JP5383135B2 - 直接駆動式の往復動及び旋回動を行なうアクチュエータ付き工具交換装置 - Google Patents
直接駆動式の往復動及び旋回動を行なうアクチュエータ付き工具交換装置 Download PDFInfo
- Publication number
- JP5383135B2 JP5383135B2 JP2008254506A JP2008254506A JP5383135B2 JP 5383135 B2 JP5383135 B2 JP 5383135B2 JP 2008254506 A JP2008254506 A JP 2008254506A JP 2008254506 A JP2008254506 A JP 2008254506A JP 5383135 B2 JP5383135 B2 JP 5383135B2
- Authority
- JP
- Japan
- Prior art keywords
- actuator
- tool changer
- reciprocating
- direct drive
- tool
- 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 - Fee Related
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
- B23Q1/4876—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs a single sliding pair followed parallelly by a single rotating pair
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/28—Electric drives
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K21/145—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having an annular armature coil
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
- B23Q2003/155407—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper linearly movable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155404—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper
- B23Q2003/155411—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising a single gripper pivotable
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
-
- 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
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
- Y10T483/1748—Tool changer between spindle and matrix
- Y10T483/1752—Tool changer between spindle and matrix including tool holder pivotable about axis
- Y10T483/1755—Plural tool holders pivotable about common axis
-
- 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
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
- Y10T483/1748—Tool changer between spindle and matrix
- Y10T483/1752—Tool changer between spindle and matrix including tool holder pivotable about axis
- Y10T483/1755—Plural tool holders pivotable about common axis
- Y10T483/1767—Linearly movable tool holders
-
- 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
- Y10T483/00—Tool changing
- Y10T483/19—Miscellaneous
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
- Linear Motors (AREA)
Description
− 摩耗性を有する機械的伝達リンクを必要とせずに、力およびトルクを直接伝達する非 常にコンパクトな往復動・旋回動モジュールが実現されている。
− 両駆動装置(調整素子)の慣性質量が共通の反作用部分のために非常に僅かである。
− 高い機械的固有周波数の中空軸状の反作用部分のために、高い機械的強度と駆動強度 が得られる。
3 往復動・旋回動アクチュエータ
4 第1直接駆動装置
5 第2直接駆動装置
6 歯
7 溝
8 第1固定子構成要素
9 第2固定子構成要素
10 固定子ユニット
16 シリンダ
20 アキュムレータ
Claims (10)
- 工具把持部(2)と往復動及び旋回動を行なうアクチュエータ(3)とを備え、該往復動及び旋回動を行なうアクチュエータ(3)が、直線運動を発生するための第1直接駆動装置(4)および回転運動を発生するための第2直接駆動装置(5)により駆動可能な工具交換装置(1)であって、
前記第1直接駆動装置(4)および第2直接駆動装置(5)が、往復動及び旋回動を行なうアクチュエータ(3)として用いられる共通ロータを有し、
前記アクチュエータ(3)が、空気圧シリンダあるいは液圧シリンダ(16)のピストンとして形成され、
さらに、前記アクチュエータ(3)が、円周方向並びに軸方向に一様に分布された歯(6)と溝(7)とを備えたリラクタンスプロフィル(磁気抵抗パターン)を有し、
前記磁気抵抗パターンの溝(7)の中に非磁性材料を、前記ピストンとしてのアクチュエータ(3)の外周面が平滑な表面となるように配設することによって、前記ピストンとしてのアクチュエータ(3)が前記空気圧シリンダあるいは液圧シリンダで密封可能に支持されることを特徴とする工具交換装置。 - 往復動及び旋回動を行なうアクチュエータ(3)が円筒状に中空軸の形態に形成されていることを特徴とする請求項1に記載の工具交換装置。
- 第1直接駆動装置(4)が第1固定子構成要素(8)を有し、第2直接駆動装置(5)が第2固定子構成要素(9)を有し、その両固定子構成要素(8、9)が固定子ユニット(10)を形成していることを特徴とする請求項1又は2に記載の工具交換装置。
- 固定子ユニット(10)が機械架台(12)に固く結合されていることを特徴とする請求項3に記載の工具交換装置。
- 往復動及び旋回動を行なうアクチュエータ(3)が、固定子ユニット(10)に対するガイドとして用いられ、そのガイドがすべりガイドあるいは玉軸受を備えるガイドとして形成されていることを特徴とする請求項3又は4に記載の工具交換装置。
- 各固定子構成要素(8、9)が、単相巻線あるいは多相巻線および永久磁石を有していることを特徴とする請求項3に記載の工具交換装置。
- 第1固定子構成要素(8)の巻線が、ソレノイドを有していることを特徴とする請求項6に記載の工具交換装置。
- 往復動及び旋回動を行なうアクチュエータ(3)が、工具把持部又は工具の運転に対する空気圧あるいは液圧供給管に対するブッシングとして用いられることを特徴とする請求項2ないし7のいずれか1つに記載の工具交換装置。
- 他の第1固定子構成要素(8)および第2固定子構成要素(9)が配置され、複数の固定子構成要素(8、9)の並列接続によって、直接駆動装置の発生トルクが調整できることを特徴とする請求項1ないし8のいずれか1つに記載の工具交換装置。
- 前記空気圧シリンダあるいは液圧シリンダ(16)の圧力室がアキュムレータ(20)に直接接続されていることを特徴とする請求項1ないし9のいずれか1つに記載の工具交換装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP07019479.0 | 2007-10-04 | ||
EP07019479A EP2045036A1 (de) | 2007-10-04 | 2007-10-04 | Werkzeugwechselvorrichtung mit einem direktangetriebenen Hub- und Schwenkaktor |
Publications (4)
Publication Number | Publication Date |
---|---|
JP2009090457A JP2009090457A (ja) | 2009-04-30 |
JP2009090457A6 JP2009090457A6 (ja) | 2009-07-09 |
JP2009090457A5 JP2009090457A5 (ja) | 2011-09-22 |
JP5383135B2 true JP5383135B2 (ja) | 2014-01-08 |
Family
ID=39271198
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008254506A Expired - Fee Related JP5383135B2 (ja) | 2007-10-04 | 2008-09-30 | 直接駆動式の往復動及び旋回動を行なうアクチュエータ付き工具交換装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8062200B2 (ja) |
EP (1) | EP2045036A1 (ja) |
JP (1) | JP5383135B2 (ja) |
CN (1) | CN101402171A (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009054390B3 (de) | 2009-11-24 | 2011-06-30 | Siemens Aktiengesellschaft, 80333 | Lagerkonzept für einen Segmentmotor |
DE102011079843A1 (de) | 2011-07-26 | 2013-01-31 | Siemens Aktiengesellschaft | Elektrische Maschine mit massenarmer Bauart in magnetisch aktiven Teilen |
DE102012208448A1 (de) * | 2012-05-21 | 2013-11-21 | Kuka Roboter Gmbh | Industrieroboter mit in einem Handgrundgehäuse sich erstreckenden Antrieben |
EP2704293B1 (de) | 2012-09-03 | 2017-12-13 | Siemens Aktiengesellschaft | Elektrische Maschine mit einem Grundelement |
TW201521979A (zh) * | 2013-12-10 | 2015-06-16 | Hiwin Tech Corp | 水平多關節機械手臂 |
CN105252545A (zh) * | 2014-07-04 | 2016-01-20 | 上银科技股份有限公司 | 水平关节机械手臂 |
JP6411125B2 (ja) * | 2014-08-07 | 2018-10-24 | Dmg森精機株式会社 | 工具交換装置 |
WO2016129071A1 (ja) * | 2015-02-12 | 2016-08-18 | 株式会社日立製作所 | 電力変換装置および電気機器 |
CN109746743A (zh) * | 2017-11-01 | 2019-05-14 | 圣杰国际股份有限公司 | 工具机的自动换刀*** |
US20200230762A1 (en) * | 2019-01-23 | 2020-07-23 | The Boeing Company | Automatic tool loading for milling machine |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3301153B2 (ja) * | 1993-04-06 | 2002-07-15 | 株式会社ニコン | 投影露光装置、露光方法、及び素子製造方法 |
JP3445700B2 (ja) * | 1996-03-15 | 2003-09-08 | オークマ株式会社 | Nc駆動アクチュエータ |
US6137195A (en) * | 1996-03-28 | 2000-10-24 | Anorad Corporation | Rotary-linear actuator |
JP3350375B2 (ja) * | 1996-11-19 | 2002-11-25 | ブラザー工業株式会社 | 工具把持装置 |
DE19919553C5 (de) * | 1999-04-29 | 2007-02-15 | Emag Holding Gmbh | Werkzeugwechselvorrichtung |
JP4531197B2 (ja) * | 2000-05-08 | 2010-08-25 | 株式会社森精機製作所 | 自動工具交換装置 |
TW521473B (en) * | 2001-06-05 | 2003-02-21 | Hiwin Mikrosystem Corp | Secondary structure of linear stepping motor and the manufacturing method thereof |
DE10261796A1 (de) * | 2002-12-27 | 2004-07-22 | Index-Werke Gmbh & Co. Kg Hahn & Tessky | Antriebseinheit |
JP3764432B2 (ja) * | 2003-03-06 | 2006-04-05 | ファナック株式会社 | 工具の切粉付着防止/除去方法、及び工具交換装置 |
DE10354441B4 (de) * | 2003-11-21 | 2006-10-26 | Miksch Gmbh | Werkzeugwechselvorrichtung |
US7070550B1 (en) * | 2004-12-20 | 2006-07-04 | Ying Sun | Transmission mechanism for tool changing device |
US7070549B1 (en) * | 2004-12-20 | 2006-07-04 | Ying Sun | Inducing mechanism for a tool changing device of a machine |
DE102005019112A1 (de) * | 2005-04-25 | 2006-10-26 | Siemens Ag | Kombinationsantrieb mit Hybridreluktanzmotor |
JP5261913B2 (ja) * | 2005-10-21 | 2013-08-14 | 株式会社安川電機 | 直動回転アクチュエータおよびシステム |
US7775954B2 (en) * | 2007-06-25 | 2010-08-17 | Yi-Chun Liu | Cutter shifting mechanism for center machine |
DE202008009035U1 (de) * | 2008-07-07 | 2008-09-11 | Deckel Maho Pfronten Gmbh | Werkzeugwechsler für Werkzeugmaschinen |
-
2007
- 2007-10-04 EP EP07019479A patent/EP2045036A1/de not_active Withdrawn
-
2008
- 2008-09-30 JP JP2008254506A patent/JP5383135B2/ja not_active Expired - Fee Related
- 2008-10-03 US US12/244,824 patent/US8062200B2/en not_active Expired - Fee Related
- 2008-10-06 CN CNA2008101682248A patent/CN101402171A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
CN101402171A (zh) | 2009-04-08 |
JP2009090457A (ja) | 2009-04-30 |
US8062200B2 (en) | 2011-11-22 |
US20090258770A1 (en) | 2009-10-15 |
EP2045036A1 (de) | 2009-04-08 |
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