JPH02298451A - compound motion actuator - Google Patents

Abstract

PURPOSE:To secure such a compound movement actuator that is compact in size and less in the number of part items by constituting a mechanism, which gives compound movement consisting of rotational movement and axial movement to one output shaft, on a single axis. CONSTITUTION:A stator 6 is fixed to the circumference of a quill 3 in a housing 13, constituting a linear servomotor together with a needle 5. Another stator 10 is fixed to the circumference of a hollow rotor 9 in the housing 13, constituting a rotary servomotor together with a rotor 15. When a current is given to a coil of the stator 10 and this rotary servomotor is driven, the hollow rotor 9 is rotated, a main shaft 1 rotates via a spline nut and a spline 10. When a current is given to a coil of the stator 6 and the linear servomotor is driven, the hollow quill 3 is moved to the housing 13. Each drive ratio of these servomotors is changed, whereby desired compound movement conformed the end can be given to the main shaft 1.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device that gives a compound motion consisting of a rotational motion and an axial motion to one shaft, and relates to a device suitable for application to a tapping unit, for example. It is something.

[Prior Art] Conventionally, this type of device that provides linear and rotational motion to an output shaft has two axes: a rotary shaft that serves as a drive source for linear motion and a rotary shaft that serves as a drive source for rotary motion. Linear motion and rotational motion were generated from the shaft to the output shaft via a gear train.

Furthermore, a linear rotation mechanism has been proposed in which a single motor is installed on the same line as an output shaft having a pole screw shaft portion and a spline shaft portion, and the drive portion is switched by a clutch (Japanese Patent Laid-Open No. 61-38892). ).

[Problems to be Solved by the Invention] However, the former device is composed of at least two or more shafts disposed on different axes that are not on the same axis, so the width of the device increases and unnecessary There are problems in that space is required, that a high degree of positional accuracy is required for the two axes during assembly, and that the number of parts increases.

The latter device selectively performs rotational motion and linear motion by switching the clutch, and has a problem in that it cannot perform a combined rotational and linear motion such as tapping.

The present invention has been made to solve the above-mentioned problems, and its purpose is to provide a single mechanism that provides a compound motion consisting of rotational motion and axial motion to one output shaft. The present invention aims to provide a compound motion actuator that is compact and has a small number of parts.

[Means for Solving the Problems] In order to achieve this object, the compound motion actuator of the present invention includes a hollow quill that is supported on a machine frame so as to be able to reciprocate in a uniaxial direction, and a a main shaft that is rotatably supported around the main shaft and has a rotationally transmitted part on a predetermined part of the outer circumferential surface; A rotation transmitting means is arranged between the hollow quill and the machine frame, and is arranged between the hollow quill and the machine frame, and is configured to integrally rotate in the axial direction and to be relatively movable in the axial direction. a linear motor for imparting rotational motion in forward and reverse directions to the main shaft through a rotationally transmitted portion disposed between the rotational transmission means and the machine frame and linked with the rotational transmission means; It is equipped with a rotary motor that can rotate forward and backward.

[Operation] According to the compound motion actuator of the present invention having the above configuration, when the rotation motor is selectively driven in the forward and reverse directions, the main shaft is driven in the forward and reverse directions as well as linear When the motors are selectively driven in the forward and reverse directions, the main shaft is driven in the axial direction, and each motor is driven and controlled at an arbitrary ratio to provide an arbitrary complex motion.

[Example] Hereinafter, an example embodying the present invention will be described with reference to the drawings.

A hollow quill 3 is slidably inserted into the center of the cylindrical housing 13 via slide bearings 4a and 4b. Further, the hollow quill 3 has a cylindrical shape with a part of the outer periphery having a straight line or a box shape, and its rotation with respect to the housing 13 is restricted. A movable element 5 is fixed to a suitable position on the outer peripheral surface of the hollow quill 3, and a main shaft 1 is rotatably supported within the hollow quill 3 via rolling bearings 2a, 21). In addition, there are multiple
5. One spline 1a is carved in the axial direction as a rotationally transmitted portion. A stator 6 is fixed around the quill 3 in the housing 13, and together with the oJ IJ and JI elements 5, constitutes a linear servo motor. The housing 13
A spline 1a is attached around the spline 1a of the main shaft 1 in the
A spline nut 7 is engaged with a hollow rotor 9 having a rotor 15 on its outer periphery, and is slidably slidable in the axial direction of the main shaft 1. It is rotatably supported. A stator 1-0 is fixed around the hollow rotor 9 in the housing 13, and together with the rotor 15 constitutes a rotating servo motor. An encoder drum 11 and an encoder sensor 1-2 for detecting the rotational position and rotational speed of the hollow rotor 9 are disposed on the outer peripheral surface of the base end of the hollow rotor 9. Furthermore, a linear sensor 14 for detecting the moving position and moving speed of the movable element 5 is disposed at a suitable location in the housing 13.

The windings of the stator 6.10 of each motor, the encoder sensor 12, and the linear sensor 14 are connected to a control device (not shown), and the control device controls each motor based on the signals from each sensor 12, ]4. Drive control at an arbitrary ratio is performed while changing the drive position.

Moreover, tools such as a tap or a drill, a robot hand, or the like can be attached to one end of the main shaft 1 as appropriate depending on the purpose.

The present embodiment is constructed as described above, and its operation will be explained next.

When a current is applied to the winding of stator] O and the rotating servo motor is driven, the hollow rotor 9 moves in the forward direction (or reverse direction).
The main shaft 1 rotates forward (reversely) through the spline nut and the spline 10. At this time, the encoder sensor 12 detects the rotational speed of the hollow rotor 9, and based on the detection result, a current is applied to the windings of the stator 6 in synchronization with or synchronously with the rotation of the hollow rotor 9, and the linear servo motor is When driven, the hollow quill 3 is moved in the forward direction (or in the reverse direction), and the hollow quill 3 moves forward with respect to the housing 3 toward its tip. As the hollow quill 3 moves forward, the main shaft 1 rotates forward and moves toward the tip, and the rotary servo motor and the linear servo motor are synchronized. When a tap tool is attached to the main shaft 1,
Tapping work is performed at a predetermined pitch.

Further, by arbitrarily changing the drive ratio of each of the servo motors, it is possible to impart a desired compound motion to the main shaft 1 according to the purpose.

[Effects of the Invention] As is clear from the detailed description above, the present invention simplifies the structure of a compound motion actuator that provides compound motion consisting of rotational motion and axial motion, reduces the number of parts, and It has the excellent effect of being able to reduce the external size. Furthermore, since the component parts can be arranged on the same axis, there is an effect that the assembly accuracy can be easily improved.

[Brief explanation of the drawing]

The drawing is a sectional view showing an embodiment embodying the present invention. In the figure, 1 is the main axis, la is the spline, 3 is the hollow quill,
5 is a mover, 6 is a stator, 7 is a spline nut, 9 is a hollow rotor, ] 0 is a stator, 13 is a housing, and 15 is a rotor. Patent ■Yoshihiro Yasui, President and CEO of Brother Industries, Ltd.

Claims (1)

[Claims] 1. A hollow quill (3) supported to be movable back and forth in a uniaxial direction with respect to a machine frame (13), and a hollow quill (3) rotatable about the uniaxial line. A main shaft (1) that is supported and has a rotationally transmitted portion (1a) at a predetermined portion of its outer peripheral surface, and a rotationally transmitted portion (1a) of the main shaft (1) that is rotatably supported by the machine frame (13). rotation transmitting means (7), (9) which are configured to rotate integrally with the main shaft (1) in the rotational direction and to be relatively movable in the axial direction; and the hollow quill (3) and the machine. linear motors (5, 6) disposed between the frame (13) and for imparting reciprocating motion in the axial direction to the hollow quill (3); the machine frame (13) and the rotation transmission means; (7), (9), and rotates in forward and reverse directions to the main shaft (1) via the rotation transmitting means (7), (9) and the rotation transmitted part (1a) linked thereto. The linear motor (5) includes a rotary motor (10, 15) capable of forward and reverse rotation for imparting motion;
, 6) and the rotary motors (10, 15) to give the main shaft (1) arbitrary compound motion consisting of forward and reverse rotational motion and axial motion within a certain stroke range. Compound motion actuator.