星齒輪機構或平齒輪機構、行星軋輥機構、或除此之 外之減速機構者。旦，若如本實施形態般使用不思議行星 齒輪機構則可得到高減速比確保高推力，且 減速機3故較為適宜。 ％凑化構成 通用小型DC 步進馬達或 另’本實施形態中，作A驅動馬達2雖卡 馬達進行說B月’但並非局限於此，亦可^ 134700.doc 200934071 DC無刷馬達。另作為位置檢測機構雖使用線性電位計進 订說明，但並非局限於此，亦可使用傳感器或限位開關或 除此之外之檢測端構成位置檢測機構。 另本實施形態中，第一軸承部11及第二軸承部丨2分別 作為滾珠轴承進行圖示說明，但並非局限於此，亦可使用 滾軸軸承或滑動軸承或除此之外之軸承構成。另，亦可取 代該兩軸承部，使用一併承受推力荷重及徑向荷重之交叉 φ 滾柱軸承’ 一體化構成軸承部。 [產業上之利用可能性] 根據本發明，可提供一種線性致動器，其於驅動馬達之 旋轉軸周圍從動構件可無搖晃地高 精度定位、傳送，另可 確保直線運動之衝程相對較長，確保相對於推力荷重之強 度’可使裝置低費用且緊湊化構成。 【圖式簡單說明】 圖1係本發明之一實施形態之線性致動器之概略構成於 收縮時之側剖面圖。 圖2係本發明之一實施形態之線性致動器之概略構成於 伸展時之侧剖面圖。 圖3係本發明之一實施形態之線性致動器於收縮時之外 觀之立體圖。 圖4係本發明之一實施形態之線性致動器之外觀於伸展 時之立體圖。 【主要元件符號說明】 1 線性致動器 134700.doc -17- 200934071 〇 參 2 驅動馬達 2a 旋轉轴 3 減速機 3e 輸出軸 4 軸部 4b 齒條槽（旋轉規制槽） 5 輸出構件 5a 公螺紋部 6 從動構件 6a 母螺紋部 6b 旋轉規制構件 7 線性電位計（位置檢測構件） 10 旋轉規制部 12 第二轴承部（轴承部） C 驅動馬達之旋轉軸線 134700.doc -18-Axis. The relative positional relationship of Zhou® is rotated by 90, respectively. The composition can also be realized, and the use thereof can be further expanded. In the other aspect, the description of the reduction gear unit 3 using an unintended planetary gear mechanism is not limited thereto, and it is also possible to use, for example, a comet gear mechanism, a spur gear mechanism, a planetary roller mechanism, or the like. The external speed reduction mechanism. When the unbelievable planetary gear mechanism is used as in the present embodiment, a high reduction ratio can be obtained to secure a high thrust, and the reduction gear 3 is preferable. In the present embodiment, the A drive motor 2 is a B-motor, but the present invention is not limited thereto, and may be a 134700.doc 200934071 DC brushless motor. Further, although the position detecting means uses a linear potentiometer to explain the instructions, the present invention is not limited thereto, and a sensor or a limit switch or a detecting end may be used as the position detecting means. In the present embodiment, the first bearing portion 11 and the second bearing portion 丨2 are illustrated as ball bearings, respectively. However, the present invention is not limited thereto, and a roller bearing or a sliding bearing or a bearing other than the above may be used. . Alternatively, the two bearing portions may be replaced, and the bearing portion may be integrally formed by the intersection of the thrust load and the radial load φ roller bearing. [Industrial Applicability] According to the present invention, it is possible to provide a linear actuator which can accurately position and transmit a driven member around a rotating shaft of a drive motor without shaking, and can ensure a relatively straight stroke of linear motion. Long, ensuring the strength with respect to the thrust load can make the device low cost and compact. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a side cross-sectional view showing a schematic configuration of a linear actuator according to an embodiment of the present invention at the time of contraction. Fig. 2 is a side cross-sectional view showing the schematic configuration of a linear actuator according to an embodiment of the present invention. Fig. 3 is a perspective view showing the appearance of a linear actuator according to an embodiment of the present invention when contracted. Fig. 4 is a perspective view showing the appearance of the linear actuator according to an embodiment of the present invention when it is stretched. [Main component symbol description] 1 Linear actuator 134700.doc -17- 200934071 〇 2 2 Drive motor 2a Rotary shaft 3 Reducer 3e Output shaft 4 Shaft part 4b Rack groove (rotation regulating groove) 5 Output member 5a Male thread Part 6 Follower member 6a Female threaded portion 6b Rotation regulating member 7 Linear potentiometer (position detecting member) 10 Rotation regulating portion 12 Second bearing portion (bearing portion) C Driving motor rotation axis 134700.doc -18-