JPS6176247A - Rectilinear guider - Google Patents

Abstract

PURPOSE:To make miniaturization in a device, highly accurate feed and thrust stabilization all attainable, by keeping up a clearance between a stator at the topside of a track block and a stator at the underside of a slide block, while forming a linear motor with these stators and a needle provided with plural exciting parts. CONSTITUTION:A guider consists of a ball bearing, rolling inside each ball rolling groove of a track block 1 as receiving load in all directions, a stator 9 at the side of the track block 1 and a needle 11 at the side of a slide block 2, and made up of a linear motor mechanism 4 driving the slide block 2. And, a tip of a setscrew 21 piercing through a plate 20 locked to one end at both front and rear sides of a body proper 14 as being screwed is made contact with a taper gib 15, pressing it, whereby this taper gib 15 is moved to some extent so that a clearance between the stator 7 and the needle 11 is adjustable. Therefore, the clearance is adjusted to minimum and thrust force and holding force both can be brought into the fullest extent and, what is more, the whole body is formable into being compact in a thin type, besides improvements in stability, thus accuracy in guide motion is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application) This invention provides
The present invention relates to a linear guide device that guides linear reciprocating motion in sliding parts of general industrial machines such as z-axis, automatic tool changers, automatic welding machines, injection molding machines, and industrial robots.

[Conventional technology]

Conventionally, a track base having a pair of ball transfer grooves along the longitudinal direction of both left and right shoulders, a slide base disposed above the track base, and a slide base provided on both left and right sides of the slide base. A linear guide Vt arrangement is known, which includes a bearing having a large number of balls that transfer loads in the ball transfer grooves of the track base while applying loads in the vertical and horizontal directions.

In this type of linear guide device, the load acting on the slide table in the vertical and horizontal directions is applied by a large number of balls in the bearings installed between the slide table and the track base, so each of these balls is accurately controlled. By incorporating it between the slide table and the track base, there is an advantage that stable linear sliding and straight II guidance can be performed.

[Problem that the invention seeks to solve]

However, a feeding mechanism for linearly sliding the sliding table along the track must be installed separately from this linear guide device, which increases the size of the device and also When a manual feed handle is used as the mechanism, there are problems in that it is difficult to accurately fine-feed or determine the best feed according to the purpose, and rapid feed requires a great deal of effort. If a separate automatic feed mechanism using a motor is adopted, will a gear reduction mechanism be required? S2 In addition to having a complicated structure, in order to achieve microscopic high-precision feed, it is necessary to increase the encoder's minute υ1 precision, and in this process, increasing the encoder division precision increases the load on the servomorph itself. In the end, there is a problem in that it is not possible to obtain fine and highly accurate feed.

[Means for solving problems]

The present invention has been proposed to solve the above-mentioned problems in view of this point of view. First, the first invention includes a track base having ball transfer grooves along the left and right longitudinal directions, and a track base having ball transfer grooves along the left and right longitudinal directions. A sliding table is arranged above the way with a predetermined gap from the top surface thereof, and a sliding table is provided on both the left and right sides of the sliding table, and a load is applied to each ball transfer groove of the way. A stator having a large number of teeth extending in the width direction is attached to the top surface of the track base along the longitudinal direction of the track base, and a stator is attached to the top surface of the track base along the longitudinal direction of the track base. A movable element having a plurality of excitation parts is attached to the stator while maintaining a predetermined clearance between the stator and the movable element, and the stator and the movable element form a linear motor mechanism that drives the sliding table. It is a guide device.

In principle, the linear guide device of the present invention incorporates a linear motor structure consisting of a stator and a movable element between a track base and a sliding base. It may be a reluctance type, a permanent magnet type, or a combination of these types, but it is preferable to use F to obtain high precision and high thrust, with the permanent magnet and excitation core disposed opposite to the teeth of the stator. A composite type having a plurality of electromagnets with a plurality of inductor teeth is preferable.

In addition, as a method for exciting a plurality of excitation parts incorporated in the movable element of the above-mentioned linear motor mechanism, there is a method in which current is always applied to only one phase of the movable element excitation part to perform step feeding.
It may be a phase excitation method, or it may be a two-phase excitation method in which a two-phase current is constantly applied to the movable excitation part to perform step feeding, but it is preferable that a high thrust (q) be applied. In addition, a two-phase excitation method is preferable because it has less damped vibration and can respond to a wide frequency range.

Regarding the track base and slide base in which the above-mentioned linear motor mechanism is incorporated, conventionally known ones can be adopted as they are, but preferably, the stator is used to control the thrust and holding force of the linear motor mechanism. And the clearance between the track base on which the mover is attached and the calling base can be adjusted.

As a means for adjusting the clearance between the track base and the slide base, the slide base and the bearing blocks of each bearing provided on the lower surface side on both the left and right sides of the slide base are formed separately, and the slide base is A method of interposing a shim between the sliding table and each bearing block to adjust the clearance between the stator and mover of a linear motor mechanism, and a method of interposing a shim between the sliding table and each bearing block, and a method of interposing a shim to adjust the clearance between the stator and mover of the linear motor mechanism, and a method of interposing a shim between the sliding table and each bearing block, There are methods such as adjusting the height by grinding, but these methods require disassembling the device when adjusting the clearance, which requires a great deal of effort.

The second invention solves this problem of rearrangement in which the slide table is composed of a main body and a taper gib.

That is, the second invention is the linear guide device according to the first invention, in which the sliding table is moved by a sliding tapered surface that is inclined along the front-rear direction of the upper surface and a movable element of the linear motor mechanism in a predetermined direction in the front-rear direction. It consists of a body main body provided with a through hole that can be fitted loosely while maintaining a space, and a taper gib that is movably attached to the above-mentioned one learning taper of the body main body and to which the above-mentioned movable element is attached to the lower surface side. , is a linear guide device in which the clearance between the stator and the movable element of the linear motor ml can be adjusted by moving the taper gib in the longitudinal direction on the sliding tapered surface of the main body.

Furthermore, in the linear guide devices of the first and second inventions, in order to perform stable 11":if;A sliding and linear guide, a pair of ball transfer grooves are provided respectively along the left and right longitudinal directions of the track. It is preferable to have a structure in which a large number of balls of bearings provided on both left and right sides of the sliding table transfer four loads in the vertical and horizontal directions within each ball transfer groove of the flAn table. Preferably, the bearing that applies the load between the track base and the slide base is formed so that the preload can be adjusted.

As a means for adjusting the preload of the bearing in this way, for example, a bearing block of the bearing provided on at least one of the left and right sides of the slide table is formed separately from the slide table, and this bearing block is attached to an eccentric bin. There is a way to attach it to one til unit via.

〔Example〕

EMBODIMENT OF THE INVENTION Hereinafter, the linear guide device of this invention will be specifically explained based on an Example.

1 to 11, a linear guide device according to an embodiment of the invention is shown. This linear guide device has a pair of ball transfer grooves (5) along the left and right longitudinal directions.
A track base (1) having
), and a large number of balls (26) are provided on both the left and right sides of the slide table (2), and are transferred inside each ball transfer groove (5) of the track table (1) while applying loads in the vertical and horizontal directions. ), a stator ('7) attached to the above-mentioned PA road stand (1) side, and a movable element (11) attached to the above-mentioned slide stand (2) side. (2) and a linear motor mechanism (4) that drives the motor.

The above track (1) has ball transfer grooves (5) on both sides thereof.
A stator (7) is provided along the longitudinal direction at the center of the upper surface of the rail (6), and the stator (7) has a large number of teeth (9) extending in the width direction. ) is formed.The track base (1) does not necessarily need to be formed by one rail (6), but as shown in FIG. 13, it is formed by a pair of rails (6) and a bolster ( 8) may be formed into a split mold consisting of.

On the other hand, the sliding table (2) has the stator (
The mover (
11) is attached, and the stator (7) and mover (11) are attached.
) is driven by the magnetic action that acts between them.

In this embodiment, the linear motor mechanism (4) composed of the stator (7) and the movable element (11) is a composite type that uses variable reluctance and permanent magnets. As shown in the figure, it includes a permanent magnet (12) and an excitation core (12-). In addition, the above excitation core (
A plurality of inductor teeth (13) facing m(9) of the stator (7) are formed on the lower surface of the tip of the stator (7).

The excitation method for exciting this linear motor mechanism (4) uses a two-phase excitation force method that can obtain high thrust, has little damped vibration, and can respond to a wide frequency range. There is.

In this embodiment, the relationship between the track base (1) in which the linear motor mechanism (4) is incorporated and the slide base (2) is such that the clearance between the stator (7) and the mover (11) is adjusted. The distance between the track base (1) and the sliding base (2) can be adjusted so that the thrust and holding force of the linear motor mechanism (4) can be adjusted.

That is, as shown in FIGS. 5 and 6, the slide table (2) has a sliding tapered surface (14a,) that is inclined along the front-rear direction of the upper surface and a movable member (11) in a predetermined direction in the front-rear direction. A body body (14) is provided with a through hole (14b) into which Ti can be fitted with a moving space N, and a body body (14) is provided with a movable mounting (J) on the sliding tapered surface (14a) of the body body (14). and a taper gib (15) to which the mover (11) is attached on the lower surface side, and the taper gib (15) is moved back and forth on the sliding taper (14a) of the body main body (14). By moving in the direction of
Stator (7) and mover (11) of linear motor mechanism (4)
) The clearance between the two can be adjusted. In this case, a screw hole (16) is provided on the upper surface of the body main body (14), and a long hole (17) extending in the front-rear direction is bored in the taper gib (16). For installation, the body body (14) and the taper gib (15) are connected by bolts (18) to the screw holes (16) through the screw holes (16).
By bringing the tip of a push screw (21) that passes through the plate (20) fixed by a fixing screw (19) at one end of the front and rear sides of 14) into contact with and pressing the taper gib (15), The clearance between the stator (7) and the movable element (11) can be adjusted by moving the taper gib (15). As a result, the stator (7
) and the movable element (11) can be adjusted to the minimum to maximize thrust and holding force, and the movable element (11) can be positioned within the through hole (14b) of the main body. As a result, the entire structure can be made thin and compact, which improves stability.In addition, the moving parts can be made lighter, and the inertia force can be reduced accordingly, which improves responsiveness and linear guidance movement. Improves accuracy.

On the other hand, the bearing (3) is attached to the left and right sides of the sliding table (2) with bolts (22) or eccentric pins (23), as shown in Figures 7 to 11 and Figure 4. bearing block (24) and side covers (2) attached to both end faces of this bearing block (24).
5), a large number of balls (26) that are transferred while applying a load in each ball transfer groove (5) of the track (1), and a retainer (27) that holds each of these balls (26). It is configured such that the load acting on the moving table (2) in the vertical and horizontal directions is applied 1q. For this reason, in J3 in this embodiment, even if vertical and horizontal loads are applied to the sliding table (2), the stator (7) and mover (11)
The clearance between the two does not change, and stable thrust and holding force can always be obtained.

In addition, in the above embodiment, each bearing block of the bearing (3) provided on both left and right sides of the sliding table (2) <2
4) is formed separately from the IS sliding table (2>), but it does not necessarily have to be separate. For example, as shown in Fig. 12, the sliding table (2) and each bearing (3
) may be formed integrally with the bearing block (24).

(Effects of the Invention) According to the linear guide device of the present invention, the stator is attached to the upper surface of the track base, and a plurality of excitation elements are provided on the lower surface of the slide base while maintaining a predetermined clearance between the stator and the stator. The stator and mover form a linear motor mechanism that drives the slide table to perform linear reciprocating motion of the slide table. There is no need to provide the same, and the device can be made smaller. Moreover, unlike the conventional saddle type, there is no motor coupling screw shaft, making the moving parts lighter, and there is no rotating part like a screw shaft or coupling motor, so the response is good. .

Further, it is possible to achieve accurate fine movement feed and a feed amount according to the purpose with high precision. In addition, since it is a rolling contact using balls, there is less wear, and it is 1!
! ! Since the distance from the first stand is kept constant, the thrust and holding force of the linear motor mechanism are stable, and it is possible to provide a linear guide device that exhibits stable thrust and holding force.

[Brief explanation of drawings]

FIG. 1 is a plan view of a linear guide device according to an embodiment of the present invention;
Fig. 2 is a side view of Fig. 1, Fig. 3 is a front view of Fig. 1, Fig. 4 is a sectional view taken along the line IV-rV of Fig. 1, and Fig. 5 is a sectional view taken along the line V-V of Fig. 1. Figure 6 is an exploded perspective view of the sliding table in Figure 1, Figure 7 is a plan view showing the bearing in Figure 1, Figure 8 is a side view of Figure 7, and Figure 9 is the figure in Figure 7. FIG. 10 is a sectional view taken along the line 1χ-IX of FIG. 7, and FIG. ; FIG. 12 is a sectional view showing a modified example of the sliding table, and FIG. 13 is a partial perspective view showing a modified example of the track base. Explanation of symbols (1)...Trail platform (2)...Sliding platform (
3)...Bearing (4)...Linear motor mechanism (5)...Ball transfer groove (6)...Rail (
7) Stator (8) Bolster
(9)...Teeth (10)...Exciting part (11)...Mover (12)...Permanent magnet (12")...Exciting core (13)...・・・
Inductor tooth (14)...Body main body (14a)...Surrounding tapered surface (14b)...Through hole (15)...Taper gib (16)...Screw hole ( 11)...
・Long hole (18)...Mounting bolt (19)...
・Fixing screw (20)...Plate (21)・
...Push screw (22) ...Bolt (23)
)...Eccentric pin (24)...Bearing block (25)...Side M (26)...Ball (27)
・・・Retainer

Claims (8)

[Claims] (1) A wayway having ball transfer grooves along the left and right longitudinal directions, a sliding stand disposed above this wayway with a predetermined gap from its top surface, and left and right sides of this sliding stand. A fixed bearing having a large number of balls provided on both sides and transferring a load while applying a load through each ball transfer groove of the track, and having a large number of teeth extending in the width direction on the upper surface of the track. A movable element is installed along the longitudinal direction of the track base, and a movable element having a plurality of excitation parts is installed on the lower surface side of the sliding base while maintaining a predetermined clearance between it and the stator. and a movable element constitute a linear motor mechanism for driving the slide table. (2) The wayway has a pair of ball transfer grooves along its left and right longitudinal directions, and a large number of balls of bearings provided on both left and right sides of the slider move up and down in each ball transfer groove of the wayway. The linear guide device according to claim 1, which transfers a load in the left and right direction while applying it. (3) The linear guide device according to claim 1 or 2, wherein the slide table and the bearing blocks constituting each bearing are integrally formed. (4) Any one of claims 1 to 3, wherein the track base is composed of a pair of rails having a ball transfer groove and a bolster located between the pair of rails and having a stator on the upper surface. The linear guide device described in Crab. (5) A track base having ball transfer grooves along the left and right longitudinal directions, and a stator having a large number of teeth extending in the width direction on the top surface, A sliding base is arranged with a gap maintained, and has a movable element on the lower surface side that together with the stator constitutes a linear motor mechanism for driving the sliding base, and the left and right sides of this sliding base. a bearing having a large number of balls that is installed in the ball transfer groove of the track base and transfers a load while applying a load; a body body having a surface and a through hole into which a movable element of a linear motor mechanism loosely fits while maintaining a predetermined movement space in the front and rear direction; and a taper gib to which the movable element is attached, and the clearance between the stator and the movable element of the linear motor mechanism is adjusted by moving the taper gib back and forth on the sliding tapered surface of the body main body. A linear guide device featuring: (6) The wayway has a pair of ball transfer grooves along its left and right longitudinal directions, and a large number of balls of bearings provided on both left and right sides of the slider move up and down in each ball transfer groove of the wayway. The linear guide device according to claim 5, which transfers a load in the left and right direction while applying it. (7) The linear guide device according to claim 5 or 6, wherein the slide table and the bearing blocks constituting each bearing are integrally formed. (8) Any one of claims 5 to 7, wherein the track base is composed of a pair of rails having a ball transfer groove and a bolster located between the pair of rails and having a stator on the upper surface. A linear guide device as described in .