WO1995006545A1 - Structure d'actuateur - Google Patents
Structure d'actuateur Download PDFInfo
- Publication number
- WO1995006545A1 WO1995006545A1 PCT/JP1993/001242 JP9301242W WO9506545A1 WO 1995006545 A1 WO1995006545 A1 WO 1995006545A1 JP 9301242 W JP9301242 W JP 9301242W WO 9506545 A1 WO9506545 A1 WO 9506545A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuator
- actuator structure
- structure according
- columnar
- cylinder
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/34—Branched
- Y10T403/341—Three or more radiating members
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T403/00—Joints and connections
- Y10T403/70—Interfitted members
- Y10T403/7041—Interfitted members including set screw
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
- Y10T74/18656—Carriage surrounded, guided, and primarily supported by member other than screw [e.g., linear guide, etc.]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
- Y10T74/18576—Reciprocating or oscillating to or from alternating rotary including screw and nut
- Y10T74/18664—Shaft moves through rotary drive means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20341—Power elements as controlling elements
- Y10T74/20354—Planar surface with orthogonal movement only
Definitions
- the present invention relates to a support member for supporting the actuator and the actuator when a plurality of actuators driven by a fluid pressure or a motor are used in combination in a line or the like for conveying a work.
- the present invention relates to an actuator structure that is configured to be appropriately connected and detachable by a connecting member.
- an actuator has been used as a device for sucking a work using a suction pad, or as an O device for gripping and transporting using a mechanical nose or a hand chuck.
- the actuator is mounted at a predetermined position on a support member, and is connected to a moving body composed of a table by a driving source such as a servomotor or a stepping motor via a driving mechanism such as a ball screw or a timing belt. It is moving. With this movement, the suction holding means connected to the moving body also moves, and the work sucked by the suction holding means is transported to a desired position.
- a rectangular groove is formed on the outer surface of the columnar member and the actuator formed in the shape of a column, and the column is connected by fitting into the rectangular groove. Connecting means. Because of this, the acti If it is necessary to adjust the position of the actuator after assembling it with materials, it is only necessary to remove the coupling means, move the actuator, and fix it again with the coupling means, which can be easily adjusted and replaced. Further, since the actuator is composed of the first induction motor and the second induction motor, the size of the motor can be reduced as compared with a motor driven by one motor.
- the columnar member can be downsized without protruding the motor from the outer side surface of the columnar member.o
- the connecting means is an engaging member having a shaft inserted into a through hole of the columnar member, and a head fitted into a T-shaped groove, and a fastening member externally provided in a screw hole communicating with the through hole. Then, the columnar member is fixed to the columnar body by pressing the ⁇ portion of the shaft portion. In this way, by simply rotating the fastening member from the outside, the fixed state can be changed. Similarly, by providing a bevel gear on the shaft of the fastening member and the engaging member and rotating the fastening member, the head of the engaging member can be pressed against the T-shaped groove.
- the through-holes of the columnar body as a wiring or a fluid passage
- the wiring and the fluid passage to the actuator can be simplified.
- a cylinder is provided inside the actuator, and a plastic box having a moving tool is provided at the tip of the piston rod of the cylinder.
- a pulley is provided, and a wire member is connected to a moving member by suspending a moving bully and a fixing bully from the stroke end side of the actuator body. Therefore, when the cylinder rod is driven to displace the piston rod, the moving body is displaced by twice that amount. As a result, the stroke amount of the piston mouth can be reduced, that is, the size of the actuator can be reduced.
- a fixing burley is further provided on the opposite side of the stroke end of the main body, and an adjustment pulley is provided on the pulley box.
- FIG. 1 is a schematic explanatory view of an actuator structure according to the present invention
- FIG. 2 is a perspective view of a first embodiment of an actuator used in the actuator structure of the present invention.
- FIG. 3 is a partially omitted perspective view of the actuator shown in FIG.
- FIG. 4 is a partial longitudinal sectional view of the actuator shown in FIG.
- FIG. 5 is a block diagram for controlling the actuator shown in FIG. 2
- FIG. 6 is a partial vertical sectional view of an end of the actuator shown in FIG.
- FIG. 7 is an exploded perspective view of a second embodiment of the actuator used in the actuator structure of the present invention.
- FIG. 8 is an exploded perspective view of a pulley '(this type of induction motor, which is disposed in the actuator shown in FIG. 7;
- FIG. 9 is an exploded perspective view of another burry-integrated induction motor provided in the actuator shown in FIG.
- FIG. 10 is a longitudinal sectional view of another boogie type induction motor arranged in the actuator shown in FIG.
- FIG. 4 is a perspective view showing a relationship between a timing belt and a free-body induction motor disposed in the actuator shown in FIG.
- FIG. 12 is an explanatory view showing a state in which the connecting plate is inserted into the frame
- FIG. 13 is an exploded perspective view of a third embodiment of the actuator used in the actuator structure of the present invention.
- FIG. 14 is an exploded perspective view of another pulley-type induction motor to be installed iS in the factory shown in FIG.
- FIG. 15 is an exploded perspective view of another pulley-type induction motor provided in the actuator shown in FIG.
- FIG. 16 is an exploded perspective view of a fourth embodiment of an actuator used in the actuator structure of the present invention.
- FIG. 17 is an exploded perspective view of still another pulley-type induction motor provided in the actuator shown in FIG.
- FIG. 18 is an exploded perspective view of the induction motor arranged in the actuator shown in FIG.
- FIG. 19 is an exploded perspective view of the induction motor provided in the actuator shown in FIG.
- FIG. 20 is a first assembly example of an actuator structure according to the present invention.
- FIGS. 21A and 21B are explanatory views showing a first embodiment of a connecting means for connecting an actuator and a columnar member in the actuator structure according to the present invention.
- FIG. 22 is a perspective view of the connecting means shown in FIG. 21B.
- FIG. 23 is a partial sectional view showing a second embodiment of the connecting means
- FIG. 24 is a partial sectional view showing a third embodiment of the connecting means
- FIG. 25 is a partial sectional view showing a fourth embodiment of the connecting means
- FIG. 26 is a perspective view showing a fifth embodiment of the connecting means
- FIG. 27 is a partial cross-sectional view showing a connected state of the connecting means shown in FIG. 26,
- FIG. 28 is a perspective view of the connecting means shown in FIG. 26,
- FIG. 29A and FIG. 29B are explanatory views showing the connected state of the connecting means shown in FIG. 26.
- FIG. 30 is a perspective view showing a sixth embodiment of the connecting means.
- FIG. 31 is a partial cross-sectional view showing a connected state of the connecting means shown in FIG. 30.
- FIG. 32 is a perspective view of a case where a reinforcing member is attached to a connection portion of the actuator structure.
- FIG. 33 is a perspective view showing a state where the reinforcing member shown in FIG. 32 is attached
- FIG. 34 is a side view of an end surface of a columnar member used in the actuator structure according to the present invention.
- m 3 5 is a side view of the end face of the columnar member,
- FIG. 36 is a side view of the end surface of the columnar member.
- FIG. 37 is a side view of the end surface of the columnar member.
- FIG. 38 is a side view of the end surface of the columnar member.
- FIG. 39 is a perspective view showing a seventh embodiment of the connecting means.
- FIG. 40A and FIG. 40B are explanatory views showing the connected state of the connecting means shown in FIG.
- FIG. 41 is a perspective view showing an eighth embodiment of the connecting means
- FIGS. 42A and 42B are explanatory views showing the connection state of the connection means shown in FIG.
- FIG. 43 is a perspective view showing a ninth embodiment of the connecting means
- FIGS. 44A and 44B are a side view and a longitudinal sectional view showing the connection state of the connection means shown in FIG. 43,
- FIG. 45 is an explanatory sectional view showing a through hole of the columnar member.
- FIG. 46 is a cross-sectional explanatory view of a state in which a control lead or the like is inserted into a through-hole of the columnar member.
- FIG. 47 is a cross-sectional view of a state in which a control lead or the like is inserted into a through-hole of the columnar member.
- FIG. 48 is a partial cross-sectional view of a state in which the moving body is inserted into the through hole of the columnar member.
- FIGS. 49A to 49C are perspective views showing a tenth embodiment of the connecting means.
- 5OA and FIG.50B are a perspective view and a sectional view showing a first embodiment of the connecting means,
- FIG. 51 is a perspective view showing a first embodiment of the balancer used in the actuator structure of the present invention in a state where the balancer is housed in a frame and a drive table is provided.
- FIG. 52 is a front view in a state where the cover of the balancer shown in FIG. 51 is opened
- FIG. 53 is a partial cross-sectional side view of the balancer shown in FIG.
- FIG. 54 is a partial cross-sectional view of the balancer shown in FIG. 53 along the line ⁇ — ⁇
- FIG. 55 is a partial cross-sectional view of the balancer shown in FIG.
- FIG. 56 is a partial cross-sectional view of the balancer shown in FIG. 53 taken along line C-C
- FIG. 57 is a partial cross-sectional view taken along line D-D of the balancer shown in FIG. 53
- FIG. 58 is a schematic perspective view showing play defined at the bottom of the frame
- FIG. FIG. 6 is a partial cross-sectional view showing a connection state between the balancer and the actuator
- FIGS. 6OA to 60E are perspective explanatory views showing combinations of the balancer and the actuator, respectively.
- FIG. 61 is a partial sectional view of a second embodiment of the balancer
- FIG. 62 is a partial sectional view showing a state in which the balancer and the actuator are integrated into the frame.
- Fig. 63 is a partially cutaway front view showing a state where the actuators are juxtaposed to the balancer and the cover is opened.
- FIG. 64 is a cross-sectional view of FIG. 63.
- Fig. 65 is a partially cutaway front view showing a state where the actuators are juxtaposed to the balancer and the cover is opened.
- FIG. 66 is a cross-sectional view of FIG. 65
- FIG. 67 is a partially cutaway front view showing a state where the actuators are juxtaposed to the balancer and the cover is opened.
- FIG. 68 is a cross-sectional view of FIG.
- FIG. 69 is a perspective view showing a state in which the workbench is connected to a transfer device assembled by connecting a plurality of structural members.
- FIG. 0 is a perspective view showing a state in which the transfer unit is connected to a transfer device assembled by connecting a plurality of structural members
- Figure? 1 is a perspective view showing a first assembly example in which a plurality of structural members and actuators are connected
- FIG. 2 is a perspective view showing a second assembly example in which a plurality of structural members and actuators are connected.
- FIG. 3 is a perspective view showing a third assembling example in which a plurality of structural members and actuators are connected.
- FIG. 74 is a perspective view showing a second example of assembling the actuator structure according to the present invention.
- FIG. 75 is a partial perspective view of the actuator structure shown in FIG.
- FIG. 76 is a block diagram showing the operation of the factory structure shown in FIG. BEST MODE FOR CARRYING OUT THE INVENTION
- the actuator structure A is formed by connecting a columnar member 8 having a T-shaped groove on the outer surface thereof, an actuator (:, and a balancer D) by connecting means (not shown), and moving the suction pad E to a desired position.
- the work unit C is driven to move the work G on the worktable F to a desired position by the suction pad E.
- the work unit structure thus configured First, the actuators, connecting means, and the balancer, which are the respective components, will be described, and finally, the actuator structure will be described.
- FIG. 2 is a perspective view of the actuator according to the first embodiment
- FIG. 3 is a partial perspective view of the actuator shown in FIG. 2 with a part thereof omitted
- FIG. 4 is a longitudinal sectional view
- FIG. 5 is a control block. It is a figure
- the actuator 10 includes a table (moving body) 16 which is displaced along a linear motion guide 14 under the rotation of a ball screw shaft 12 and a long frame.
- the motors 20a and 20b are controlled by an inverter motor controller (hereinafter, referred to as a controller) 23 via an encoder 21 functioning as a displacement amount detecting means.
- the outer case is formed on the side except for the opening 22.
- a frame 18 having a substantially T-shaped groove 24 defined in a substantially parallel manner, a linear guide 14 disposed at the bottom of the frame 18, and a linear guide 14.
- the bearing 26 is made of, for example, an infinitely circulating ball bearing or an infinitely circulating crossed roller bearing, a twenty-one bearing, or a biological protein, and is fixed to the bearing 26.
- a table 16 which is linearly displaced by the rotation of a ball screw shaft 12 fitted into a ball screw bush 28; and a table 16 disposed opposite to both ends of the ball screw shaft 12; It has motors 20a and 2Ob that also use the ball screw shaft 12 bearing.
- the joint between the table 16 and the ball screw bush 28 is preferably, for example, a switch joint, an old joint, or the like.
- a frame 18 also serves as a casing for the motors 20a and 20b, and a stator 30a.30 of the motors 20a and 20b. b is directly fixed to frame 18 (see Fig. 4).
- the ball screw shaft 12 is a motor
- 20b is formed integrally with the motor shafts 32a, 3211 ?, and the cage rotors 34a, 34b are turned around the motor shafts 32a, 32b. It is provided movably. Bearings 35a and 35b are provided at both ends of the cage rotors 34a and 34b, respectively, to support the motor shafts 32a and 32b.
- cage rotors are attached to the motor shafts 32a and 32b.
- 34a.34b may be directly connected and integrated, but the motor shaft 32a,
- spline grooves similar to those of the ball screw shaft 12 are defined in the motor shafts 3 2 a and 3 2 b, and the 4a and 34b may be attached to the spline groove via a plurality of balls 36 (see FIG. 6).
- the diameter of the ball 36 may be appropriately selected in order to improve the processing accuracy of both.
- a male screw 38 is provided on an outer peripheral surface of a motor shaft in which a spline groove is defined, and the male screw 38
- the stoppers 40a and 40b are fitted through the stoppers 40a and 40b,
- the cage rotor 34 b is fixed by 40 b.
- the spline groove is defined
- An end stopper 42 is fitted to the end of the motor shaft thus formed.
- a cage rotor integrally formed by die casting, vacuum die casting, or the like is connected to the ball screw shaft 12 by press fitting, force crimping, welding of an electronic beam, or the like.
- the rotator-shaped rotors 34a and 3b may be directly and integrally formed on the ball screw shaft 12 by a method such as die casting or vacuum die casting.
- the rotation angle of the ball screw shaft 12 is detected by an encoder 21 provided at one end of the ball screw shaft 12.
- the encoder 21 uses an absolute encoder or an encoder integrated with an absolute signal output by an integrating counter memory, and has a sensor signal processing circuit, a serial signal generating circuit, and the like (not shown).
- the controller 23 provided in proximity to the motor 20a includes a driver module 44, a control module 46, and a communication interface 48 according to its functions.
- the connection between the communication interface 48 and an external device (not shown) is performed via connectors 49a and 49b (see FIG. 2).
- the driver module 44 includes drivers 50 a and 50 b for driving the respective motors 20 a and 20 b, a driver controller 52 for integrally controlling these, and a distributor 5 for connecting the two. And 4.
- the drivers 50a and 50b perform inverter control by PWM and digital control.
- the control module 46 manages the function overnight operation program, and transmits a position command and a speed command to the driver module 44. Further, it monitors a feedback signal from each element of the motors 20a and 20b and the driver module 44.
- the communication interface 48 is connected to the LAN 560 via, for example, a serial interface represented by RS232C or RS422, a parallel interface represented by GP-IB, BCD, or Centronics Parallel, or the like. Or communication represented by an external controller, PC, computer, Ethernet, token ring, MAP, PCLA N. WA N. OSI, etc. And the control module 46 for mutual communication.
- a serial interface represented by RS232C or RS422
- a parallel interface represented by GP-IB, BCD, or Centronics Parallel, or the like.
- communication represented by an external controller, PC, computer, Ethernet, token ring, MAP, PCLA N. WA N. OSI, etc.
- the control module 46 for mutual communication.
- control module 46 may perform full digital control of the control function using an ASIC, a one-chip multi-CPU, a DSP, or the like, thereby achieving both high functionality and low cost.
- the signal may be transmitted at the same time by using the power supply line, and the wiring may be greatly reduced, and active noise control may be performed as a measure against the noise of the actuator.
- the casing is shared with the frame 18.
- the casing and the frame 18 may be divided. Mating, mating with pins, etc., coupling of electricity, signals, buses, LAN, sensors, etc. is also performed by connectors, etc.
- each of the controller, the motor, etc. may be modularized and added or detached as necessary.
- the structure of the actuator 10 may be further simplified by using the induction motor alone without dividing it.
- the material constituting the brake is preferably a material having excellent heat resistance, such as CFRP and ceramics.
- Actuator 10 according to the first embodiment is basically configured as described above, and the operation will be described next.
- the driving force of the two motors 20a and 20b composed of the main motor and the sub motor is transmitted to the ball screw bush 28 via the ball screw shaft 12, and the rotational motion of the ball screw shaft 12 is linear. It is converted into motion and displaces table 16.
- the main and sub motors 20a and 20b generate driving forces in the same direction when driving the normal table 16. Therefore, the output of the actuator 10 is the sum of the two motors 20a and 20b.
- the rotation motor when the rotation motor is provided with an induction motor, for example, an integrated structure of the joints can be achieved, and the rotary actuator can be significantly reduced in size and weight.
- Rotary actuator with multiple joints X In multi-axis actuators such as the YZ axis, the driven part ⁇ determines the weight of the driven part, greatly affects the speed and acceleration, and uses a relatively lightweight induction motor to control the positioning, speed, acceleration, etc. Control accuracy can be improved.
- FIGS. 7 to 12 show an actuator according to a second embodiment in which a timing belt 90 is used as power transmission means and a pulley for a timing belt and an induction motor are integrated.
- a timing belt 90 is used as power transmission means and a pulley for a timing belt and an induction motor are integrated.
- the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.
- the actuator unit 0 includes a frame 72 that forms a structural member, and a pulley-type induction motor (hereinafter, referred to as a motor) that is disposed in the frame 72 and that is a main motor and a sub motor.
- a drive unit 76 having 74 a and 74 b and a connection plate 78 for connecting the drive unit 76 to the frame 72.
- a controller 23 for controlling the driving unit 76 is provided near the motor 4a.
- the frame 72 is formed, for example, by extruding or punching a light metal or bearing 1 with an alloy such as A ⁇ , Mg, etc., by injection molding of metal, ceramics, etc., by vacuum cycling, or by Roxtox.
- a cladding may be formed on the inner wall by explosion to obtain surface hardening.
- the frame 72 has a groove 24 having a substantially T-shaped cross section for connecting another frame, panel, or the like to three of the outer side surfaces, or providing wiring, etc., on each side surface. It has an opening 80 for accommodating a machine part 76, a controller 23, and a connecting plate 78.
- the bottom of the frame 72 in which the opening 80 is defined has a groove 82 for connecting and fixing the drive unit 76, and is connected to a part of the groove 82.
- An escape 84 is provided for easily inserting the plate 78 from the opening 80 of the frame 72 (see FIG. 12).
- motors 74a and 74b are arranged opposite to each other with guide rails 88 interposed at both ends of the base plate 86, and furthermore, the two motors are separated by a predetermined distance.
- the base plate 86, the motors 74a, 74b, and the guide rail 88 are connected via screws (not shown). However, the base plate 86 is provided with a groove such as a T slot.
- motors 74a and 74b disposed opposite to both ends of the base plate 86 will be described. Since the motors 74a and 74b are configured substantially identically, only one motor 74a will be described in detail, and the description of the other motor 74b will be omitted.
- the motor 74a is basically rotatably attached to the outer frame 98 having a substantially U-shaped cross section and the outer frame 98. It is composed of a rotating body 100, and fixing members 104a and 104b for fixing the rotating body 100 to the outer frame 98 via screws 102.
- the rotating body 100 includes a first housing 106 having an opening and having a substantially cylindrical shape, and a disk-shaped second housing 108 connected to the opening.
- the outer periphery of the first housing 106 has teeth 110 for driving the timing belt 90, flanges 112, 113 for preventing the timing belt 90 from falling off, and light.
- An encoder rotor 114 for detecting a rotation angle by an encoder sensor 115 via a magnetic, a CCD-PICKUP, a laser or the like is provided.
- a hole (not shown) for fixing the bearing is defined in the inner bottom of the first housing 106, and the outer periphery of the bearing 116 is fixed to the hole.
- a rotor 118 is provided on the inner peripheral surface of the first housing 106 and surrounds a stator 122 supported by a fixed shaft 120 in the first housing 1 ⁇ 6. It is fixed to the part where it does. Further, a male screw portion 126 is formed on the outer peripheral portion of the second housing 108, and is tightened by fitting with a female screw portion 124 formed in the opening of the first housing 106. Is done.
- the wiring of the stator 122 is led out from the end of the fixed shaft 120 through the inside of the fixed shaft 120.
- protrusions are provided on both sides of the fixed shaft 120, and cross roller bearings, angular bearings, EX-Ce 11-0 type bearings, A pair of bearings 1 16 made of conical roller bearings or the like are opposed to each other.
- Both ends of the fixed shaft 120 have a substantially square cross-sectional shape, and serve to prevent rotation when the motor is mounted on the frame, which will be described later.
- the motors 74a and 74b configured as described above are connected to the outer frame via the fixing members 104a and 104b at the substantially rectangular parallelepiped portions at both ends of the fixed shaft 120. Fixed to 9-8.
- the mining belt 90 is driven.
- the outer frame 98 is provided with an encoder sensor 115, and detects the rotation angle in combination with the encoder rotor 114 on the outer periphery of the first housing 106.
- connection plate 78 and the base plate 86 are extruded or drawn from a light metal or bearing steel by alloy such as A1, Mg, etc., injection molding of metal or ceramics, vacuum forming, and mouth wax. Is molded.
- the base plate 86 has a groove 130 for positioning when the guide rail 88 is attached in the longitudinal direction (see FIG. 7).
- the base plate 86 and the guide rail 88 may be formed integrally with the bearing ⁇ or the like, and the sliding surface of the guide rail may be ground by electric polishing, chemical polishing, or the like. Extruding, drawing, vacuum die casting, lost wax, metal injection molding, ceramic injection molding, etc., and joining bearing steel etc. to the guide rail sliding part Good.
- the timing belt 90 which is a power transmission member, transmits the rotating power generated by the motors 74 a and 74 b to the table 94.
- a steel belt with fitting, a chain, a wire rope, or the like may be used.
- a synchronous transmission mechanism such as a chain is suitable.
- the timing belt 90 has belt teeth 134 that are combined with the teeth 110 of the motors 74a and 74b, and has a central portion in the belt longitudinal direction.
- timing belt 90 Prevents meandering and wear of the side of the timing belt 9G.
- the timing belt 90 With a polyurethane material, it is possible to avoid generation of dust.
- the power transmission members and the motors 74a, 74b Regarding the generation of dust from moving parts such as linear motion guides, the components are built into the frame 72 and sealed to prevent the diffusion of dust to the outside. To prevent.
- by actively discharging the internal air to the outside by vacuum extraction etc. it can be used for manufacturing semiconductors in clean rooms, for precision experiments, for biological and chemical experiments of genes, etc. It is optimal.
- the table 94 is formed by, for example, extruding or drawing metal or bearing steel from an alloy such as A1 or Mg, injection molding from a material such as metal or ceramics, vacuum die casting, lost wax, or the like. .
- the table 94 is provided with screw holes 138 for mounting a work, holes 140 for mounting and positioning, and forces on both side surfaces of the table 94.
- a magnet (not shown) is connected to the table 94.
- a sensor is inserted into a groove 24 having a substantially C-shaped cross section defined on a side surface of the frame 72, and the sensor is driven by the magnetic force of the magnet. And the position of the table 94 can be detected.
- This sensor may simply function as a limit switch, or may perform position detection more accurately using a linear magnetic encoder, a linear optical encoder, or the like, and obtain position / velocity feedback information. In this case, it is not necessary to provide the encoder 21 for detecting the rotation speed of the motors 74a and 74b as the driving source as in the first embodiment, and the ball screw is provided in the feedback loop. In addition, since a power transmission system such as a timing belt is included, control accuracy of position and speed can be improved.
- a belt holder 9 2 formed by fitting both ends of the timing belt 90 to the shape of the belt teeth 13 4 of the timing belt 90. At the same time, fix it on the side of the table via screws, caulking, etc. c
- the guide rail 88 is connected to a base plate 86 as a connecting member by bolts or the like, and is used as a rolling guide using balls, cylindrical rollers, cross rollers, or the like.
- Block 96 moves on guide rails 8 8.
- plain guides are used as sliding guides, in which guide rails and guide blocks are formed from low-friction self-lubricating materials such as polyimide, Teflon, Nylon, and polyacetal. You may. Further, a part or the whole of a moving body such as a table may be formed by using an alloy or a resin thereof. Similarly, the guide rail 88 and the base plate 86 as a connecting member may be integrally formed.
- connection between the motors 74a and 74b and the power transmission member such as the timing belt 90 is generally performed by connecting a belt driving pulley (not shown) to the drive shaft of the motors 74a and 74b.
- a method of transmitting the motor driving force to the timing belt 90 via the belt driving pulley is adopted.
- the method of connecting the belt drive pulley to the drive shaft of the motors 74a and 74b is to increase the total length of the motors 74a and 74b and the belt drive pulley so that the frame 72 and the motor 74
- a and 74b protrude There is a disadvantage that a and 74b protrude.
- the motors 74a and 74b are induction motors, and are integrated with the belt driving buries by using the simple structure thereof, thereby realizing the miniaturization of the driving parts. I have.
- the motors 74a and 74b are formed flush with a simple structure without projecting from the outer side surface of the frame 72, and the motors 74a and 74b are housed. In this case, it goes without saying that the motors 74a and 74b may be used so as to protrude from the outer surface of the frame 72.
- the control of the two motors 74a and 74b consisting of the main and the sub is performed by the controller 23, and even when the frames 72 are overlapped as in the first embodiment.
- it may be stored in a block shape inside the frame 72 having the opening 80.
- the configuration and operation of the controller 23 are the same as those of the first embodiment, so that the detailed description thereof will be omitted.
- FIGS. 13 to 15 show a third embodiment. Actuate according to the third embodiment
- the nighttime 150 has a timing belt 90a as a driving force transmission means as in the second embodiment, and the motors 152a and 152b are used to reduce the size of the power unit. It is a plan.
- the components corresponding to those in the second embodiment are denoted by the same reference numerals, and the detailed description thereof will be omitted.
- the actuator 150 is a table 15 that is displaced by rotating a timing belt 90 a under the driving action of a frame 15 4 forming a structural member and motors 15 2 a and 15 2 b. Including a drive unit 15 with 6.
- the table 156 is formed by extruding or pulling out a light metal or a bearing rope or the like with an alloy such as Al or Mg, injection molding of metal or ceramics, vacuum forming, or lost powder.
- the linear guide bearings 158 and 159 provided substantially in parallel with the bottom surface of the table 156 are formed in a hollow cylindrical shape with an open part, and two guides are provided on the inner surface of the cylinder. A plurality of passages containing steel balls slidably contacting the shafts 160 and 161 are formed.
- a plain guide formed of a low-friction self-lubricating material such as polyimide, Teflon, nylon, or polyacetal may be used. Further, a part or the whole of the table 156 or the like formed by using them may be used.
- FIGS. 16 to 19 show a fourth embodiment.
- the actuator 170 according to the fourth embodiment has a ball screw shaft 1 ⁇ ⁇ ⁇ 2 as a driving force transmitting means, and uses motors 1 a4a and 1744b to reduce the size of the power section. It is a thing.
- the actuator 170 is composed of a frame 1 76 that forms a structural member, and a table 1 that is displaced by rotating the ball screw shaft 1 2 under the driving action of the motors 1 4 a and 1 74 b. And a drive unit 180 provided with 78.
- the driving unit 180 is fixed to the bottom of the frame 176 via a connecting plate 182, and a base plate 184 is connected to the upper surface of the connecting plate 182, Guide rails 186 are fastened on 184.
- the base plate 184 and the guide rail 186 may be integrally formed.
- the table 178 is fixed on a guide block (not shown) that moves linearly on the guide rail 186. Further, a ball screw nut 1888 is fixedly attached to the table 1 ⁇ 8, and the ball screw shaft 1 ⁇ 2 is fitted to the ball screw nut 1188, so that the motors 174a, 1 By converting the rotational driving force of 74b into a linear driving force, table 1-8 can be displaced linearly. Note that the axis of the ball screw nut 188 is eccentric from the axis of the guide rail 186 in order to suppress the height of the table 1/8. Therefore, the axis of the ball screw shaft 172 and the axis of the guide rail 1886 are both spaced apart from the center axis of the actuator 170.
- connection between the ball screw shaft 17 2 and the motors 17 4 a and 17 4 b is made of an old joint, a flexible joint, and an end of the ball screw shaft 1 ⁇ 2 and an end of the motor shaft. This is performed via a universal joint made of rubber or the like.
- the ball screw shaft 172 and the motor shaft may be integrated using the motors 20a and 20b.
- the motor 17 4 a, 1 74 b protrudes from the upper surface of frame 1 76.
- the shaft center of the ball screw shaft 172 is usually separated from the shaft center of the motor shaft.
- a method of connecting both of them using gears is adopted, but in this case, there is a problem that a power part is complicated.
- the shaft center of the ball screw shaft 17 2 and the shaft center of the motor shaft are separated from each other, and both are connected using a timing belt 190, and the same as in the second and third embodiments.
- the power section is greatly reduced in size and simplified.
- the fixing member 1 66 b holding the motors 1 74 a and 1 74 b is shown in the figure.
- No bearing holds the shaft end of the ball screw shaft 17 2.
- a driven pulley 192 is connected to the shaft end of the ball screw shafts 1 and 2, and the timing belt 190 transmits the rotational driving force of the motors 17a and 17b.
- the driven pulley 19 2 may be formed integrally with the ball screw shaft 1 ⁇ ⁇ ⁇ ⁇ 2.
- the actuators 70, 150, and 170 in Examples 2 to 4 are integrated with a driving bully by using an induction motor and its simple structure, thereby realizing a small-sized driving part. Are housed without protruding from the outer surface of the frame. Further, these actuators 70, 150, 1-0 have a groove portion 24 having a substantially T-shaped cross section on the outside so that it can be incorporated into a production line or the like in a factory or the like. Furthermore, because they are interchangeable, they can be used not only for mounting frames and panels of other actuators, protective meshes, handrails, etc., but also for wiring and piping, solenoid valves, ejector units with solenoid valves and their manifolds. Holds can be fixed.
- the frames of KONYU KUCHIYUE can be used as structural members for constructing the actuator structure described later, and the beams and panels for mounting can be used as in the past. It can be easily incorporated into an actuator structure without using any other means. Also, if it becomes necessary to change the mounting position of the factory, etc. in the factory structure once constructed, the conventional factory could change the position of the beam, re-drill holes in the panel, etc. Although work was necessary, in the case of this actuator, as described later, it is only necessary to loosen the mounting bolts of the fastening members, move the required amount in the frame, and then tighten the mounting bolts again. Not only can the work be simplified, but also the number of work steps can be reduced.
- the actuator can be easily removed from the actuator structure, which not only improves workability, but also replaces it with another actuator. Work quickly. Furthermore, since a plurality of actuators can be incorporated into one long frame, the size of the actuator can be reduced.
- the actuator structure 200 includes a plurality of columnar members (structural members) 202 forming a frame, and first to fourth actuators.
- Cylinder 2 3 2 to which 30 is connected Cylinder 2 3 6 with cylinder rod 2 3 4 protruding
- Control box 2 3 8 for electric actuator
- the actuators 204, 206, 208, and 210 in FIG. 20 have the same basic configuration as the actuators in the first to fourth embodiments.
- a compressor, a dehumidifier, an aftercooler, and the like which are not shown, are integrally inserted into blocks of the actuators 204, 206, 208, 210.
- the wires are integrated or connected within the columnar member.
- these compressors, dehumidifiers, aftercoolers, well-known compressors, scroll compressors, and the like may be dispersedly incorporated in the motor box, valve unit, and the like of each factory described later.
- the first actuator 204 is for moving the second actuator 206 and the balancer 212 mounted on the upper surface of the moving body 222 in a linear direction, and the first actuator 204 is provided for the first actuator.
- the second actuator 206 connected orthogonally to the second actuator 204 and the balancer 212 attached to the second actuator 206 are the third actuator attached to the moving body 222. This is for moving the actuator 208 in the vertical direction. Further, the moving body 2 26 of the third actuator 208 connected orthogonally to the balancer 212 attached to the second actuator 206 and the second actuator 206 is adsorbed. Cylinder 2 3 2 connected with pad 2 3 0 Have been.
- a cylinder 2336 is connected to the moving body 2288 of the fourth actuator 210, and is used for transporting and positioning the work 2166.
- a motor box 242 is provided at the connection between the first actuator unit 204 and the columnar member 202, and a valve unit 2 is provided at the connection between the fourth actuator 210 and the columnar member 202. 4 4 are provided respectively.
- the modal box 242 and the valve unit 244 may be flush with each other without protruding from the upper surface as shown in the second actuator 206, for example.
- a part of the electric actuator control box 238 may be dispersed and incorporated in the motor box 242 and the valve unit 244.
- compressed air is supplied to the cylinder 232 connected to the third actuator 208 through the fluid passage in the columnar member 202. Due to the supply of the compressed air, the cylinder rod of the cylinder 232 is displaced downward, and the work 216 arranged in the work storage box 218 is sucked by the suction pad 230. The cylinder rod is displaced upward again by the supply of compressed air, and while maintaining that state, the moving body 222 of the balancer 212 attached to the second actuator 206 is moved upward, and the third actuator 2 is moved upward. Move 08 upward.
- the moving body 222 of the first actuator 204 is moved in the vertical axis direction, and the second actuator 206 connected to the moving body 222 of the first actuator 204 and the second actuator 206 are connected to the moving body 222 of the first actuator 204.
- the first actuator 204 and the third actuator 208 stop moving when the work 2 16 sucked by the suction pad 230 approaches above a desired position,
- the workpiece 2 16 is moved to the work holding plate 2 by displacing the moving body 2 24 of the balancer 212 attached thereto and the cylinder rod of the cylinder 2 32 downward. Insert into the 20 hole 2 4 6.
- the work 2 16 can be positioned in the hole 2 46 by displacing the cylinder opening 2 34 of the fourth actuator 2 10. Further, the fourth actuator 210 can transport the work 214 to the work table 214 by its moving body 222 and cylinder 236. The work storage box 2 18 and the work holding play The position 220 is positioned on the work table 214 by positioning means (not shown).
- FIG. 21A, FIG. 21B and FIG. 22 show a first embodiment of the connecting means.
- FIG. 21A is a partial schematic front view when the columnar members are connected
- FIG. FIG. 21A is a partial cross-sectional side view of FIG. 21A
- FIG. 22 is an exploded perspective view.
- a columnar member 248 formed substantially identically has a linear groove portion 250 defined in the longitudinal direction of each side surface.
- a plate 54 screwed via a screw 25 is slidably disposed in the groove 250.
- the tip portion 256 of the screw 252 is formed in a conical shape.
- Fluid passages 258, which are transmission paths for fluids such as air, oil, water, etc., are formed through the four corners at both ends of the columnar member 248, and a spring 2 A hole 264 for inserting the bolt 262 through 60 is defined.
- the head portion 26 6 of the bolt 26 2 is formed in accordance with the cross-sectional shape of the groove portion 250, and is loosely fitted from one end side of the columnar member 2 48 in a direction substantially orthogonal thereto. .
- a V-shaped groove 268 is cut in the middle of the bolt 26 2, and a circular recess 270 serving as a spring receiver is provided on the opposite side of the head 26 6. .
- the plate 254 is inserted into the groove 250 from one end of one of the columnar members 248, and the spring 260 and the bolt 262 are formed as holes.
- the head 26 6 of the bolt 26 2 is oriented in the direction orthogonal to the groove 250 at one end of the columnar member 24 8 while being inserted into the portion 2 64 in the length direction thereof. Play fit.
- the screws 252 are screwed into the plate 254 via the groove portions 250, whereby the columnar members 248 are connected and fixed to each other in the substantially right-angle direction via the bolts 262.
- the inclined surface of the tip 2 ⁇ 6 of the screw 252 comes into contact with the inclined surface of the V-shaped groove 2668 of the bolt 262.
- the head 266 integrated with the bolt 266 is displaced in the direction of arrow ⁇ . This Due to the displacement of the head part 266, the back side of the head part 266 loosely fitted in the groove part 250 comes into contact with the groove part 250, and the columnar member 248 is fixed. In this manner, the columnar members 248 can be easily connected to each other, and a fluid pressure signal can be transmitted through the fluid passage 258 in the columnar member 248.
- the elastic force of the spring 260 causes the bolt 2626 to move in the direction of the arrow B. Displace. Due to the displacement of the bolt 26 2, the back side of the head 26 6 of the bolt 26 2 is separated from the groove 250, and the head 26 6 of the bolt 26 2 again loosely fits in the groove 250. It will be in the state of having done. Due to the loose fit of the head 26 of the bolt 26 2, the head 26 of the bolt 26 inserted into the other column member 24 from the groove 250 of the one column member 24 48 6 becomes slidable, and can be removed by moving the columnar member 248 along the groove 250.
- the first embodiment of the connecting means has been described for connecting the columnar members 248 to each other, the columnar member 248 and the actuators 204, 206, 208, 210 are connected to each other. The same applies to the case where the balancers 2 1 and 2 are connected to each other, and a detailed description thereof will be omitted.
- a second embodiment of the connecting means shown in FIG. 23 a groove 250 that is parallel to one side surface of the columnar member 272 is defined, and a head that is loosely fitted in the groove 250 is formed.
- This embodiment is different from the above-described embodiment in that two bolts 2778 integrated with the part 2776 are provided.
- substantially the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.
- the columnar members are respectively connected in three directions substantially orthogonal to each other.
- the columnar shape shown in the first embodiment of the connecting means is provided on the side surface of each of the attached balancer 211 and the second actuator 206 shown in FIG.
- the members 248 are connected to each other, and the frames 280 and 282 of the balancer 212 and the second actuator 206 are straddled, respectively, and are substantially orthogonal to the column members 248.
- 7 2 is connected with two bolts 2 62 so as to correspond to the groove 250 parallel to the bottom of each frame 280.22 of the balancer 2 1 2 and the second actuator 206. ing.
- FIG. 26 is a perspective view of the columnar member and the connecting member
- FIG. 27 is a partial cross-sectional view in a state where the connecting member is connected to the columnar member
- FIG. 28 is a state in which the columnar members are connected via the connecting member.
- a connection block (hereinafter, referred to as a block) 290 that is connected to a cut end surface of the columnar member 288 that is cut substantially perpendicular to the longitudinal direction and that functions as a connection means is a die cast, It is formed by precision structure, preferably vacuum die casting, vacuum structure, lost wax method, extrusion, drawing, metal powder injection or ceramics, and the block 290 is joined to the columnar member 288 At a substantially central portion of the surface to be formed, a protruding portion 292 formed in a substantially columnar shape is provided.
- the protrusion 292 is formed at the center in the axial direction of one of the columnar members 288 to be attached, and is fitted with a dimensional tolerance of fitting into the through hole 294 functioning as a fluid passage. ⁇ As a result, even if the cut surface of the columnar member 288 is not cut vertically in the longitudinal direction, the projecting portion 292 of the block is defined vertically with respect to the contact surface. Since the through hole 288 of 888 is formed parallel to the longitudinal direction, the contact surface of the block 290 is straightened in the longitudinal direction of the columnar member 288.
- the block 290 is provided with claw portions 296 a to 296 d which are arranged to face each other so as to surround the protruding portion 292.
- Substantially circular holes 298 a to 298 d are defined in the claw portions 296 a to 296 d.
- the claw portions 296 a to 296 d are inserted into the groove portion 300 having a substantially T-shaped cross section of the columnar member 288, and are stopped via the holes 298 a to 298 d.
- the set screw 302 bites into the deep part 304 of the groove 300 formed in the columnar member 288, and elastically or plastically deformed, preferably By plastic deformation, the connection can be made surely.
- the tip portion 300 of the claw portion 296 a to 295 ⁇ d expands outward in a direction opposite to the fitting direction of the set screw 302, so that the claw portion 296 a to 2 c 9 6 d It can bite into the inclined surface between the groove portion 300 and the deep portion 304 to more reliably obtain the effect of preventing the block 290 from coming off (see FIG. 27).
- the projecting portion 292 is inserted into the through hole 294 to prevent the block 290 from shifting due to a difference in the amount of tightening of the setscrew 302, and furthermore, the end face of the block 290 is
- Each of the claws 2966 a to 2966 d attached to the column member is inserted from the longitudinal direction of the groove 300 of the columnar member 288, so that the positioning can be performed reliably.
- a bolt member 303 having a substantially T shape is inserted into a block 290 attached to the columnar member 288 together with a spring 308, and the other party to which the head 310 of the bolt member 306 is to be connected is connected.
- the columnar member 288 By inserting the columnar member 288 from the side in the longitudinal direction and rotating it by about 90 °, it is possible to exert a retaining function.
- the bolt member 3 06 By tightening the set screw 3 12, the bolt member 3 06 can securely lock the block 2 9 0 into the columnar member 2 8 8 without being rotated or wobbled by the spring force of the spring 3 08. They can be easily and easily connected (see Fig. 27).
- a part of the columnar member 288 in which the head 310 of the bolt member 306 is connected to the block 290 is plastically deformed.
- the case of elastic deformation or, preferably, elastic deformation will be described.
- the back surface portion 310 of the head 310 ′ of the bolt member 306 is formed in a groove portion 300 having a substantially T-shaped cross section.
- the flat part 3 16 contacts.
- a step portion 318 is defined on the surface of the flat portion 316 which is in contact with the opposite block side, and the back surface 314 of the bolt member 303 is formed by the flat portion 31 of the groove portion 300.
- holes 3 3 4 into which the hexagon socket tapping screws 3 2 2 fit are defined, and are defined at substantially the center of the end surface of the columnar member 2 88.
- gasket grooves which are difficult to perform additional machining, are formed in the end faces of the columnar members 288 on the rectangular block side in advance.
- a sheet-like gasket prevents the leakage of various fluids inside the columnar member 288 without reducing the rigidity of the joint and the dimensional change when connecting structural members. Fluid can enter and exit through the opening of the through hole 2974 on the end face of the member 2888.
- a gasket groove and a seal member are provided between the columnar member 288 and the rectangular block 324 further connected to the columnar member 288, and a fluid passage is provided between the plurality of connected columnar members 288. Is also good.
- the bolt member 338 is inserted into the substantially T-shaped cross section 300 formed on the side surface of the columnar member 33.
- the head 33 7 of the bolt member 33 8 Is rotated by about 90 ° to stop it from rotating, and the bolt member 338 is fixed to a desired position of the groove 300.
- the reinforcing member 3400 having a shape corresponding to each connecting portion is formed. , 341, 342, and 343 can be tightened by the nut member 344.
- bolt member 3 3 8 and reinforcing members 3 4 0, 3 4 1, 3 4 2, 3 4 3 etc. reinforce the strength connection of the constructed structure, increase the overall rigidity, and connect actuators etc. In addition to preventing the lowering of accuracy during use, it is possible to easily expand equipment by connecting other columnar members 336 and the like.
- FIGS. 34 to 38 show side views of end surfaces of other various columnar members.
- FIGS. 34 to 36 illustrate column members 346, 348, and 350 that are suitable for use in a portion where a strong load is applied to a structure assembled into a desired shape.
- 37 and FIG. 38 exemplify the columnar members 352, 354 which are made lighter by defining a space.
- the columnar members 346, 348, 350, 352, 354 are formed from a material of the light metal group such as aluminum alloy, magnesium alloy, aluminum, silicon, magnesium alloy, etc.
- Surface treatment such as aluminum, hard alumite, titanium coating, cermet, PVD, CVD, etc. to improve the mechanical strength and reduce the surface scratches attached when attaching or removing various members. Can be achieved.
- coloring by painting preferably by coloring alumite treatment
- the column-shaped member is laser-trimmed, ink-jetted, etc., to encode the serial number, date, product inspection, cutting length, manufacturer, sales company, user, etc. Marking and registering the data at the time of laying in the computer base of transport, processing and assembly equipment, for example, to easily manage the columnar members and actuators owned by the entire equipment in integrated production such as CIM It can be efficiently rebuilt as part of the CIM database when equipment is changed or expanded.
- FIG. 39 and FIG. 40B a seventh embodiment of the connecting means is shown in FIG. 39 and FIG. 40B.
- the same components as those in the seventh embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.
- connection block 358 when connecting the columnar members 356 to each other, a connection block 358 is attached to the cutting end surface of one of the columnar members 356.
- the connection block 358 is inserted into a through hole 360 substantially at the center of the cutting end surface of the columnar member 356, and a plurality of switches are provided. It has a projection 364 on which lips 362a to 362f are engraved. Claws 36a to 3666f are provided on the outer peripheral surface of the tip of the projection 3664 divided into a plurality of pieces by the slits 362a to 3662 ⁇ , and the projection is formed. At the four corners close to 364, connecting protrusions 368 are provided.
- a hole portion 373 for inserting a bolt member 372 having a substantially T-shaped cross section having a tip portion formed of a taper portion 370 is provided on the opposite side surface of the projecting portion 364. It is defined.
- a set screw 3? A female screw portion 376 that fits with 4 is provided on the top surface of the connection block 3 58, and a tapered portion 3778 is formed at the tip of the set screw 374, and a tape-shaped portion defined on the bolt member 372 is formed.
- a groove 384 having a substantially T-shaped cross section is defined in the outer peripheral side surface of the columnar member 356.
- connection block 358 are inserted into the holes 382 defined at the four corners of the columnar member 356, and the projections 364 are inserted through the through holes 3, respectively. 60, and the connecting block 358 is attached to the cut end surface of the columnar member 356.
- the tapered portion 370 of the bolt member 372 comes into contact with the inner peripheral surface of the tip portion 386 of the projection 364.
- the head 3888 of the bolt member 372 is engaged with the groove 3384 of the other columnar member 3556.
- the tip end of 4 presses the inclined surface of the concave portion 380 of the bolt member 372, and the bolt member 372 is displaced in the direction of arrow A.
- FIGS. 41, 42A and 42B an eighth embodiment of the connecting means is shown in FIGS. 41, 42A and 42B.
- the eighth embodiment is different from the seventh embodiment in that a claw portion 36 6 a to 36 6 ⁇ is provided on the outer peripheral surface of the distal end portion of the projecting portion 36 4 of the connection block 35 8.
- C The point is that a ring 390 is fitted, and a sharp claw portion 392 is engraved on the outer peripheral surface of the C ring 390 at a predetermined interval.
- FIGS. 43, 44A and 44B a ninth embodiment of the connecting means is shown in FIGS. 43, 44A and 44B.
- the columnar member 394 according to the present embodiment has a substantially T-shaped cross section formed on the outer peripheral surface.
- a linear groove 398 that extends in the longitudinal direction of the columnar member 394 and is opposed to the columnar member 394 is formed at the entrance of the cylindrical member 396.
- the holding member 400 is inserted into the through hole 400, and the holding member 400 is inserted.
- a first bevel gear 4 06 integrally connected at the bottom, an annular groove 4 10 for mounting the C ring 408 at the top, and a hole with a substantially hexagonal cross section at the top. 4 1 2 is defined.
- a female screw portion 4 14 is formed near the entrance of the through hole 402 on the end face of the cut portion of the columnar member 3 94, and the bolt member 4 16 is fitted into the through hole 402. As shown in FIG. 43, the bolt member 4 16
- a second bevel gear 4 18 mating with the 1 bevel gear 4 06, a male thread 4 2 0 fitted with the female thread 4 14 of the through hole 4 02, and the other columnar member 3 9 to be connected 4 groove
- the head 4 22 engaging with the 396 is integrally formed.
- the head 4 2 2 of the bolt member 4 16 is inserted into the groove 3 96 of the one columnar member 3 94. Then, the bolt member 4 16 is fitted into the through hole 402 of the other column member 3 94. Subsequently, the holding member 404 is inserted from the elliptical through hole 400 defined in the groove 3966 of the other columnar member 3964, and is formed at the entrance of the groove 3996.
- the C-ring 408 fitted in the annular groove 410 of the holding member 404 is attached to the Prevent the material 404 from coming off (see Fig. 44A).
- the holding member 404 is rotated in a predetermined direction by, for example, a hexagon wrench or the like into the hole 412 having a substantially hexagonal cross section defined on the upper surface of the holding portion 404.
- the rotation of the holding member 404 causes the first bevel gear 406 integrated with the lower part of the holding member 404 to rotate, and the second bevel gear 4 engaging with the first bevel gear 406. 18 also rotates. Due to the rotation of the second bevel gear 4 18, the bolt member 4 16 is screwed in the direction of arrow A, and pulls one column member 3 94 in the axial direction of the other column member 3 94 (FIG. 4). 4B).
- the columnar members 394 can be easily connected to each other, and compared to the case where the columnar members 394 are simply tightened by contact between the tip end of the set screw and the concave inclined surface of the bolt member as in the above embodiment.
- the first and second bevel gears 40.6.418 it is possible to reliably connect the columnar members 394 with a weak tightening torque. Further, there is an advantage that the loosening of the connecting portion due to the vibration impact is reduced.
- a through-hole 426 defined in the center of a columnar member 424 having a cross-sectional shape shown in FIG. 45 is used for various facilities such as conveyance, processing, and assembly.
- four groove portions 428 are defined on the inner wall surface of the through hole 424 of the columnar member 424, and a portion to be engaged with the groove 428 is
- the through-hole member 430 having a protrusion is inserted into the through-hole 426.
- the through-hole member 430 is extruded with, for example, resin, aluminum, a magnesium alloy, or the like, and a plurality of divided holes 432 a to 432 are respectively formed in the pipe of the through-hole member 430. d is defined.
- the holes 4 3 2 a to 4 3 2 d are provided with a wiring 4 3 4, a coaxial optical fiber, a cable 4 3 6, an air pipe 4 3 8, a liquid fluid pipe 4 4 0, and the like. Have been. Therefore, beautification of the appearance, prevention of entanglement of each wiring and piping in the holes 4 3 2 a to 4 3 2 d, and other members etc. in case of leakage or disconnection in the middle of each wiring or piping There is an advantage that it does not affect
- the inner wall surface of the through hole 426 by coating the inner wall surface of the through hole 426, it can be used as an energy transmission path 442 such as a microwave.
- a ball spline 444 is used, and the column member 424 itself is used as a moving body that moves relatively to the spline nut 446. Is also good.
- the spline nut 446 is attached by inserting a pin member 448 into the pre-processed groove, and using this pin member 448 as a detent for the shaft with the columnar member 424. By screwing the set screw 450 from the outside, the spline nut 446 can be prevented from coming off.
- FIGS. 49A to 49C a tenth embodiment of the connecting means is shown in FIGS. 49A to 49C.
- a cylinder mounting block that can be easily mounted on various types of equipment, such as a transport device, processing, and assembly, constructed using a columnar member having a substantially T-shaped groove is described. I do.
- a pneumatic cylinder having a recessed portion 452 on the head side and having through holes 454 at the four corners with tightening screws.
- 456 is attached to various facilities by, for example, brackets, bolts and the like.
- connection block 4588 is connected to the pneumatic cylinder 4556, and bolts 461 are inserted into through holes 4600 defined in the four corners of the connection block 458. Both can be connected.
- the circular convex portion 464 defined in the connection block 458 is inserted into the circular concave portion 4552 of the pneumatic cylinder and positioned.
- the pneumatic cylinder 456 and the connection block 458 are formed by die-casting, precision mirror fabrication, preferably vacuum die-casting, vacuum quince, lost-pack method, extrusion, drawing, metal powder injection, ceramics, or the like. Is shaped.
- FIGS. 5OA and 50B a first embodiment of the connecting means is shown in FIGS. 5OA and 50B.
- the eleventh embodiment is a vacuum ejector system in which different types of columnar members are connected to each other, and a solenoid valve is mounted on one of the columnar members. 5 will be described.
- FIG. 50B shows a side view of the columnar member 472, a mounting through hole 476, for a fluid passage.
- a columnar member 472 having a through hole 478 and a T-shaped groove 480 having a substantially cross-sectional shape is connected via a connection block 4882 sealed with a gasket or the like to the other columnar member 4? 2.
- Connect to 0. When pneumatic devices such as a solenoid valve 474 and a vacuum ejector system 475 are required to be installed on the columnar member 472 used for various facilities, the outer surface of one of the columnar members 472 By performing the side hole processing, a vacuum ejector system 475 having a solenoid valve 474 mounted thereon is connected to the columnar member 472.
- Female threads can be applied to the open surface of the columnar member 472, and supply of compressed air and exhaust piping can be performed from there, so that one columnar member 472 can be used in the same manner as a manifold block. It is possible. The supply and exhaust of the compressed air can be performed through the fluid passage through hole 478.
- the columnar member 472, the solenoid valve 474, and the vacuum ejector system 475 are made of die-casting, precision manufacturing, preferably vacuum die-casting, vacuum manufacturing, lost wax method, extrusion, drawing, metal powder injection or ceramic injection molding. It is molded by a mix or the like, and is sometimes integrally formed.
- the number of sides can be increased by forming the end sections of the columnar member, the air balancer, the actuator, and the like into a polygonal shape such as a square or a hexagon. It is possible. Needless to say, the shape may be circular or substantially circular. Therefore, a desired groove portion is defined on the side surface, a bolt is loosely fitted in the groove portion, and the bolt is loosely screwed.
- the actuator is connected to the actuator arranged in a substantially vertical direction in the actuator structure which is formed by connecting the actuator and the columnar member by the connecting means.
- the following describes a balancer that reduces the load on the system.
- Fig. 51 is a perspective view of the balancer in which the first embodiment of the balancer is housed in a frame and a drive table is provided
- Fig. 52 is a cover of the balancer shown in Fig. 51
- FIG. 53 is a partial cross-sectional side view of the balancer shown in FIG. 52
- FIG. Fig. 5 is a partial cross-sectional view taken along lines ⁇ - ⁇ , BB, C-C, and D-D of Fig. 53.
- the balancer 5 10 according to the first embodiment basically includes a frame 5 12 constituting an outer frame, a cylinder 5 14 housed in a recess of the frame 5 12, and a cylinder rod.
- a transmission mechanism 524 which transmits expansion and contraction of 516 and has a pulley 520 for fixing and a pulley 522 for driving connected to a wire rope 518;
- the drive table 5 2 6 which is displaced on a straight line by 5 2 4 and the precision pressure reducing valve 5 2 8 which is connected to a compressed air supply source (not shown) and controls the pressure of the compressed air supplied to the cylinder 5 14 Be composed.
- a concave portion is defined as an opening 5300 on one side surface of the columnar body extending linearly, and each of the other side surfaces except for the one side surface as the opening 5300 Has a groove portion 532 having a substantially T-shaped cross section.
- the groove portion 532 is for connecting to an actuator 534 (see FIG. 60) or another balancer or the like via a connecting means described later.
- the cylinder 5 14 housed in the recess of the frame 5 12 consists of a single-acting, single rod 5 16, and a rotation stopper in the direction of the rod 5 16 of the driving pulley 5 2 2 is formed.
- a cylinder rod cover 536 is attached to the rod 516 side, and a drive port 538 for supplying compressed air into a cylinder chamber (not shown) is provided in proximity to the cylinder rod cover 536.
- a cylinder cover 540 is provided on the side opposite to the opening 516.
- a transmission mechanism 524 for transmitting the linear motion of the cylinder 514 is disposed in a plastic box 542 connected to the tip of the mouth 516 of the cylinder 514.
- the drive pulley 52 2 is provided, and the drive pulley 52 2 is connected to the drive pulley 52 2 through a wire rope 5 18 to be fixed to the frame 51 2 side. Is done.
- the rod 5 16 of the cylinder 5 14 and the pulley box 5 4 2 are held by a detent key 5 4 4, and the pulley box 5 4 Guide blocks 548a and 548b that are in contact with the lower surfaces of the 512 and guide rails 546 and function as detents are provided.
- the material of this guide block 548a, 548b is low friction resin such as self-lubricating resin such as diuracon, oil-impregnated resin, self-lubricating high-quality metal, oil-based soft metal, and teflon. Or low friction gold The genus is used.
- the pulley box 542 is preferably formed by metal extrusion, and may be formed by pultrusion molding, metal injection molding, ceramic injection molding, plastic injection molding, or the like. Note that a cylinder having a detent guide, an elliptical or oblong cylinder, or the like may be used for the stability of the pulley box 542 against a stroke. On the other hand, the pulley box 542 may be directly guided by a cam follower or a linear motion bearing.
- a groove for the wire rope 518 is defined on the outer periphery of the driving pulley 5222, and the driving pulley 522 is enclosed by the hood 552 of the pulley box 542.
- the hood 55 2 is provided to prevent the wire rope 5 18 from coming off the groove 5 50 of the driving pulley 5 22.
- a bully box 554 provided with a fixing bulge 520 is fixed.
- a groove 550 for suspending a wire rope 518 is defined in the fixing bulge 5200 disposed in the bulley box 5554, similarly to the driving pulley 5222, and A hood 552 is provided to prevent the wire 518 from coming off.
- the boogie box 554 has one end of the wire rope 518 fixed and a stroke adjusting hole 556 defined therein.
- the pulley box 554, the cylinder rod cover 536, and the cylinder cover 540 are fixed to guide rails 54S for the drive table 526, and the cylinder is connected via the guide rail 546. 5 1 and 4 are integrated with the pulley box 5 5 4.
- the drive table 5 26 is provided on the guide rail 5 46 and includes a groove 5 60 for fixing the wire rope 5 18 and a holder 5 61.
- the drive table 5 2 6 is connected to the table of the actuator 5 3 4 by the connection table 5 6 2 (see FIG. 60), but the balancer 5 10 When using the balance unit 534 away from it, or when using the balancer 5 10 by itself, the work may be loaded directly.
- the material and molding of the drive table 526 are the same as those of the drive plastic box 542.
- the balancer 510 is a vertical slider of the actuator 534 used in combination.
- the highly rigid drive table 5 2 6 and guide rail 5 4 6 and a frame 5 1 2 are provided.
- the drive units of the actuator 53 4 and the balancer 5 10 are mounted on the common frame 5 12
- the high-rigidity drive table 526, guide rail 546 and frame 512 are not required.
- the connection to the actuator table or the worktable of the drive table 526 is performed only by vertical positioning using a flexible joint or the like, and the life of the guide rail of the actuator 534 is prevented from being shortened.
- the guide in the stroke direction of the drive table 5 26 is provided by a slide bearing, cam follower, etc., which moves directly like the drive pulley box 5 42. It is also possible to achieve cost reduction and cost reduction.
- the drive table 5 26 may be removed, and the wire rope 5 18 may be fixed directly to the actuator 5 34 or the work, so as to realize a configuration that achieves significant weight reduction and cost reduction.
- an end block 566 with a cushion 566 is provided to break the wire rope 518 and supply it to the cylinder 514.
- the work is prevented from falling off due to lack of vertical resistance load due to failure such as air stop.
- the cushion 564 uses urethane rubber, impact-absorbing resin, spring, shock absorber, or the like may be used according to the vertical load.
- the end block 566 is provided with a drive unit cover 568 of the balancer 510 and an air pressure control unit cover 570.
- the drive by the cylinder 5 14 is transmitted to the drive table 5 26 by a wire rope 5 18.
- a double stroke of the cylinder stroke is transmitted to the drive table 526 by the drive bullish 522 and the fixing bully 520.
- the cylinder stroke is about half of the balancer stroke, and not only the size of the balancer 510 is reduced, but also there is no need to provide a protruding portion for the balancer stroke.
- a half cylinder stroke can simultaneously reduce a change in the internal pressure of the cylinder 514 at the time of the cylinder stroke, which is very advantageous for the internal pressure control.
- the output of the cylinder 5 14 is twice the output of the balancer.
- the output of the cylinder 5 14 is twice the output of the balancer.
- the wire rope 5 18 has male screw terminals 5 at both ends. 2 and is fixed by a nut 574 through two fixing holes 556 of a fixed bury box 554. The center of the rope 5 18 is hooked into the fixing groove of the drive table 5 26 and fixed by the holder 5 61.
- the adjustment of the stroke position of the drive table 526 is performed by using the wire ropes 518 having different total lengths, but fine adjustment can be made by the male screw terminals 572 and the nuts 574 at both ends. Further, an adjustment mechanism may be provided on the drive table 5 26.
- the wire rope 518 has a relatively small cross-sectional area with respect to the tensile load, and can perform three-dimensional bending, so that the degree of freedom in designing and arranging the pulley is high, and the double side mechanism can be downsized. Become.
- the wire rope 518 uses a stainless steel stranded wire that is coated with a resin such as polyurethane, Teflon, or nylon with abrasion-resistant oil, but it is a tungsten stranded wire, polyimide fiber, or amorphous stranded wire. , A resin stranded wire, a composite stranded wire, or the like.
- a resin such as polyurethane, Teflon, or nylon with abrasion-resistant oil
- a metal belt made of amorphous or the like, a wire belt, a chain, a rubber belt, or the like may be used.
- the vertical load acts rightward in the drawing, and the rod 516 always receives a tensile load. This can prevent the rods 5 16 from buckling even during a large stroke.
- the driving force against the vertical load is generated by the internal pressure of the cylinder 5 14 and must be constantly controlled regardless of the cylinder strike.
- the balancer 5110 uses a precision pressure reducing valve 528 for adjusting the air pressure, and the adjusting screw 5776 can set the cylinder internal pressure according to the vertical load.
- the cylinder internal pressure can be confirmed by a pressure gauge 5778.
- the drive port 5 3 8 of the cylinder 5 14 is connected to the output port 5 80 of the precision pressure reducing valve 5 28, and the stroke of the balancer 5 10 increases the immersion in the cylinder 5 14 and the internal pressure is reduced. If the pressure becomes equal to or lower than the set pressure, the compressed air from the compressed air supply port 582 is promptly supplied into the cylinder 514 by the operation of the precision pressure reducing valve 528. Conversely, when the cylinder volume decreases and the internal pressure exceeds the set pressure, the compressed air in the cylinder 514 is discharged into the atmosphere from the exhaust port 584. '
- a servo type valve such as an electropneumatic proportional valve (not shown), a controller and a sensor can be used.
- the driving force may be set and adjusted by the driving force sensor, or the vertical load sensor may be used to automatically control by setting the anti-load.
- the cylinder pressure may be controlled by the motor position or the motor load by communicating with the motor controller (not shown) of the actuator 534.
- the balancer 5110 may be used to form a pneumatic-electric hybrid system using the cylinder 5 14 and a motor.
- the balancer drive unit and the precision pressure reducing valve 528 which are integrally formed via the guide rails 546 are inserted into rail-shaped grooves 5866 engraved on the bottom inside the frame 512. It is fixed to the plate 588 with a screw or the like. As shown in FIG. 58, the rail-shaped groove portion 586 is provided with a play 589, and the play 589 is used to incline the plate 588 to open the opening 5 of the frame 512. It can be inserted from 30. With this structure, the components on the plate 588 can be freely installed together with the plate 588 in the longitudinal direction of the frame 512.
- the play 5 8 9 is not only useful for adjusting the stroke position of the balancer 5 10, but also for fixing the plate 5 8 8 to an arbitrary position in the frame 5 12 having a sufficient length. However, a plurality of frames can be installed at arbitrary positions in the single frame 5 12.
- the frame 512 has grooves 5332 or T-slots on both outer surfaces and the outer bottom, and can be easily installed with T-bolts (described later) without limiting the mounting surface.
- the frame 512 is formed by extrusion or drawing, metal injection molding, ceramic injection molding, or the like. At both ends of the frame 512, an end block 5994 is screwed through a cylindrical groove 5900 and a hole 592.
- the balancer 510 is formed in the same manner as the frame 512 of the non-lancer 5100, and has a groove portion 532 having a substantially T-shaped cross section on the outer surface. It can be connected to the frame 5 12 of the 5 3 4
- the end block 5994 of the balancer 5110 is provided with two lateral T-bolt holes 591.
- the T-bolt 593 is formed so that the enlarged outer diameter portion 595 and the enlarged hole portion 597 of the end block 594 are fitted, and a nut with a hexagonal hole 599 from the hole on the opposite side. Then, the balancer 5 10 and the akuchiyue 5 3 4 are connected by tightening.
- the enlarged hole portion 597 of the end block 594 is symmetrical left and right, so that the balancer 510 can be attached to either the left or right side surface of the actuator 5334.
- Figures 6OA to 60E show that the compact shape, various and easy stroke position adjustment methods, and the simple mounting means with the T-shaped cross section 532 make it easy to
- the double-speed balancer according to the present embodiment uses air pressure that can not only bear a vertical load but also add high frame rigidity and guide rigidity.
- this balancer 5100 can greatly adjust the vertical load capacity by increasing or decreasing the balancer 5 10 connected to the end cuator 534, making use of high frame rigidity, guide capacity, and easy-to-install. Use alone, of course, apart from the actuator 5 3 4 It is possible to take an arrangement according to the load.
- FIG. 61 shows a second embodiment of the balancer. Note that, in the present embodiment and thereafter, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.
- a double-speed mechanism using a pulley in addition to the looseness of the rope 518 itself, if a load is applied in the direction opposite to the vertical load, or if there is no load, the rope 518 may come off from the pulley. is there. In the case of the first embodiment, this was prevented by providing a hood 552 on the fixing bullion 52 and the driving pulley 52.
- the balancer 600 has a structure in which tension is always applied to the wire rope 604 irrespective of the position of the drive table 602 and the load state, thereby preventing the wire rope 604 from coming off. ing.
- the driving pulley box 606 includes first and second driving pulleys 608 and 610.
- the head cover 614 of the cylinder 612 is used as a second fixing pulley box, and a second fixing pulley 613 and a second wire rope fixing hole 615 are provided here.
- the driving table is driven via the first driving pulley 608 and the first fixing pulley 618.
- the other end is fixed to the wire fixing block 620 of the wire 62, and then to the second wire rope fixing hole 615 through the pulley 613 for the second fixation and the pulley 610 for the second drive. Fixed.
- the balancer 600 according to the second embodiment is configured as described above. Next, the operation thereof will be described.
- the vertical load is given in the direction of arrow A in the figure.
- the driving force due to the pull-in force of the cylinder 6 1 2 is transmitted through the first driving pulley 6 08 and the first fixing pulley 6 18 by the wire rope 6 04 with a stroke twice as large as that of the cylinder 6 12.
- the point transmitted to 02 is the same as in the first embodiment.
- the stroke position of the drive table 602 can be significantly and easily changed.
- the port of the cylinder 612 is changed and the cylinder 612 is an extrusion type, a driving force in the opposite direction can be generated, and the balancer 600 itself can be used upside down. Thereby, the precision pressure reducing valve 62 and the stroke position can be further freely selected.
- the cylinder 612 is a return type, it can be used as a rodless cylinder in a horizontal stroke as it is, and the air between the servo valve and the controller and the electric actuator shown in the first embodiment can be used.
- the electric composite drive system may be used to perform a stroke movement by pneumatic pressure and perform positioning by electric motor.
- the work moving speed may be reduced by, for example, magnetic control by a motor (not shown).
- a motor not shown.
- a spring is built in the cylinder so that a driving force acts in the contraction direction of the rodless cylinder, and a force is always applied to the right side of the drive pulley box 606 in the figure, and the wire
- the rope 604 may be prevented from falling off due to bending.
- separate rope or belt A cushion may be provided.
- FIG. 62 shows a third embodiment in which the actuator and the drive unit of the balancer are integrally formed on a common frame.
- a groove 5 8 for inserting a plate 5 8 8 for fixing a drive section of the actuator 5 3 4 and the balancer 5 10 is provided on the inner bottom of the opening of the integrally formed common frame 6 3.
- Each of the driving units 6 is fixed in the frame 630 via a plate 588.
- a groove 532 having a substantially T-shaped cross section is defined on the outer surface of the frame 630.
- the pulley box 5 4 2 of the balancer 5 10 is fixed to the end of the guide cylinder 6 3 2 a. 6 3 2 b. 6 3 2 c tip (not shown). Is stopped by.
- the balancer 5110 shares the drive table 634 with the drive table 634 of the actuator 534, and therefore, the wire port 518 is connected to the actuator drive table 634. Fixed.
- the work is guided in the vertical direction by guide rails 636 of the actuator 534. Therefore, it is preferable that the guide rails 636 have high rigidity.
- FIGS. 63 to 68 show a case where an actuator is arranged in parallel with the balancer 510 according to the first embodiment.
- FIG. 63, Fig. 65 and Fig. 67 are front views of the balancer 5 10 with the actuators 6 38, 6 40 and 6 42 juxtaposed, respectively, with the respective covers open.
- Fig. 64, Fig. 66 and Fig. 68 correspond to Fig. 63, Fig. 65 and Fig. 6, respectively.
- FIG. 7 is a partial cross-sectional view of FIG.
- the actuator 638 includes a frame 512 formed substantially identically to the frame 512 of the lancer 5110, is disposed in a recess defined in the frame 512, and includes a motor 6
- the timing belt 6500 suspended by the motor pulley unit 646 and the idle pulley unit 648 is rotated under the driving action of 4-4. Due to the rotation of the timing belt 65 0, the table 65 2 supported by the timing belt 65 0 is displaced linearly, and the table 65 2 and the drive table 5 2 6 of the balancer 5 10
- the long connection table 562 connected to the is displaced linearly in a substantially vertical direction.
- the actuator 638 displaces the connection table 562 in a substantially vertical direction under the driving action of the motor 644, and for example, moves the disk in a substantially vertical direction.
- the balancer 5100 functions to reduce the load on the motor 6444 of the terminal 638 under the above-described operation.
- the actuating unit 6400 shown in FIG. 65 has a substantially cross-sectional T-shaped groove 532 defined on the outer surface of the frame 5 52 of the lancer 5100.
- the motor pulley unit 6 is inserted into the recess of the frame 6 5 4 which is wider than the frame 5 12.
- the motor pulley unit 656 is loaded with a pulley 662, and the bevel gear 66 connected to the drive shaft of the motor 6664 is coaxially connected to the burry 662. By combining with 8, pulley 6 62 can be rotated. Previous. With the rotation of the pulley 6 62, the table supported by the timing belt 6 70
- the table 6 7 2 is displaced linearly.
- the table 6 7 2 has two shafts 6 7 4 a, 6
- the actuating unit 642 shown in FIG. S7 has a first portion for supporting one end side of the ball screw 678 in the concave portion of the frame 676 which is spread similarly to the frame 654.
- a timing belt 692 is provided.
- the timing belt 692 rotates through the pulley 690 under the driving operation of the motor 688, and the pulley 686 rotates by the rotation of the timing belt 692, and the pulley 6
- the table 684 can be displaced by rotating a ball screw 678 formed coaxially with the 686.
- the actuator 642 is useful in the space where P is fixed, and for that purpose, the axis of the ball screw 678 is arranged near the end of the frame 676.
- the ball screw 678 is disposed in a direction ⁇ of the axis of the ball screw 678 via a timing belt 692. Therefore, in a space in which the vertical and horizontal directions are restricted, it goes without saying that the ball screw 678 and the drive shaft of the motor 688 may be disposed, for example, in the vertical direction.
- the actuator 624 can correspond to a limited space in various directions.
- FIGS. 69 and 70 show an embodiment of a transport device and an assembling workbench constructed using the aforementioned structural members and connection blocks.
- the transfer device 716 constructed using the connection blocks 714 is a plurality of structural members that form a substantially rectangular parallelepiped framework. Drives via a timing belt 7 22 and a drive motor 72 2, which is connected to one end of one of the long structural members 7 18 arranged substantially in parallel with each other. Rollers that rotate under the drive of the motor 720? Consists of 24 etc. It should be noted that a shaft motor in which a driving motor 720 is incorporated in the rotary roller 72 itself may be used.
- the transfer device The reinforcing member 7 26 is attached to the unit 716 in order to improve the rigidity of the equipment in a portion where a load is applied.
- the transport device M 716 that is basically configured as described above, for example, when changing or expanding equipment, without disassembling the transport device 716 that has been assembled, It is only necessary to simply connect other structural members or equipment to the transfer device 716.
- the work table 732 can be attached.
- an actuator ⁇ 36 and a carrier table 738 are connected to a carrier device 716 via a structural member 733, and a moving body 740 of the actuator 736 is connected.
- a moving body 740 of the actuator 736 is connected.
- the actuator (736) is slaughtered while the work (not shown) conveyed by the conveyer (738) is gripped by the air chuck (744), and the moving body (7) of the actuator (36) is moved.
- the work can be transferred by moving the cylinder 742 connected to 40 toward the transfer device 716 side.
- FIGS. 71 to 73 show an assembly example in which a plurality of structural members and a connector are connected.
- the same components are denoted by the same reference characters, and detailed description thereof will be omitted.
- the first assembly example 745 shown in FIG. 71 is composed of a plurality of structural members 746, 747,? 4 8 to 7 4 9 1st to 3rd clicks 50, 751, 752, work table 754, work 7556, work holding plate 7558 and work storage box 7559, moving body? 60, 761, 762, the first cylinder 766 to which the suction pad 764 as a work gripping means is connected, and the second cylinder with the cylinder opening protruding? 6 and 8.
- the motor box 770 is connected to the connection between the first actuator 75 0 and the structural member 7 48, and the motor box 7 70 is connected to the connection between the third actuator 75 2 and the structural member 7 48.
- valve units ⁇ 72 are equipped with valve units ⁇ 72 respectively.
- first, compressed air is supplied to the first cylinder 766 connected to the second actuator 51 via a fluid passage (not shown) in the structural member. Due to the supply of the compressed air, the cylinder rod of the first cylinder 766 is displaced downward, and the work ⁇ 56 arranged in the work storage box 759 is sucked by the suction pad 764. Again, the cylinder rod is displaced upward by the supply of compressed air, and the moving body 760 of the first actuator 750 is moved in the vertical axis direction while maintaining the state, and the first actuator 550 is moved. The second actuating unit ⁇ 51 connected to the moving object 760 of the moving object is moved.
- the second actuator 51 suspends the movement when the work 56 sucked by the suction pad 764 approaches above a desired position, and moves the moving body 761 of the second actuator 51. Move the workpiece 7 5 6 by moving it in the horizontal axis direction?
- the cylinder rod of the third actuator 752 is displaced and positioned so as to be inserted into the desired hole 774 of 58.
- Fig. 72 and Fig. 73 show the second and third assembly examples 776.778, respectively, and the sequencer with a programming board 782 that functions as a controller for actuators on the structural member 780. Shows the state in which each of 7 8 4 is attached.
- a mechanical hand 786 is connected to the tip of the first cylinder 766.
- Sequencer with this programming board? 82, 784 are detachably attached to the structural member 780.
- a belt conveyor 790 provided with endless belts 788, 789 is continuously provided adjacent to the sequencers 782, 784 with the programming board.
- the plate member 792 can be conveyed by the belt conveyor 90. The figure?
- FIG. 74 shows a second assembly example of an actuator structure similar to that shown in FIG.
- the same components as those in FIG. 19 are denoted by the same reference numerals, and detailed description thereof will be omitted.
- the actuator structure 800 of FIG. 74 is divided into the first section according to the work process.
- a belt conveyor 806 is arranged side by side with the first section 802. .
- the first section 8002 includes a motor box 8100 disposed at one end of the actuator 8808 and flush with the upper surface of the actuator 8808, and a controller 812 having a display section. Is provided.
- the motor box 810 and the controller 8122 are formed flush with the upper surface of the actuator 808 on which they are arranged, so that they can be interchangeable when attached to other members. Since the shape is compact, the space can be used effectively. Therefore, in the other motor box 242 shown in the figure, it can be formed flush with the upper surface of the disposed actuator 21 °.
- the balancers attached to the actuator are respectively erected to face each other, and the second actuators 814, 816 and the balancer 81.820 are attached. Both ends of the actuator 822 are connected to the moving body.
- the actuator 8222 is substantially orthogonal to the actuator 814, 816 and the balancer 818, 820, respectively, and is connected while maintaining a substantially horizontal state.
- An actuator 208 is connected to the moving body 824 of the actuator 2082, and the moving body 222 of the actuator 208 is provided at the tip of the mouth.
- the cylinder 828 connected to the power car node 826 is connected.
- a belt conveyor 806 is provided so as to be connected to the first section 802, and the connecting portion is provided with a programming keyboard 830 having a function as an input / output device of a control system. 8 3 2 are provided.
- the programming keys 830 and 832 are detachably attached to the columnar member 202, and various devices incorporated in the main structure ⁇ 800, specifically various types. Actuators 210, 206, 208, 808, 814, 816, noisers 211, 188, 820, cylinders 23, 2, 36, 8 28, the mechanical hand 826, the belt conveyor 806, etc., can be comprehensively managed by a control system described later.
- controllers and processors constituting the control system and, for example, a transmission circuit for various signals composed of optical signals, electric signals, fluid pressure signals, etc., and a transmission / reception circuit for radio signals are each an actuator.
- 210, 206, 208, 808, 814,..., 1616 and the columnar member 202 are housed.
- Figure 75 shows the first section 802 in which the factor 2 2 8 is replaced with another factor 834.
- Reference numeral 836 indicates a moving object.
- a parts pallet 81 equipped with an ID module (not shown) is transported from a warehouse 838 via an unmanned vehicle 840 via a belt conveyor 806.
- the component pallet 841 is carried into the first section 802 of the structure 800 and subjected to a predetermined process. It is assumed that the work 216 is also provided with an ID module.
- the component pallet 842 is carried into the second section 804 via a transporting means (not shown). In the second section 804, after a predetermined process is performed, the entire production line of the predetermined production line is completed, and the product is conveyed to another process.
- the actuator 808 is actuated by the actuator controller 1
- the actuator 208, the cylinders 23 and the suction pad 230 are actuated by the actuator controller.
- the actuators 206 and the balancers 212 are respectively controlled by the balancer controller 1 by the controller 2.
- the actuator controllers 1 and 2 and the balancer controller 1 are connected to the multi-axis controller 1 via the multi-bus 842, respectively, and are integrally controlled as one work unit.
- the actuators 210 and the cylinders 236 are controlled by the actuator controller 3 and connected to the multi-axis controller 2 via the multi-bus 844 to be integrated as one work unit. Controlled.
- the integrated control of the first section 802 in the structure 800 is performed by connecting the multi-axis controller 1 and the multi-axis controller 2 via a LAN using electric signals, optical signals, wireless communication, and the like. This is performed via the management microprocessor 1.
- the actuator 822 is operated by the actuator controller 4 in the same manner as described above, the actuator 208, the cylinder 208, and the mechanical hand 82 6 is the actuator controller 5, the actuator 210 and the cylinder 23 6 are the actuator controller 6, the actuator 8 14 and the balancer 8 18 are the rotor controller port 2, the actuator is the The evening 8 16 and the balancer 8 20 are controlled by the balancer controller 3 respectively.
- the non-lancer controller 2 and the balancer controller 3 are respectively connected to the oral controller 846 in order to move the actuator 822 in a substantially vertical direction while maintaining the horizontal state, and perform integrated synchronous control.
- the actuator controllers 4, 5 and the mouth controller 846 are connected to the multi-axis controller 3 via the multibus 848, respectively, and are integrally controlled as one work unit. Therefore, the integrated control in the second section 804 is also performed by the management microprocessor 2 connected to the multi-axis controllers 3 and 4 by a LAN using electric signals, optical signals, and wireless communication.
- Each of these actuator controllers 1 to 6 can also function as a balancer controller. 1 to 3 can also function as an actuator controller.
- the belt conveyor 806 is controlled by a belt conveyor controller 850, and the unmanned vehicle 840 and the warehouse 838 are respectively controlled by a control device, a control system, and the like (not shown).
- the control devices (not shown) of the management microprocessors 1 and 2, the belt conveyor controller 850, the unmanned vehicle 840, and the warehouse 838 each transmit electric signals, optical signals, wireless communication, and the like. It is networked by the used LAN and can freely transmit information to each other. Therefore, it constitutes an integrated control system of the factory structure 800 as an independent production line. be able to.
- the configuration of the control system described above constitutes a centralized control system in which integrated control of the entire system depends on a specific host computer and controls each control device through the node. While this centralized control system has many advantages, the downtime of the host computer causes the entire network to go down, and a large-scale control abbreviated program for changing or adding node control equipment.
- each control device and control unit of the control system has a control application program that controls itself, communicates with each other, operates, and uses a distributed operating system using a local operating network (L ⁇ N) that does not require a host computer. It may be a dynamic control system.
- L ⁇ N local operating network
- the control application programs distributed to each node have a simple structure, and can flexibly respond to the addition or change of network or node control equipment. No. 066 and Special Publication No. 3-5 0 564 2).
- the LAN network is connected to other production, management, information, communication, and control systems, as well as the control system of the actuator unit 800 as a similar production line.
- a production management system is established.
- a production management computer 850 that works as a high-level management computer such as that found in FAs and CIMs may be connected to a LAN network, and may be part of a network for a large-scale integrated production system.
- ordering, process management, assembly, processing, and transportation procedures and the associated keys are performed in accordance with the process and ordering system managed by the CIM.
- Program procedures or program editing are performed in real time as appropriate so that the controlled objects, such as the cutuator, the sensor, the pallet, the robot, and the control device, operate in accordance with the above-mentioned process.
- an input / output device 854 such as a programming keyboard 830.832 shown in FIG. 74 is prepared.
- These input / output devices 854 are connected to general-purpose interfaces such as RS232C and RS422C, such as LAN and multi-bus, internet, It can be freely connected to each controller, processor, computer, etc. by token ring.
- an input / output device 856 or a general-purpose interface that can be connected to a higher-level CIM computer controller, processor, or the like is provided.
- the whole operation of editing, creating, changing, downloading, uploading, and inputting / outputting the control program can be performed not only by the higher-level CIM computer but also by each controller, processor, computer, and the like. In addition, it can access any controller, processor, or computer.
- communication may be performed via the multi-bus and LAN, but all controllers, processors, and computers may be directly connected to each other via a network. Alternatively, the virtual network may be directly connected by software. This makes it possible to perform overall control, monitoring and operation of management information at the work site, and independent individual control that preserves not only operability but also the integrity of the entire system in each operation and process unit. This increases overall flexibility and is effective for system change, maintenance, and high-mix low-volume production.
- controllers, processors and computers may communicate via the above-mentioned multi-bus and LAN, but all controllers, processors and computers may be directly connected to each other by a network.
- a virtual network may be provided by software.
- the upper-level computer, the lower-level computer, P :, and the local controller may be integrated using UNIX, a mini-computer, or a microcomputer. Splash like a pineapple
- the execution may be performed by an off-direct architecture depending on the window of the code.
- Graphic Z 2D Z solid modeling for example, I deas from SDRC, CADAM from IBM, DB2, ⁇ £ 18 from Hatcho18, 0F from 818111180, etc.
- design and development simulation may be performed as concurrent engineering. In this case, it is effective to use virtual reality technology as a man-machine interface (MMI).
- MMI man-machine interface
- virtual reality may be introduced as a user interface of the system as disclosed in Japanese Patent Application No. 5-36901.
- the existing production system ⁇ network, parts, order status, etc. may be provided as a virtual space as an aid to system recognition, but even further, regardless of the actual factory equipment and the configuration and arrangement of the FA system
- a virtual recognition system according to the users (system constructors, programmers, production planners, maintenance managers, etc.) to help workability and understanding. This makes it possible to separate the system to be recognized from the real configuration system, eliminating the need to adapt the real configuration system to the capabilities of the user.For example, a single real configuration system can be recognized as multiple virtual recognition systems simultaneously.
- the real configuration system can be changed by changing the virtual recognition system without changing the hardware, and the real configuration system is divided in time (time sharing). It is possible to operate the system beyond the recognition of the user spatially and temporally, such as by dividing and operating (multi-layer).
- This system is composed of a system (GOD) for integrated management and control of the real configuration system and a system (DEVIL) for translating them into a virtual recognition system and providing them to the user.
- the work 216 is made up of the standardized structure 800 and its components 210, 206, Instead of 208, 808, 814, 816, suction pad 230, mechanical hand 826, cylinder 232, 236, 828, self-renewal CIM system (Artificial-Life CIM: (ALCIM). Furthermore, the lowest unit A The LCIM system may self-proliferate not only to the entire production line II plant but also to regional plant group production. These technologies can be made into a biological composition with the development of genetic technology in the future. In this case, for example, the seed may be self-propagated from a single ultra DNAZRNA seed to a production system or a factory.
- ALMS Complete self-reproduction system
- ALMS Advanced Life Manufacturing System
- factories distribution, medical, general household, special environments such as nuclear, vacuum, super clean rooms, polar regions, severe cold regions, deep seas, and space. It is very effective in developing areas where the living environment is extremely severe, such as space and planets.
- ALMSs with multiple production purposes are arranged in a single environment, and the system scale, capacity, and efficiency are integrated with each other to meet the required capacity and environmental conditions in a single environment unit scale. It is possible to construct an optimal composite ALMS according to the requirements.
- the concept of optimization due to system competition is also effective for systems that have self-modifying capabilities, such as AI, and is not limited to ALMS, but also includes system management software, network ranking, and manufacturing lines. It is effective in optimizing construction, manufacturing order, process division and construction.
- the concept of optimization by system competition also implies the possibility of operating a CIM system due to competition between multiple systems with independent control.
- the CIM system does not have a specific centralized control system, and the integrated operation of the entire system is operated by the consensus of all independent control systems that make up the entire system.
- These integrated intentions may be specifically organized by a specific independent control system, or a specific part of all the independent control systems constituting the entire system as a decentralized central control system from a hardware viewpoint is organically respectively. It may link and function. In such a situation, if the decision on integration is made taking into account the requirements of each independent control system and the importance of the task, optimal overall control will always be possible.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/602,795 US5799543A (en) | 1993-09-02 | 1993-09-02 | Actuator structural body |
DE4397555T DE4397555T1 (de) | 1993-09-02 | 1993-09-02 | Konstruktionskörper für Betätigungselemente |
KR1019960701075A KR100205615B1 (ko) | 1993-09-02 | 1993-09-02 | 액츄에이터 구조체 |
PCT/JP1993/001242 WO1995006545A1 (fr) | 1993-09-02 | 1993-09-02 | Structure d'actuateur |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP1993/001242 WO1995006545A1 (fr) | 1993-09-02 | 1993-09-02 | Structure d'actuateur |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1995006545A1 true WO1995006545A1 (fr) | 1995-03-09 |
Family
ID=14070500
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1993/001242 WO1995006545A1 (fr) | 1993-09-02 | 1993-09-02 | Structure d'actuateur |
Country Status (4)
Country | Link |
---|---|
US (1) | US5799543A (ja) |
KR (1) | KR100205615B1 (ja) |
DE (1) | DE4397555T1 (ja) |
WO (1) | WO1995006545A1 (ja) |
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EP0973039A2 (en) * | 1998-07-14 | 2000-01-19 | Bayer Corporation | Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics |
CN111702179A (zh) * | 2020-05-14 | 2020-09-25 | 东莞市华研新材料科技有限公司 | 一种金属注射成型加工设备 |
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JP5348459B2 (ja) * | 2008-05-26 | 2013-11-20 | 日本精機株式会社 | 車両用ヘッドアップディスプレイ装置に用いられる動力伝達装置 |
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CN104139390B (zh) * | 2013-05-06 | 2016-04-27 | 鸿富锦精密工业(深圳)有限公司 | 机器人 |
DE202014001939U1 (de) * | 2014-02-28 | 2015-05-29 | Liebherr-Verzahntechnik Gmbh | Handhabungsvorrichtung |
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CN106371342B (zh) * | 2016-11-08 | 2019-09-10 | 北京航天发射技术研究所 | 基于图像识别的一体式精确控制装置 |
JP2018075689A (ja) * | 2016-11-11 | 2018-05-17 | Ntn株式会社 | 作動装置および双腕型作動装置 |
JP6779773B2 (ja) | 2016-12-22 | 2020-11-04 | 株式会社ユーシン精機 | 成形品取出機 |
CN107335992A (zh) * | 2017-07-31 | 2017-11-10 | 中信戴卡股份有限公司 | 一种车轮压螺栓装置 |
JP6541827B2 (ja) * | 2018-04-09 | 2019-07-10 | 平田機工株式会社 | 制御装置、ロボット及び制御方法 |
JP7306044B2 (ja) * | 2019-04-24 | 2023-07-11 | 株式会社アイシン | 把持装置 |
CN110367759B (zh) * | 2019-07-19 | 2020-11-10 | 徐州轩科农业机械有限公司 | 一种负压固定的计算机零售用客户体验放置台 |
DE102020119499A1 (de) | 2020-07-23 | 2022-01-27 | Beckhoff Automation Gmbh | Angetriebene Linearachse sowie Industrieroboter |
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- 1993-09-02 KR KR1019960701075A patent/KR100205615B1/ko not_active IP Right Cessation
- 1993-09-02 US US08/602,795 patent/US5799543A/en not_active Expired - Fee Related
- 1993-09-02 DE DE4397555T patent/DE4397555T1/de not_active Withdrawn
- 1993-09-02 WO PCT/JP1993/001242 patent/WO1995006545A1/ja active Application Filing
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JPS58114877A (ja) * | 1981-12-29 | 1983-07-08 | 協立エンジニアリング株式会社 | 複数軸を有するロボツト |
JPS58196984A (ja) * | 1982-05-12 | 1983-11-16 | 松下電器産業株式会社 | 工業用ロボツト |
JPS59219181A (ja) * | 1983-05-27 | 1984-12-10 | 松下電器産業株式会社 | 工業用ロボツト |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0973039A2 (en) * | 1998-07-14 | 2000-01-19 | Bayer Corporation | Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics |
EP0973039A3 (en) * | 1998-07-14 | 2000-10-11 | Bayer Corporation | Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics |
US6293750B1 (en) | 1998-07-14 | 2001-09-25 | Bayer Corporation | Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics |
US6332636B1 (en) | 1998-07-14 | 2001-12-25 | Bayer Corporation | Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics |
US6374982B1 (en) | 1998-07-14 | 2002-04-23 | Bayer Corporation | Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics |
CN111702179A (zh) * | 2020-05-14 | 2020-09-25 | 东莞市华研新材料科技有限公司 | 一种金属注射成型加工设备 |
Also Published As
Publication number | Publication date |
---|---|
KR960704682A (ko) | 1996-10-09 |
DE4397555T1 (de) | 1997-07-31 |
US5799543A (en) | 1998-09-01 |
KR100205615B1 (ko) | 1999-07-01 |
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