JPH0211775B2 - - Google Patents
Info
- Publication number
- JPH0211775B2 JPH0211775B2 JP59231866A JP23186684A JPH0211775B2 JP H0211775 B2 JPH0211775 B2 JP H0211775B2 JP 59231866 A JP59231866 A JP 59231866A JP 23186684 A JP23186684 A JP 23186684A JP H0211775 B2 JPH0211775 B2 JP H0211775B2
- Authority
- JP
- Japan
- Prior art keywords
- threaded portion
- driven body
- guide
- drive motor
- ball screw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000005540 biological transmission Effects 0.000 claims description 11
- 239000012530 fluid Substances 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は例えば産業用ロボツトなどの被動体を
水平に移動するための装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device for horizontally moving a driven object such as an industrial robot.
（従来の技術）
産業用ロボツトなどの被動体を水平に移動する
装置としては水平移動を案内するガイドと、駆動
モータと、駆動モータの動力を被動体に伝える伝
動部材から構成され、産業用ロボツトの場合には
エンコーダを備え、コンピユータの指令により駆
動モータが作動される。従来の装置では駆動モー
タの動力のみで被動体の水平移動が行なわれたた
め、下記のような問題点があつた。(Prior art) A device for horizontally moving a driven object such as an industrial robot is composed of a guide that guides the horizontal movement, a drive motor, and a transmission member that transmits the power of the drive motor to the driven object. In this case, an encoder is provided, and the drive motor is operated according to commands from the computer. In the conventional device, the driven object was horizontally moved only by the power of the drive motor, which caused the following problems.
（発明が解決しようとする問題点）
従来の装置では慣性により急速な始動および停
止ができないため高速な作動ができず、且つ精度
を高めることが難しいという問題点があつた。さ
らに大型のものではそれに比例して大径の駆動モ
ータを要し、その動作を手で止めることはできな
いため危険が伴ない、安全性の上でも好ましくな
いという問題点があつた。(Problems to be Solved by the Invention) Conventional devices have had problems in that they cannot operate at high speeds because they cannot rapidly start and stop due to inertia, and it is difficult to improve accuracy. Furthermore, large-sized motors require proportionally larger diameter drive motors, and their operation cannot be stopped by hand, which poses a danger and is not desirable from a safety perspective.
本発明の目的は上記問題点を解消することであ
つて、それ故高速且つ高精度の動作を可能にし、
且つ大型の装置であつても小型の駆動モータで動
作し得るようにし、安全性の上でも好ましい水平
移動装置を提供することである。 The purpose of the present invention is to solve the above problems, and therefore enable high-speed and high-precision operation.
Another object of the present invention is to provide a horizontal movement device that is capable of operating even a large device with a small drive motor and is preferable in terms of safety.
（問題点を解決するための手段）
本発明による水平移動装置は従来と同様に、被
動体の水平移動を案内するガイドと、駆動モータ
および適当な伝動部材を備えると共に、その伝動
部材にかみ合う係合部体を備えた補助的な駆動装
置を含むことを特徴とし、その駆動装置はボール
ねじとシリンダ装置で構成される。このボールね
じのめねじ部に前記係合部材が取付けられ且つめ
ねじ部は回動し得る軸線方向には不動になつてお
り、おねじ部は回動し得ないが軸線方向には可動
になつている。そして、おねじ部の先端がシリン
ダ装置のピストンに連結されている。(Means for Solving the Problems) The horizontal moving device according to the present invention is equipped with a guide for guiding the horizontal movement of a driven object, a drive motor, and a suitable transmission member, as well as an engagement member that meshes with the transmission member. It is characterized by including an auxiliary drive device with a joint body, and the drive device is composed of a ball screw and a cylinder device. The engaging member is attached to the female threaded portion of this ball screw, and the female threaded portion is rotatable but immovable in the axial direction, and the male threaded portion cannot be rotated but is movable in the axial direction. It's summery. The tip of the male threaded portion is connected to the piston of the cylinder device.
（作用）
シリンダ装置に作動流体を供給することによ
り、ピストンを移動するとそれに伴なつてボール
ねじのおねじ部が軸線方向に移動し、そのおねじ
部の移動量に応じた値だけめねじ部が回転し、従
つて係合部材も共に回転して伝動部材を介して被
動体を移動し得るようになつている。そのため、
被動体に対しそれを移動するのに必要な摩擦力お
よび慣性力より僅かに弱い力を補助的な駆動装置
によつて常に加え、駆動モータの小さな動力で被
動体を移動する。従つて、補助的な駆動装置によ
る力は被動体に加えられても、被動体は常にバラ
ンスのとれた状態を保ち、駆動モータの動力が負
荷されないときは停止しているが、僅かな力を加
えると移動するようになつている。駆動装置によ
つて負荷される力は被動体の状態で異なるため、
コンピユータで制御される。(Function) By supplying working fluid to the cylinder device, when the piston moves, the male threaded portion of the ball screw moves in the axial direction, and the female threaded portion moves by an amount corresponding to the amount of movement of the male threaded portion. rotates, and accordingly, the engaging member also rotates to move the driven body via the transmission member. Therefore,
A force slightly weaker than the frictional and inertial forces necessary to move the driven object is constantly applied by the auxiliary drive, and the driven object is moved with a small power of the drive motor. Therefore, even if the force from the auxiliary drive device is applied to the driven body, the driven body always remains in a balanced state and is at rest when the drive motor's power is not applied, but the driven body still retains a small amount of force. If you add it, it will move. Since the force applied by the drive device differs depending on the state of the driven object,
Controlled by computer.
（実施例）
次に図面を参照のもとに本発明の実施例に関し
説明する。第１図および第２図は本発明の一例を
示すものであつて、図において１は例えばワーク
ローダまたは産業用ロボツトなどの被動体であ
る。２は水平に設けられたガイドであり、被動体
１の移動を案内する役割を果す。図示の例ではガ
イドは直線状の部材であるが、その形状は任意に
とり得るものであり、被動体を水平面内で回転す
るものであれば円形のガイドが用いられる。３は
駆動モータであり、その動力により被動体１を移
動するため伝動部材、例えばチエーン４が備えら
れる。ガイド２の両端にはチエーン４を掛けるス
プロケツト５，６が配置され、被動体１はチエー
ン４に固定される。一方のスプロケツト５はモー
タ３の軸、またはそのモータで回転される軸に取
付けられる。(Example) Next, an example of the present invention will be described with reference to the drawings. 1 and 2 show an example of the present invention, and in the figures, 1 is a driven object such as a work loader or an industrial robot. Reference numeral 2 denotes a horizontally provided guide, which serves to guide the movement of the driven object 1. In the illustrated example, the guide is a linear member, but its shape can be arbitrary, and a circular guide is used if the driven body is to be rotated in a horizontal plane. Reference numeral 3 denotes a drive motor, and a transmission member such as a chain 4 is provided to move the driven body 1 by its power. Sprockets 5 and 6 for hanging the chain 4 are arranged at both ends of the guide 2, and the driven body 1 is fixed to the chain 4. One sprocket 5 is attached to the shaft of the motor 3 or the shaft rotated by the motor.
１０は補助的な駆動装置であり、この実施例で
は他方のスプロケツト６に関連して設けられる。 Reference numeral 10 denotes an auxiliary drive device, which in this embodiment is provided in conjunction with the other sprocket 6.
なお、伝動部材４はチエーンに限られるもので
はなく、ロープ、ワイヤ、さらにはラツクなど、
適当なものであつてよい。また、駆動装置１０が
関連するスプロケツトは端部のスプロケツト６で
なくてもよく、第４図に示すようにチエーンの他
の位置でかみ合うようにしてもよい。 Note that the transmission member 4 is not limited to a chain, but may also include a rope, wire, or even a rack.
It can be anything appropriate. Also, the sprocket with which the drive 10 is associated need not be the end sprocket 6, but may be engaged at other locations on the chain as shown in FIG.
本発明の特徴は伝動部材４にかみ合う係合部材
（例えばスプロケツト６）を備えた補助的な駆動
装置１０を含むことであつて、その駆動装置１０
はボールねじ１１とシリンダ装置１２からなり、
シリンダ装置１２としては汚れが生じない点でエ
アシリンダであるのが好ましいが、液圧シリンダ
であつてもよい。ボールねじ１１のおねじ部１３
の一端はシリンダ装置１２のピストン１４に連結
され、且つおねじ部１３は軸線方向に可動である
が回動し得ないようになつている。そのためこの
例ではシリンダ装置１２内にはピストン１４を密
封状に貫通する適当数のガイドロツド１５が設置
されているが、おねじ部１３の回り止めは他の構
造であつてもよい。 A feature of the invention is that it includes an auxiliary drive device 10 with an engagement member (e.g., sprocket 6) that meshes with the transmission member 4;
consists of a ball screw 11 and a cylinder device 12,
The cylinder device 12 is preferably an air cylinder because it does not become dirty, but it may also be a hydraulic cylinder. Male thread part 13 of ball screw 11
One end is connected to the piston 14 of the cylinder device 12, and the male threaded portion 13 is movable in the axial direction but cannot rotate. Therefore, in this example, an appropriate number of guide rods 15 are installed in the cylinder device 12 so as to pass through the piston 14 in a sealed manner, but the rotation prevention of the male threaded portion 13 may have another structure.
ボールねじ１１のめねじ部１６には係合部材６
が固定され、共に回動するように構成される。こ
のめねじ部１６は一対の軸受１７，１７′によつ
てハウジング１８に支持され、係合部材６はそれ
らの軸受間に設置される。従つて、めねじ部１６
は回転自在になつているが軸線方向には移動し得
ない。１９はシリンダ装置１２に加圧流体を供給
する圧力源である。その間の供給ライン２０には
圧力調整弁２１が備えられている。なお、２２は
ボールねじ１１に含まれるボールである。好まし
くは、めねじ部１６の回動を止めるブレーキ、例
えばスプリングブレーキ２３が設置される。ピス
トン１４を作動流体により、いずれの方向にも移
動し得るように、シリンダの両端に供給ライン２
０ａ，２０ｂがあり、コンピユータ２４により、
それらのラインにおける作動流体の流れが制御さ
れる。 The engagement member 6 is attached to the female threaded portion 16 of the ball screw 11.
are fixed and configured to rotate together. This female threaded portion 16 is supported by a housing 18 by a pair of bearings 17, 17', and the engaging member 6 is installed between these bearings. Therefore, the female threaded portion 16
is rotatable but cannot move in the axial direction. 19 is a pressure source that supplies pressurized fluid to the cylinder device 12. The supply line 20 between them is equipped with a pressure regulating valve 21. Note that 22 is a ball included in the ball screw 11. Preferably, a brake for stopping rotation of the female threaded portion 16, for example a spring brake 23, is provided. A supply line 2 is provided at each end of the cylinder so that the piston 14 can be moved in either direction by the working fluid.
There are 0a and 20b, and by the computer 24,
The flow of working fluid in those lines is controlled.
被動体１が停止している際は、ピストン１４の
両側に等しい圧力が負荷されるが、例えば第２図
においてＡ方向に移動するときは圧力のバランス
をくずし、シリンダ内のA′側を比較的高圧にし、
その圧力差はガイド２に対する被動体１の摩擦
力、伝動系の摩擦力および慣性力の和に相応した
値になつている。その際、同時にモータ３が作動
され、摩擦力と慣性力に対する力は補助的な駆動
装置１０が受け持つため、モータ３の僅かな動力
で被動体１はＡ方向に移動する。 When the driven body 1 is at rest, equal pressure is applied to both sides of the piston 14, but when moving in the A direction in Fig. 2, for example, the pressure balance is disrupted and the A' side in the cylinder is compared. to high pressure,
The pressure difference has a value corresponding to the sum of the frictional force of the driven body 1 against the guide 2, the frictional force of the transmission system, and the inertial force. At this time, the motor 3 is activated at the same time, and the auxiliary drive device 10 takes charge of the frictional force and the inertial force, so the driven body 1 moves in the A direction with a small amount of power from the motor 3.
ピストン１４が第３図において左方に移動する
と、それと共におねじ部１３が移動して、めねじ
部１６と共にスプロケツト６が回転し、従つてチ
エーン４を介し駆動装置１０も被動体１をＡ方向
に移動するのを分担する。移動中は、加減速があ
れば摩擦力と慣性力に相当する力が、同速であれ
ば摩擦力のみに相当する力が駆動装置により被動
体に加えられる。反対にＢ方向に移動する際はシ
リンダ内のB′側が高圧になり同様に被動体１に
対し、その摩擦力と慣性力に見合つたＢ方向の力
を負荷する。 When the piston 14 moves to the left in FIG. 3, the male threaded portion 13 moves with it, and the sprocket 6 rotates together with the female threaded portion 16. Therefore, the drive device 10 also moves the driven body 1 through the chain 4. Share the responsibility of moving in a direction. During movement, if there is acceleration or deceleration, a force equivalent to frictional force and inertia force is applied to the driven body, and if the speed is the same, a force equivalent to only frictional force is applied to the driven body by the drive device. On the other hand, when moving in the B direction, the pressure on the B' side in the cylinder becomes high, and a force in the B direction commensurate with the frictional force and inertial force is similarly applied to the driven body 1.
（発明の効果）
上記のように本発明によれば、被動体の移動に
伴なう摩擦力と慣性力は駆動モータとは別個の駆
動装置によつて除去されるので、第５図のグラフ
Ａで示すように、始動および停止時の速度特性を
従来（グラフＢ）に比し著しく急勾配にすること
ができる。移動距離は横軸ｔとグラフで囲つた面
積で表わされるため、従来t2であつたものがt1と
なり、著しく高速になる。また、摩擦力と慣性の
影響を受けないので停止位置が正確になる。そし
て大型の装置でも僅かな動力で作動できるので、
人体に当れば停止するため安全である。さらにロ
ボツトの場合、モータをオフにしてエンコーダを
作動させた状態で手作業で移動すればエンコーダ
に記憶させることができるのでコンピユータへの
入力が極めて容易になる。(Effects of the Invention) As described above, according to the present invention, the frictional force and inertial force accompanying the movement of the driven object are removed by a drive device separate from the drive motor, so the graph shown in FIG. As shown by A, the speed characteristics during starting and stopping can be made significantly steeper than in the conventional case (graph B). Since the moving distance is expressed by the horizontal axis t and the area enclosed by the graph, what used to be t 2 becomes t 1 , making it significantly faster. Also, since it is not affected by frictional force and inertia, the stopping position becomes accurate. And since even large equipment can be operated with a small amount of power,
It is safe because it will stop if it hits a human body. Furthermore, in the case of a robot, if the motor is turned off and the encoder is operated and the robot is moved manually, the encoder can store the information, making input to the computer extremely easy.
第１図は本発明の一例による水平移動装置の側
面図、第２図はその平面図、第３図は補助的な駆
動装置の縦断面図、第４図は他の実施例の側面
図、そして第５図は速度特性を示すグラフであ
る。
図中、１……被動体、２……ガイド、３……駆
動モータ、４……伝動部材、６……係合部材、１
０……補助的な駆動装置、１１……ボールねじ、
１２……シリンダ装置、１３……おねじ部、１４
……ピストン、１６……めねじ部。
FIG. 1 is a side view of a horizontal displacement device according to an example of the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a longitudinal sectional view of an auxiliary drive device, and FIG. 4 is a side view of another embodiment. FIG. 5 is a graph showing speed characteristics. In the figure, 1... Driven body, 2... Guide, 3... Drive motor, 4... Transmission member, 6... Engagement member, 1
0...Auxiliary drive device, 11...Ball screw,
12...Cylinder device, 13...Male thread part, 14
...Piston, 16...Female thread part.
Claims (1)
モータと、前記駆動モータにより被動体を移動す
るための伝動部材と、前記伝動部材にかみ合う係
合部材を備え且つボールねじとシリンダ装置とか
らなる補助的な駆動装置を含み、前記ボールねじ
のおねじ部は回動しないで軸線方向に可動になつ
ており且つ前記めねじ部は回動し得るが軸線方向
には不動になつており、前記おねじ部の一端が前
記シリンダ装置のピストンに連結され、さらに前
記係合部材は前記めねじ部に取付けられている水
平移動装置。 ２ 特許請求の範囲第１項に記載の装置におい
て、前記ガイドは直線状の部材であり、それによ
り被動体は直線運動するようになつている水平移
動装置。 ３ 特許請求の範囲第１項に記載の装置におい
て、前記ガイドは円形状の部材であり、それによ
り被動体は回転運動をするようになつている水平
移動装置。[Scope of Claims] 1 A ball screw comprising: a guide for guiding the horizontal movement of a driven body; a drive motor; a transmission member for moving the driven body by the drive motor; and an engagement member that engages with the transmission member; and a cylinder device, the male threaded portion of the ball screw does not rotate but is movable in the axial direction, and the female threaded portion can rotate but is immobile in the axial direction. , wherein one end of the male threaded portion is connected to a piston of the cylinder device, and the engaging member is attached to the female threaded portion. 2. The horizontal movement device according to claim 1, wherein the guide is a linear member, so that the driven body moves linearly. 3. The horizontal movement device according to claim 1, wherein the guide is a circular member, whereby the driven body is configured to perform rotational movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59231866A JPS61109962A (en) | 1984-11-02 | 1984-11-02 | Horizontal movement device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59231866A JPS61109962A (en) | 1984-11-02 | 1984-11-02 | Horizontal movement device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61109962A JPS61109962A (en) | 1986-05-28 |
| JPH0211775B2 true JPH0211775B2 (en) | 1990-03-15 |
Family
ID=16930243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59231866A Granted JPS61109962A (en) | 1984-11-02 | 1984-11-02 | Horizontal movement device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61109962A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5776709B2 (en) * | 2013-03-04 | 2015-09-09 | 日本精工株式会社 | Actuator and precision machine equipped with the same |
-
1984
- 1984-11-02 JP JP59231866A patent/JPS61109962A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61109962A (en) | 1986-05-28 |
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