JPH0133593Y2 - - Google Patents
Info
- Publication number
- JPH0133593Y2 JPH0133593Y2 JP1983136676U JP13667683U JPH0133593Y2 JP H0133593 Y2 JPH0133593 Y2 JP H0133593Y2 JP 1983136676 U JP1983136676 U JP 1983136676U JP 13667683 U JP13667683 U JP 13667683U JP H0133593 Y2 JPH0133593 Y2 JP H0133593Y2
- Authority
- JP
- Japan
- Prior art keywords
- screw shaft
- threads
- cylindrical
- trapezoidal
- thread
- 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
Links
- 239000000758 substrate Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 125000001153 fluoro group Chemical group F* 0.000 description 1
Landscapes
- Transmission Devices (AREA)
Description
【考案の詳細な説明】
本考案は自動作業機、すなわち産業用ロボツト
のＸ，Ｙ，Ｚの各軸方向の軸移動装置に関するも
のである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an axis moving device for an automatic working machine, that is, an industrial robot, in each of the X, Y, and Z axes directions.
従来における産業用ロボツトの軸移動装置は、
第１図に示すように、基板１と、この基板１と所
要の間隔をあけて対向する対面板２との間に一対
のガイドバー３を固設し、このガイドバー３の間
に送りねじ軸４を平行な軸線で回転自在に設け、
移動体、すなわち作業部材５を前記ガイドバー３
に摺動可能に案内すると共に、送りねじ軸４と螺
合させ、基板１に固設した駆動モータ６によつて
送りねじ軸４を正逆回転して作業部材５を基板１
と対面板２との間の所要ストロークＳで軸移動さ
せる構造である。 Conventional axis movement devices for industrial robots are
As shown in FIG. 1, a pair of guide bars 3 are fixedly installed between a substrate 1 and a facing plate 2 that faces the substrate 1 with a required spacing, and a feed screw is inserted between the guide bars 3. A shaft 4 is provided rotatably on parallel axes,
The movable body, that is, the working member 5 is connected to the guide bar 3.
The working member 5 is slidably guided to the substrate 1, and is threadedly engaged with the feed screw shaft 4, and the feed screw shaft 4 is rotated forward and backward by a drive motor 6 fixed to the substrate 1.
This is a structure in which the axis is moved by a required stroke S between the front plate 2 and the facing plate 2.
この従来の場合、作業部材５の移動位置の精度
を確保させるために、駆動モータ６はブレーキ付
きのものを必要とし、また、作業部材５に結合し
たカウンタバランス用シリンダ７を必要としてい
た。従つて、多くの構成部品により高価となるば
かりでなく、重量が増大し、また大きなスペース
を必要とする問題があつた。 In this conventional case, in order to ensure the accuracy of the moving position of the working member 5, the drive motor 6 needs to be equipped with a brake, and a counterbalance cylinder 7 coupled to the working member 5 is also required. Therefore, there are problems in that it is not only expensive due to the large number of components, but also increases in weight and requires a large space.
本考案の目的は、作業部材の送りねじ軸を多段
伸縮機構とし、ブレーキ付きの駆動モータ並びに
カウンタバランス用シリンダを用いることなく高
精度の移動位置決めを可能とし、重量軽減、低価
格、省スペース化を図り、上記従来の問題を解消
したものである。 The purpose of this invention is to make the feed screw shaft of the working member a multi-stage telescoping mechanism, which enables highly accurate movement and positioning without the use of a drive motor with a brake or a counterbalance cylinder, thereby reducing weight, cost, and space saving. This solves the above-mentioned conventional problems.
以下本考案の実施例を第２図乃至第７図によつ
て説明する。 Embodiments of the present invention will be described below with reference to FIGS. 2 to 7.
本考案の主要部品は、回転円筒体１０、円筒ね
じ軸１１及びねじ軸１２からなり、回転円筒体１
０の外径にウオームホイール１３が設けられ、こ
のウオームホイール１３にウオーム１４が噛合し
た動力伝達機構を有している。 The main parts of the present invention include a rotating cylindrical body 10, a cylindrical screw shaft 11, and a screw shaft 12.
A worm wheel 13 is provided on the outer diameter of 0, and a power transmission mechanism is provided in which a worm 14 meshes with the worm wheel 13.
回転円筒体１０の内径には雌ねじが設けられ、
円筒ねじ軸１１の外径には前記回転円筒体１０の
雌ねじと螺合する雄ねじが、また内径には雌ねじ
が設けられている。さらにねじ軸１２の外径には
前記円筒ねじ１１の雌ねじと螺合する雄ねじが設
けられている。これら雌ねじ、雄ねじの螺合関係
によつて回転円筒体１０の回転でフルストローク
では円筒ねじ軸１１及びねじ軸１２は第２図Ａの
ように最伸長し、また第２図Ｂのように最収縮す
るものである。 A female thread is provided on the inner diameter of the rotating cylindrical body 10,
The cylindrical screw shaft 11 has a male thread on its outer diameter that engages with the female thread of the rotating cylindrical body 10, and a female thread on its inner diameter. Further, the outer diameter of the screw shaft 12 is provided with a male thread that engages with the female thread of the cylindrical screw 11. Due to the screwing relationship between the female thread and the male thread, the cylindrical screw shaft 11 and the screw shaft 12 extend to the maximum as shown in FIG. 2A and to the maximum as shown in FIG. It is something that contracts.
上記雌ねじ及び雄ねじの構成について第３図及
び第４図によつて説明する。回転円筒体１０並び
に円筒ねじ軸１１に設けられる雌ねじは第３図の
原理図で示すように、２条の台形の雌ねじ１５
ａ，１５ｂで形成されている。そして、その中の
１条の雌ねじ１５ｂの一部の仮想線で示す雌ねじ
１５ｂは埋めて雌ねじ１５ｂの終端をストツパ１
６とする。このストツパ１６の形成位置は、回転
円筒体１０並びに円筒ねじ軸１１の何れにおいて
も先端近傍である。 The configurations of the female thread and male thread will be explained with reference to FIGS. 3 and 4. The internal threads provided on the rotating cylindrical body 10 and the cylindrical screw shaft 11 are two trapezoidal internal threads 15, as shown in the principle diagram in FIG.
a, 15b. Then, a part of the female thread 15b shown by the imaginary line of one of the female threads 15b is buried and the end of the female thread 15b is connected to the stopper 1.
Set it to 6. The stopper 16 is formed near the tip of both the rotating cylindrical body 10 and the cylindrical screw shaft 11.
また、円筒ねじ軸１１並びにねじ軸１２に設け
られる雄ねじは第４図の原理図で示すように、２
条の台形の雄ねじ１８ａ，１８ｂで形成されてい
る。そして、その中の１条の雄ねじ１８ｂの一部
の仮想線で示す雄ねじ１８ｂを切除して雄ねじ１
８ｂの端部を前記雌ねじ１５ｂのストツパ１６に
当接する当接面１７を形成したものである。 In addition, the male threads provided on the cylindrical screw shaft 11 and the screw shaft 12 are 2 as shown in the principle diagram in FIG.
It is formed with trapezoidal male threads 18a and 18b. Then, a part of the male thread 18b shown by the imaginary line is removed, and the male thread 18b is removed.
An abutment surface 17 is formed at the end of 8b to abut against the stopper 16 of the female thread 15b.
そこで、円筒ねじ軸１１の雄ねじ１８ａ，１８
ｂは回転円筒体１０の雌ねじ１５ａ，１５ｂに対
応螺合するピツチであり、前記当接面１７は円筒
ねじ軸１１の後端近傍に形成される。また、ねじ
軸１２の雄ねじ１８ａ，１８ｂは円筒ねじ軸１１
の雌ねじ１５ａ，１５ｂに対応螺合するピツチで
あり、前記当接面１７はねじ軸１２の後端近傍に
形成するものである。 Therefore, the male threads 18a, 18 of the cylindrical screw shaft 11
Reference numeral b denotes a pitch that is engaged with the internal threads 15a and 15b of the rotating cylindrical body 10, and the abutment surface 17 is formed near the rear end of the cylindrical screw shaft 11. In addition, the male threads 18a and 18b of the screw shaft 12 are connected to the cylindrical screw shaft 11.
The contact surface 17 is formed near the rear end of the screw shaft 12.
このような雌ねじ及び雄ねじの螺合関係にある
回転円筒体１０、円筒ねじ軸１１及びねじ軸１２
は、第５図に示すように回転円筒体１０をベース
プレート１９上に回転可能に保持し、ねじ軸１２
の先端を回り止めを兼ねた作業部材２０に固設す
ることにより、回転円筒体１０の正転で第５図Ａ
に示すように収縮状態より第５図Ｂに示すように
ねじ軸１２が円筒ねじ軸１１の雌ねじ１５ａ，１
５ｂのピツチリードによつて前進軸移動し、ねじ
軸１２の雄ねじ１８ｂの当接面１７が円筒ねじ軸
１１の雌ねじ１５ｂの終端のストツパ１６に当接
する前進ストロークエンドまで伸長する。次いで
円筒ねじ軸１１は回転円筒体１０とのつれ回りが
なくなり第５図Ｃで示すように回転円筒体１０の
雌ねじ１５ａ，１５ｂのピツチリードによつてね
じ軸１２と共に前進軸移動し、円筒ねじ軸１１の
雄ねじ１８ｂの当接面１７が回転円筒体１０の雌
ねじ１５ｂのストツパ１６に当接する前進ストロ
ークエンドまで伸長し、その結果、ねじ軸１２の
前進ストロークS1と円筒ねじ軸１１の前進ストロ
ークS2を加算した二段伸長によるフルストローク
が得られるのである。 The rotating cylindrical body 10, the cylindrical threaded shaft 11, and the threaded shaft 12 are in a screwing relationship with such a female thread and a male thread.
As shown in FIG.
By fixing the tip of the rotating cylindrical body 10 to a working member 20 that also serves as a rotation stopper, normal rotation of the rotating cylindrical body 10 causes the
From the contracted state as shown in FIG.
5b, and extends to the forward stroke end where the contact surface 17 of the male screw 18b of the screw shaft 12 abuts the stopper 16 at the end of the female screw 15b of the cylindrical screw shaft 11. Next, the cylindrical screw shaft 11 is no longer entangled with the rotating cylindrical body 10, and as shown in FIG. The contact surface 17 of the male screw 18b of the rotary cylindrical body 10 abuts the stopper 16 of the female screw 15b of the rotary cylindrical body 10 to the forward stroke end, and as a result, the forward stroke S1 of the screw shaft 12 and the forward stroke S of the cylindrical screw shaft 11 are extended. A full stroke can be obtained by adding 2 to the two-stage extension.
第６図及び第７図により、さらに具体的な構成
例を説明する。１９はベースプレート、２０は作
業部材である。ベースプレート１９上には前記の
通り回転円筒体１０を有し、ベースプレート１９
上に設置した駆動モータ２６によりウオーム１４
を回転し、ウオームホイール１３により回転円筒
体１０を正逆回転駆動する。また、作業部材２０
はねじ軸１２端上に固着されている。この作業部
材２０はベースプレート１９とクロスリング２１
ａ，２１ｂによつて連結され昇降移動を許容し、
回転は拘束されている。すなわち、一方のリンク
２１ａは、その一端がベースプレート１９に枢着
され、他端は作業部材２０に設けられたガイド２
４ｂに摺動自在に案内されたフオロアローラ２５
ｂにて連結している。また他方のリンク２１ａ
は、その一端が作業部材２０に枢着され、他端は
ベースプレート１９に設けられたガド２４ａに摺
動自在に案内されたフオロアローラ２５ａにて連
結されている。そして、両リンク２１ａ，２１ｂ
の交差点をピン２３で枢結した構造である。 A more specific configuration example will be explained with reference to FIGS. 6 and 7. 19 is a base plate, and 20 is a working member. The rotating cylindrical body 10 is provided on the base plate 19 as described above, and the base plate 19
The worm 14 is driven by the drive motor 26 installed above.
, and the worm wheel 13 drives the rotary cylinder 10 to rotate in forward and reverse directions. In addition, the work member 20
is fixed on the end of the screw shaft 12. This working member 20 includes a base plate 19 and a cross ring 21.
a, 21b to allow vertical movement;
Rotation is constrained. That is, one end of one link 21a is pivotally connected to the base plate 19, and the other end is connected to the guide 2 provided on the work member 20.
Fluoro roller 25 slidably guided by 4b
They are connected at b. Also, the other link 21a
has one end pivotally attached to the working member 20, and the other end connected to a guide 24a provided on the base plate 19 by a follower roller 25a slidably guided. And both links 21a, 21b
It has a structure in which the intersections of the two are pivotally connected by pins 23.
今、この第６図及び第７図に例示した構成によ
つて本考案の作用を説明すると、円筒ねじ軸１１
並びにねじ軸１２が回転円筒体１０内に納まつて
いる収縮状態では作業部材２０はベースプレート
１９に最も接近位置した最下降端位置である。こ
の状態より駆動モータ２６の作動で回転円筒体１
０を正回転させることにより前記の通りねじ軸１
２が上昇軸移動し、この上昇軸移動端で円筒ねじ
軸１１が上昇軸移動を行つて作業部材２０を所要
のストロークで上昇動させるのである。 Now, to explain the operation of the present invention using the configuration illustrated in FIGS. 6 and 7, the cylindrical screw shaft 11
Further, in the contracted state in which the screw shaft 12 is housed within the rotating cylindrical body 10, the working member 20 is at its lowest position, closest to the base plate 19. From this state, the rotating cylindrical body 1 is rotated by the operation of the drive motor 26.
As described above, by rotating screw shaft 1 in the forward direction,
2 moves on its upward axis, and at the end of this upward axis movement, the cylindrical screw shaft 11 moves on its upward axis to move the working member 20 upward with a required stroke.
このように本考案よると、回転円筒体の内径に
２条の台形の雌ねじが設けられ、その１条は回転
円筒体の先端近傍で終端とするストツパを形成
し、円筒ねじ軸は外径に前記回転円筒体の雌ねじ
と螺合する２条の台形の雄ねじを有し、また内径
には２条の台形の雌ねじが設けられ、前記２条の
雄ねじの１条は前記回転円筒体の雌ねじ終端のス
トツパに当接するよう円筒ねじ軸の後端近傍の雄
ねじ山の一部を切除して台形当接面が形成され、
前記円筒ねじ軸の２条の雌ねじの１条は円筒ねじ
軸の先端近傍で終端とするストツパを形成し、さ
らにねじ軸は外径に前記円筒ねじ軸の雌ねじに螺
合する２条の台形の雄ねじを設け、その１条は前
記円筒ねじ軸の雌ねじ終端のストツパに当接する
ようねじ軸の終端近傍の雄ねじ山の一部を切除し
て台形当接面を形成し、このねじ軸の先端にはね
じ軸の回り止めを兼ねた作業部材が固設されいる
構成であるから、回転円筒体、円筒ねじ軸及びね
じ軸の各部に別部品のストツパ部材を装着又は形
成する必要がなく、軸線方向の長さがコンパクト
化され、構造を簡単にすることができる。また、
２条の雄、雌ねじ構成により、応力支持面積が増
大され、荷重は分散して支持されるので、重荷重
にも充分耐えることと、円滑な軸移動が得られる
利点を有している。 As described above, according to the present invention, two trapezoidal female threads are provided on the inner diameter of the rotating cylindrical body, one thread of which forms a stopper that terminates near the tip of the rotating cylindrical body, and the cylindrical screw shaft is provided on the outer diameter of the rotating cylindrical body. It has two trapezoidal male threads that are screwed together with the female threads of the rotating cylindrical body, and two trapezoidal female threads are provided on the inner diameter, and one of the two male threads is connected to the female thread end of the rotating cylindrical body. A trapezoidal contact surface is formed by cutting off a part of the male thread near the rear end of the cylindrical screw shaft so that it comes into contact with the stopper.
One of the two female threads of the cylindrical screw shaft forms a stopper that terminates near the tip of the cylindrical screw shaft, and the screw shaft further has two trapezoidal threads on its outer diameter that are screwed into the female thread of the cylindrical screw shaft. A male thread is provided, and one thread of the thread is cut off a part of the male thread near the end of the threaded shaft to form a trapezoidal contact surface so as to contact the stopper at the end of the female thread of the cylindrical threaded shaft. Since the working member that also serves as a rotation stopper for the screw shaft is fixed, there is no need to attach or form a separate stopper member to each part of the rotating cylindrical body, the cylindrical screw shaft, and the screw shaft. The length is compact and the structure can be simplified. Also,
The two threaded male and female threads increase the stress bearing area and support the load in a distributed manner, which has the advantage of being able to sufficiently withstand heavy loads and providing smooth shaft movement.
第１図は従来装置の斜視図、第２図は本考案装
置の要部斜視図、第３図は本考案装置に用いられ
る雌ねじ機構の断面図、第４図は同雄ねじ機構の
側面図、第５図は本考案装置の動作を説明する断
面図、第６図は本考案装置を用いた一例を示す昇
降機構の斜視図、第７図は同正面図である。
１０……回転円筒体、１１……円筒ねじ軸、１
２……ねじ軸、１３……ウオームホイール、１４
……ウオーム、１５ａ，１５ｂ……雌ねじ、１６
……ストツパ、１７……当接面、１８ａ，１８ｂ
……雄ねじ、１９……ベースプレート、２０……
作業部材、２６……駆動モータ。
FIG. 1 is a perspective view of a conventional device, FIG. 2 is a perspective view of essential parts of the device of the present invention, FIG. 3 is a sectional view of the female screw mechanism used in the device of the present invention, and FIG. 4 is a side view of the same male screw mechanism. FIG. 5 is a sectional view illustrating the operation of the device of the present invention, FIG. 6 is a perspective view of an elevating mechanism using the device of the present invention, and FIG. 7 is a front view thereof. 10... Rotating cylindrical body, 11... Cylindrical screw shaft, 1
2... Screw shaft, 13... Worm wheel, 14
...Worm, 15a, 15b...Female thread, 16
... Stopper, 17 ... Contact surface, 18a, 18b
... Male thread, 19 ... Base plate, 20 ...
Working member, 26... drive motor.
Claims (1)
部品により構成されており、前記回転円筒体は
ベースプレート上にウオーム、ウオームオイー
ル機構によつて回転自在に保持され、その内径
に２条の台形の雌ねじが設けられ、その１条は
回転円筒体の先端近傍で終端とするストツパを
形成し、前記円筒ねじ軸は外径に前記回転円筒
体の雌ねじと螺合する２条の台形の雄ねじを有
し、また内径には２条の台形の雌ねじが設けら
れ、前記２条の雄ねじの１条は前記回転円筒体
の雌ねじ終端のストツパに当接するよう円筒ね
じ軸の後端近傍の雄ねじ山の一部を切除して台
形当接面が形成され、前記円筒ねじ軸の２条の
雌ねじの１条は円筒ねじ軸の先端近傍で終端と
するストツパを形成し、さらに前記ねじ軸は外
径に前記円筒ねじ軸の雌ねじに螺合する２条の
台形の雄ねじを設け、その１条は前記円筒ねじ
軸の雌ねじ終端のストツパに当接するようねじ
軸の終端近傍の雄ねじ山の一部を切除して台形
当接面を形成し、このねじ軸の先端にはねじ軸
の回り止めを兼ねた作業部材が固設されている
ことを特徴とする自動作業機の軸移動装置。 (2) 前記回転円筒体、円筒ねじ軸及びねじ軸は、
その軸線方向の長さを等長寸法とした実用新案
登録請求の範囲第１項記載の自動作業機の軸移
動装置。[Claims for Utility Model Registration] (1) It is composed of three main parts: a rotating cylindrical body, a cylindrical screw shaft, and a screw shaft, and the rotating cylindrical body is rotatably mounted on a base plate by a worm and a worm oil mechanism. The cylindrical screw shaft has two trapezoidal female screw threads on its inner diameter, one of which forms a stopper that terminates near the tip of the rotating cylinder, and the cylindrical screw shaft has two trapezoidal female threads on its outer diameter. It has two trapezoidal male threads that are screwed together, and two trapezoidal female threads are provided on the inner diameter, and one thread of the two male threads is attached to the cylindrical body so as to come into contact with a stopper at the end of the female thread of the rotating cylindrical body. A part of the male thread near the rear end of the screw shaft is removed to form a trapezoidal abutment surface, and one thread of the two female threads of the cylindrical screw shaft forms a stopper that terminates near the tip of the cylindrical screw shaft. Furthermore, the screw shaft is provided with two trapezoidal male threads on its outer diameter that are screwed into the female threads of the cylindrical screw shaft, and one of the threads is provided at the terminal end of the screw shaft so as to come into contact with a stopper at the end of the female thread of the cylindrical screw shaft. An automatic working machine characterized in that a trapezoidal contact surface is formed by cutting off a part of the male screw thread in the vicinity, and a working member that also serves as a rotation stopper for the screw shaft is fixed at the tip of the screw shaft. axis moving device. (2) The rotating cylindrical body, the cylindrical screw shaft, and the screw shaft are:
The shaft moving device for an automatic working machine according to claim 1, wherein the length in the axial direction is equal length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13667683U JPS6045684U (en) | 1983-09-05 | 1983-09-05 | Axis movement device for automatic work equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13667683U JPS6045684U (en) | 1983-09-05 | 1983-09-05 | Axis movement device for automatic work equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6045684U JPS6045684U (en) | 1985-03-30 |
| JPH0133593Y2 true JPH0133593Y2 (en) | 1989-10-12 |
Family
ID=30307234
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13667683U Granted JPS6045684U (en) | 1983-09-05 | 1983-09-05 | Axis movement device for automatic work equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6045684U (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7674360B2 (en) * | 2003-12-12 | 2010-03-09 | Applied Materials, Inc. | Mechanism for varying the spacing between sputter magnetron and target |
| CN103072919A (en) * | 2011-10-25 | 2013-05-01 | 西安华欧精密机械有限责任公司 | NC (Numerical Control) three-order telescopic ball screw top |
-
1983
- 1983-09-05 JP JP13667683U patent/JPS6045684U/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6045684U (en) | 1985-03-30 |
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