JP3301490B2 - Actuator structure - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention, through the coupling means structure
Three-dimensional construction by connecting members and support members
About structures of the actuator to be.

[0002]

2. Description of the Related Art Conventionally, an actuator is used as a device for sucking a work or holding and transporting the work using a mechanical hand or a chuck. This actuator attaches a moving body such as a table via a guide to a main body integrally formed by casting, extrusion, drawing, etc., and drives a servo motor, a stepping motor, etc. via a driving mechanism such as a ball screw or a timing belt. The moving body is moved by a source. With this movement, the suction holding means connected to the moving body also moves, and the work sucked by the suction holding means is conveyed to a desired position under the movement of the moving body.

[0003]

However, the above-mentioned prior art employs a configuration in which a moving body such as a table is directly attached to a main body and a work is conveyed to a desired position. Therefore, as described above, once the desired positioning for transporting the work is set and set, and then the operation of adjusting or changing the moving position, performing maintenance and inspection, etc., disassemble the set configuration. Reconfiguration, which is very complicated. In addition, since the main body, the moving body, the driving mechanism, the driving source, and the like are integrally formed as an actuator, the installation place is limited, and there are inconveniences such as difficulty in performing on-site work.

[0004] The present onset Ming, the individual and the moving member and the structure member,
It is configured to be detachable, and the structural member can be installed in a desired space.
And support members, etc. , and assemble them freely to form a structure.
And to provide a structure of the actuator that can be constructed.

[0005]

Means for Solving the Problems] To achieve the above object, the present invention and a longitudinal direction into a plurality of outer surface has a recess
Pillar-shaped structural member formed with a long connecting groove extending in the opposite direction
And the drive mechanism is disposed in the recess, and the drive mechanism is driven by the drive source.
The moving object that displaces along the longitudinal direction of the structural member is incorporated
An actuator composed of a mobile member, a plurality
The connecting long groove extending in the longitudinal direction was formed on the outer surface of
It has a columnar shape, and is formed by combining a plurality of the structural members.
A post member to form a dimension shape, have in the strut members together
Is formed by connecting a plurality of the structural members and the support members.
And connecting means for constructing the body consists, before the structural member
The moving member is individually attached to the recess from the opening direction of the recess.
Comprising a mounting means for mounting separate and detachably, wherein the communication
The connecting means is locked to one of the support members via a screw member.
And the head engages with the connecting long groove of the other structural member.
Formed in accordance with the cross-sectional shape of the head
The head is held in the formed long groove for connection .

In this case, the movable and detachable arrangement is provided.
Versatility is improved by providing a controller
You may be able to. In addition, the drive to displace the moving object
The moving mechanism is a mechanism that moves along the longitudinal direction of the structural member.
The use of a tilting member simplifies the configuration of the drive mechanism.
May be simplified.

[0007]

[Action] The above structure of the actuator according to the present invention, individually and moving member and the structural member, and to be detachably formed via the attachment means, the desired freely and easily plurality linked It can be assembled in the shape of Therefore,
Through the <br/> moving body disposed at an arbitrary position of the assembled structure, for example, it can carry a workpiece or the like. Upon movement of the movable body, by a mounting means that is engaging the moving member and the structural member, it is possible to adjust the position of the movable body by displacing the moving member relative to the structural member. Further, at the time of maintenance / inspection work, the moving member can be easily detached from the structural member. Furthermore, it is Rukoto is interposed a plurality of moving members in the structure member, is a work mutually in association with the plurality of moving members <br/> Ru can Rukoto.

Further, the structure of the actuator according to the present invention is
In the structure , a plurality of structural members connected via connecting means
Consisting of a desired three-dimensional structure by means of a support member
The body is freely constructed. Therefore, depending on the installation environment,
For example, an object of a desired shape in a limited space
The structure of the actuator can be constructed. That
In this case, the work can be transferred to a desired position via a moving member, a controller, or the like provided in the concave portion of the structural member .

[0009]

EXAMPLES Next, like the preferred embodiment for the structure of the actuator according to the present invention will be described in detail with reference to the accompanying drawings.

[0010] First, it is applied to the structure of the actuator.
Actuator 10 according to the first embodiment is basically that,
As shown in FIG. 1, a structural member 12 forming an outer frame, a harmonic drive motor having an encoder, an AC servomotor, a DC servomotor, a stepping motor,
The moving member 20 includes a motor 14 of an ultrasonic motor or the like, a ball screw 16, and a moving body (moved body) 18. FIG. 2 is an exploded perspective view of FIG.

In the structural member 12, two rail-shaped grooves 22 are defined on the inner bottom, and concave portions 24 are formed on both inner side surfaces and concave portions (long connecting grooves) 26, 28 are formed on the outer side surfaces in the longitudinal direction. Then, they are extruded, drawn, metal injection molded, or integrally molded by resin or the like.

The moving member 20 includes a circular motor 14 (for example, an electric motor) functioning as a drive source, a casing 30 for transmitting the rotational driving force of the motor 14 to the ball screw 16, Moving body 1 which is moved in a linear direction by the rotational movement of
8, a plate-shaped ball screw support 34, a guide 46 and a frame 36 for positioning the casing 30 and the moving body 18 on a straight line. Further, the ball screw 16 is made the same as the motor rotation shaft,
The coupling may be omitted by integrating the rotation balance. A maintenance window 41 is provided on the upper surface of the casing 30. The frame portion 36 is provided with screw holes 40 for fixing the moving member 20 to the structural member 12 via screws 38 at predetermined intervals.

One end of the ball screw 16 is connected to the motor 1.
The other end is inserted into the bearing hole 42 of the ball screw support 34. A female screw provided in a hole (not shown) of a nut connected to the moving body 18 is screwed with a male screw engraved on the outer periphery of the ball screw 16 between the casing 30 and the bearing hole 42. Similarly, the ball screw 16 can be replaced with a string screw or a trapezoidal screw. The moving body 18 is provided with a table having projections 44 at both ends of the upper surface. A positioning groove 45 is provided substantially at the center of the protrusions 44 at both ends. On the upper surface of the frame portion 36, a guide portion 4 that functions as a guide that contacts the concave portion of the moving body 18 and moves the moving body 18 linearly.
6 (see FIG. 2). The casing 30 and the ball screw 16 function as a drive mechanism for moving the moving body 18 linearly.

The operation of the actuator 10 according to the first embodiment having the above-described configuration will be described.

First, as shown in FIG.
The moving member 20 provided with the motor 14, the casing 30, the ball screw 16, the moving body 18, the ball screw support 34, and the like is fixed to the structural member 12. At this time, a T nut or a nut is inserted into the two rail-shaped grooves 22 formed in the bottom of the structural member 12 through the screw holes 40 provided in the frame portion 36, and tightened with the screws 38. Is fixed. After the moving member 20 is fixed to the structural member 12 in this manner, the motor 14 connected to a power source (not shown) is driven. Since a transmission (not shown) is provided inside the casing 30, the ball screw 16 rotates in conjunction with the rotation of the motor 14. The rotational motion of the ball screw 16 is transmitted to a nut connected to the moving body 18, and the male screw on the outer peripheral surface of the ball screw 16 and the inner peripheral surface of a hole (not shown) provided at the center of the nut are fitted. I do. The moving body 18 integrated with the nut is integrated with the ball screw 16 in the fitted state, so that the moving body 18 can be moved from the end of the casing 30 to the end of the ball screw support 34 as much as possible. It is possible to move. Projection 4 of table provided on upper surface of moving body 18
4, the actuator 10 similar to that of the present embodiment is mounted, and the bottom thereof may be fixed to the protrusion 44, or another member to which work suction gripping means such as a suction pad is connected. It is also possible to fix to the projection 44.

As described above, after the positioning for transporting the work is set and set, if the moving position is to be readjusted or changed, the screw 38 of the frame 36 fixed to the structural member 12 must be adjusted. By loosening, the moving member 20 can be displaced from the structural member 12 in its length direction. In this case, the moving member 20 can be moved while the structural member 12 is fixed to, for example, a work board. Also,
When the maintenance and inspection of the actuator 10 are performed, the screws 38 fitted in the rail-shaped grooves 22 of the structural member 12 are loosened, and the moving member 20 is removed from the structural member 12 to easily perform maintenance and inspection. be able to.

Next, it is applied to the structure of the actuator.
The actuator according to the second embodiment shown in FIG. 3 that.

An actuator 50 according to the second embodiment is different from the first embodiment in that a concave portion 54 is provided at the bottom of a structural member 52 constituting an outer frame, and a plate 6 is provided in the concave portion 54.
0, and moving the moving member 20 from above the plate 60
Is that it can be attached to any position. After the plate 60 is mounted in the recess, the plate 60 is fixed to the frame portion 36 of the moving member 20 via the screw 38.
The moving member 20 can be moved through the displacement of.

In the second and subsequent embodiments, the first
The same components as those in the embodiment are denoted by the same reference numerals,
A detailed description thereof will be omitted.

In the operation of the second embodiment, first, the frame portion 36 of the moving member 20 provided with the motor 14, the moving body 18 and the like is fixed to the plate 60 via screws 38. Therefore, the concave portion 54 provided at the bottom of the structural member 52
Then, the plate 60 connected to the frame portion 36 of the moving member 20 is slid in the length direction from the end of the structural member 52 and mounted in the concave portion 54. Also, it can be attached to an arbitrary position from the upper surface. In this manner, when the moving member 20 is connected to the structural member 52 and the transfer position of the work is set and readjustment or position change is performed, the screw 3
By loosening the plate 8, the plate 60 mounted in the recess 54 can be easily moved by sliding.

Next, a description will be given of a third embodiment in which a plurality of such moving members of the actuator are used.

As shown in FIG. 4, an actuator 62 according to the present embodiment includes a long structural member 64 constituting an outer frame.
In addition, a moving member A66 and a moving member B68 are arranged close to each other in series, and a moving body 18 is provided at two places. A locking member 70 is attached to one end of the structural member 64. In addition to the above-described configuration of the actuator 10, a cover member 74 that accommodates the motor 14 and the casing unit 30 and has a plurality of slits 72 carved thereon is attached to the moving member A 66. In addition, a plate-shaped cover member 76 is provided on the table of the moving body 18, and the protrusions 44 at both ends of the table are formed so as to protrude. Moving member A66 of actuator 62,
The operation of the moving member B68 is the same as that of the above-described embodiment, and thus the detailed description thereof will be omitted.

Next, it is applied to the structure of the actuator.
It will be described actuator according to the third embodiment that.

A feature of the actuator shown in FIG. 5 is that the moving body is moved by using a timing belt 80 (belt member) as a driving mechanism (see FIG. 6).

The actuator 78 according to the third embodiment includes:
Basically, the structural member 12 constituting the outer frame and the motor 1
4, a moving member 84 including a timing belt 80 and a moving body 82;

In the structural member 12, a rail-shaped groove is defined at the center of the inner bottom, and concave portions 24 are formed in the inner side surfaces in the longitudinal direction, and are integrally formed by casting or the like. A locking member 70 is attached to an end of the structural member.

The moving member 84 is housed in a box-shaped cover member 86 in which a plurality of slits 85 are engraved, and is a cylindrical motor 14 functioning as a driving unit. A motor pulley unit 90 having a tension adjusting mechanism, a timing belt 80 functioning as a driving mechanism, and a moving body 82 moving in the left and right linear directions by rotating the timing belt 80. An idle pulley unit 92 having a disc-shaped rotating body 89 located at one end of the timing belt 80;
On the other end side, an idle pulley unit 92 is provided in series, and a guide portion 46 in which a moving body 82 can move linearly is arranged in the middle. The guide portion 46 is provided with screw holes 94 for connecting to the frame portion 36 via screws at predetermined intervals.

The timing belt 80 has projections 96 formed at predetermined intervals, and the projections 96 have recesses (shown in the figure) in the annular bodies 96 of the rotating bodies 88 and 89 of the motor pulley unit 90 and the idle pulley unit 92. ), The timing belt 80 rotates.
In addition, a concave portion 98 is defined at the bottom of the moving body 82, and the moving body 82 can slide on the guide section 46 by engaging with the upper surface of the guide section 46. Further, a substantially rectangular plate-shaped cover member 76 is provided on the upper surface of the moving body 82.
Are provided so that the protrusions 44 at both ends of the table protrude.

The operation of the actuator according to the third embodiment under such a configuration will be described.

First, as shown in FIG. 6, a moving member 84 having a motor pulley unit 90 provided at one end of the guide portion 46 and an idle pulley unit 92 provided at the other end thereof is fixed to the structural member 12. At this time, the plate is connected to the frame part 36 through a screw hole 94 provided in the guide part 46, and the plate is inserted into the rail-shaped groove part 54 engraved on the bottom of the structural member 12, and is then tightened with the screw 38. 8
4 is fixed. After the moving member 84 is fixed to the structural member 12 in this manner, a CIM controller (not shown)
The motor 14 connected to the power supply via the sequencer is driven, and the rotating body 88 arranged on the motor pulley unit 90 rotates in conjunction with the rotation of the motor 14.
When the projection of the timing belt 80 meshes with the recess of the rotating body 88, the timing belt 80 rotates. The orbiting motion of the timing belt 80 is a moving body 82
, The moving body 82 moves in the revolving direction of the timing belt 80. Moving body 82
Can move from the end of the motor pulley unit 90 to the end of the idle pulley unit 92 at the maximum. Protrusions 44 provided on both ends of the upper surface of moving body 82
It is also possible to mount an actuator 78 similar to that of the present embodiment, or to connect another member to which the work suction / holding means is connected.

As described above, when the moving position is readjusted after positioning for transporting the work,
First, the cover members 76 and 86 are removed, the screw 38 fixing the frame part of the moving member 84 to the structural member 12 is loosened, and the moving member 84 itself is slid.
8 fixes it to the structural member 12.

Next, FIGS. 7 to 11 show an embodiment relating to a module type actuator in which the components of the moving member can be easily assembled and disassembled. Note that each of the embodiments in FIGS. 7 to 9 uses an electric motor as the drive source, and FIGS. 10 and 11 differ in that compressed air or fluid pressure such as vacuum pressure is used as the drive source.

FIG. 7 shows the structure applied to the actuator .
Shows a fourth embodiment of the actuator is an exploded perspective view of a moving member constituting the actuator.

The moving member 100 includes a frame portion serving as a base and a locking portion 104 provided at one end of the frame portion.
, A moving body 106, a guide section 108, and a ball screw 112 to which a ball holding section 110 as a driving mechanism is connected
, An electric motor 114 as a drive source, and an electric motor 11
4 and a connecting portion 116 for transmitting and transmitting the rotational movement of the ball screw 112, an annular body 118, and a holding bracket 120.

The assembling method of this embodiment will be described first.
The protrusion 124 of the locking portion 104 is slid in the horizontal axis direction along the groove 122 from one end side of the frame portion having several linear grooves 122 in the length direction. Next, similarly, the protrusion 126 of the connection part 116 can be slid from the lateral axis direction and fixed along the groove 122 from the other end side of the frame part. Subsequently, the guide portion 108 is fitted into the concave portion 128 of the frame portion, and then the ball screw 112 and the electric motor 114 are connected to the hole 13 of the locking portion 104 via the annular body 118 and the holding fitting 120, respectively.
0, fit into the hole 132 of the connecting part 116. After the mounting, the ball holding portion 11 connected to the ball screw 112
The lower part of the moving body 106 is slid from the horizontal axis direction and inserted into the cylindrical part 134 of FIG. Then, the moving body 106 is attached so that the block 138 connected to the guide portion 108 is fitted into the concave portion 136 provided on the lower surface of the moving body 106.

As described above, the moving member 100 can be easily assembled on site, and can be disassembled for easy maintenance and inspection.
Also, if the parts need to be replaced after the maintenance and inspection,
Can be easily replaced. Further, the length of the frame portion can be adjusted by cutting the frame portion into an arbitrary length.

FIG. 8 shows the structure applied to the actuator .
Shows a fifth embodiment of the actuator.

The fifth embodiment shown in FIG. 8 differs from the fourth embodiment shown in FIG.
Is formed at an acute angle. Therefore, the locking portion 1
When attaching the connecting portion 46 and the connecting portion 148, there is no need to slide and fix the end portion of the frame portion 142 in the horizontal axis direction, but to engage the groove portion 144 of the frame portion 142 from any desired position in the vertical axis direction. The part 146 and the claw part 150 of the connection part 148 can be inserted and fixed so as to be sandwiched from the side. The other configurations and operations are the same as those of the third embodiment, and thus detailed description thereof will be omitted.

FIG. 9 shows a sixth embodiment constituting a moving member of an actuator. Unlike the fourth and fifth embodiments, a timing belt 154 is used as a drive source.

The moving member 152 shown in the fifth embodiment includes a frame portion 156, a guide portion 158, and a table top 160.
And a moving body 164 including a slide table 162,
It comprises a motor pulley unit 166, an idle pulley unit 168, a timing belt 154, and a motor 170.

The assembling method of the moving member 152 is as follows.
2 can be assembled by inserting them into the motor pulley unit 166, the idle pulley unit 168, and the hole 174 of the table top 160, respectively.

FIGS. 10 and 11 show a seventh embodiment, respectively.
A moving member of an actuator according to the eighth embodiment, characterized in that fluid pressure such as compressed air or vacuum pressure is used as a driving source, and a rodless cylinder or a cylinder having a band-type seal slit is used as a driving mechanism. FIG.

In FIG. 10, the rodless cylinder 18
Reference numeral 2 includes a rectangular parallelepiped housing 184, a cylindrical tube 186, an internal piston (not shown), and the like. An electromagnetic valve 190 for switching the supply of the compressed air to the rodless cylinder 182 is provided at the connecting portion 188 which is attached to the groove portion 144 of the frame portion 142 by sandwiching the claw portion 150. The rodless cylinder 182 introduces compressed air from ports (not shown) at both ends of the tube 186, and switches the compressed air by the solenoid valve 190 to move a piston (not shown) in the tube 186 to the left and right ends. The reciprocating linear motion can be continued by moving in the part direction. A ring-shaped magnet (not shown) is connected to the piston. On the other hand, a magnet (not shown) is also built in the housing 184, and the housing 184 moves by the action of the magnet holding force as the piston moves. The table top 192 can be used by being connected to the upper surface of the housing 184 that moves in this manner. Also, this rodless cylinder 182
Similarly, a rodless cylinder using a rectangular or elliptical piston for lowering the height direction without changing the pressure receiving area of the piston can be replaced.

FIG. 11 is common in that a rodless cylinder 196 is used in the same manner as described above, but differs in that two piston rods 200 are provided to prevent rotation of the housing 198. Reference numeral 202 indicates a connection portion, reference numeral 204 indicates an electromagnetic valve, reference numeral 206 indicates a locking member, reference numeral 208 indicates a compressed air introduction and discharge port, respectively, and reference numeral 209 indicates a shock absorber. Is shown. Other operations such as the operation of moving the housing 198 by the holding force of the magnet connected to the piston are the same as those described above, and a detailed description thereof will be omitted.

Next, the case of using as a structure of an actuator assembled to a plurality connecting the actuator.

As shown in FIG. 12, the actuator structure 210 according to the first assembling example includes a plurality of columnar members (post members) 212 forming a frame, first to third actuators 214, 216, and 218. , Work table 220
A work piece 222, a work storage plate 224, moving bodies 236, 238, 240, and a cylinder 230 to which a suction pad 228 as a work holding means is connected.
Cylinder 234 with cylinder rod 232 protruding
It is composed of

The first actuator 214 includes a second actuator 21 mounted on the upper surface of the moving body 236.
6 is moved in a linear direction, and a moving body 238 of a second actuator 216 connected orthogonally to the first actuator 214 has suction pads 228.
Are connected to each other. Also,
A cylinder 234 is connected to the moving body 240 of the third actuator 218 and is used for positioning the work 222. A motor box 237 is provided at a connecting portion between the first actuator 214 and the columnar member 212.
A valve unit 239 is provided at a connection between the third actuator 218 and the columnar member 212.

In operation, first, compressed air is supplied to the cylinder 230 connected to the second actuator 216 via a fluid passage 252 in the columnar member 212 described later. By the supply of the compressed air, the cylinder rod 232 of the cylinder 230 is displaced downward, and the work 222 disposed on the work storage plate 224 is moved to the suction pad 228.
Is adsorbed. Again, the cylinder rod 232 is displaced upward by the supply of the compressed air, and the moving body 236 of the first actuator 214 is moved in the longitudinal direction while maintaining the state, and is connected to the moving body 236 of the first actuator 214. The second actuator 216 is moved. The second actuator 216 stops moving when the work 222 sucked by the suction pad 228 approaches above a desired position, and stops moving.
Is moved in the horizontal axis direction, and the work 222 is inserted into a desired hole 242 of the work holding plate 226. At this time, the positioning can be performed by displacing the cylinder rod 232 of the third actuator 218 so that the work 222 is reliably inserted into the hole 242 of the work holding plate 226.

Here, the connecting means for connecting the columnar member, the actuator and the like will be described with reference to FIGS.

FIGS. 13 and 14 show a first embodiment of the connecting means. FIG. 13 (a) is a partially omitted front view showing a case where the columnar members are connected to each other, and FIG. 14) is a partially sectional side view, and FIG. 14 is an exploded perspective view.

In FIG. 14, a columnar member (post member) 244 formed substantially identically has a linear groove 246 defined in the longitudinal direction of each side surface. The groove 250 is provided with a plate 250 screwed through a screw 248.
Are slidably disposed. The tip 25 of the screw 248
1 is formed in a conical shape. A fluid passage 252, which is a transmission path for a fluid such as air, oil, or water, is formed to penetrate through corners of both ends of the columnar member 244, and a bolt 258 is provided at a substantially central portion via a spring 256. A hole 260 for inserting the hole is defined. The head 262 of the bolt 258 is formed in accordance with the cross-sectional shape of the groove 246, and is loosely fitted from one end of the columnar member 244 in a direction substantially orthogonal to the column. The bolt 2
A V-shaped groove 264 is cut at an intermediate portion of the head 58, and a circular recess 2 serving as a spring receiver is provided on the side opposite to the head 262.
66 are provided.

Therefore, when connecting and connecting the columnar members 244 to each other, the plate 250 is directed to the groove 246, the spring 256 and the bolt 258 are directed to the hole 260 from one end side of one of the columnar members 244 in the longitudinal direction. And the head 262 of the bolt 258 is loosely fitted in a direction orthogonal to the groove 246 at one end of the columnar member 244. Subsequently, the screws 248 are screwed into the plate 250 via the groove portions 246, whereby the columnar members 244 are connected and fixed to each other through the bolts 258 in a substantially right angle direction. That is, as shown in FIG. 13B, the head integrated with the bolt 258 is formed by the inclined surface of the tip 251 of the screw 248 abutting against the inclined surface of the V-shaped groove 264 of the bolt 258. The portion 262 is displaced in the direction of arrow A. Due to the displacement of the head 262, the back side of the head 262, which has been loosely fitted in the groove 246, comes into contact with the groove 246, and the columnar member 244 is fixed. In this manner, the columnar members 244 can be easily connected to each other, and a fluid pressure signal can be transmitted via the fluid passage 252 in the columnar member 244.

Next, when the connection is released to separate the columnar member 244, the bolt 258 is displaced in the direction of arrow B by the elastic force of the spring 256 by loosening the screw 248. Due to the displacement of the bolt 258, the back side of the head 262 of the bolt 258 is separated from the groove 246, and the head 262 of the bolt 258 is again moved to the groove 246.
In a loosely fitted state. Due to the loose fit of the head 262 of the bolt 258, the groove 24 of one of the columnar members 244 is formed.
6 bolt 258 inserted into the other columnar member 244
The head 262 can slide, and can be removed by moving the columnar member 244 along the groove 246. Although the first embodiment of the connecting means has been described with respect to the case where the columnar members are connected to each other, the same applies to the case where the columnar members are connected to the actuator and the actuators.

Next, in a second embodiment of the connecting means shown in FIG. 15, a groove 246 parallel to one side surface of the columnar member 268 is defined, and the head 2 is loosely fitted in the groove 246.
This embodiment differs from the above embodiment in that two bolts 270 integrated with 62 are provided. In the second and subsequent embodiments of the connecting means, substantially the same components are denoted by the same reference numerals, and detailed description thereof will be omitted.

Subsequently, in the third to fifth embodiments of the connecting means shown in FIGS. 16 to 18, for example, columnar members and the like are respectively connected in three orthogonal directions. In the third embodiment shown in FIG. 16, the second columnar member 274 and the third columnar member 276 are orthogonally connected to two side surfaces of the first columnar member 272 having different widths, respectively. The second columnar member 274 and the third columnar member 276 are respectively connected to the first columnar member 272 by using two bolts 278 in the groove 246 parallel to the first columnar member 272. First
To the inside of the third columnar members 272, 274, 276,
As described above, the electric signal passage 279 is formed similarly to the fluid passage penetrating in the longitudinal direction. Centralized wiring can be achieved by the electric signal path 279.
In the fourth embodiment shown in FIG. 17, a second columnar member 282 having a connection surface smaller than one side surface of the first columnar member 280 is formed on the first columnar member 280 by a bolt 278 in a groove 246 parallel to the side surface. Shows a case where they are connected by using. In the fifth embodiment shown in FIG. 18, the first columnar member 28
4 in that a second columnar member 286 connected to one side surface is connected to a groove 246 parallel to the side surface by using one bolt 278.

As described above, in the connecting means relating to the structure of the actuator of the present invention, the number of side faces can be increased by forming the end sections of the columnar member, the actuator and the like into a polygon such as a square or a hexagon. It is possible. Further, it is needless to say that the shape may be circular or substantially circular. Therefore, a desired groove portion is defined on the side surface, a bolt is loosely fitted in the groove portion, and the bolt is loosely screwed, so that the connection can be easily performed in multiple directions.

As described above, in the actuator structure 210 according to the present assembly example, the actuator structure 210 is assembled in a chair shape, and the three actuators 214 and
The case where the workpieces 222 are conveyed by disposing the workpieces 216 and 218 has been described. However, a structure is formed by various combinations using a plurality of columnar members 212 and actuators 210 and the like, and the workpiece is vertically movable by the structure. Can be transported.

Next, as in FIG. 12, examples of assembling the structure of the actuator are shown in FIGS. The second
After the assembly example, the same components as those in the first assembly example are denoted by the same reference numerals, and detailed description thereof will be omitted.

FIG. 19 shows the structure 288 of the actuator.
12 shows a state in which a control box 290 for an electric actuator and a filter / regulator / lubricator controller 292 are provided in the first example of assembly in FIG. In addition, a compressor not shown,
It is also possible to integrate a dehumidifier, an aftercooler and the like into the block of each actuator. In this case, the wiring is integrated or connected within the columnar member 212. It is also possible to circulate and transmit the vacuum pressure using a known suction device such as a compressor or a scroll compressor.

FIGS. 20 and 21 show third and fourth examples of assembling the actuator structures 294 and 296. The sequencer 298 with a programming board functioning as an actuator controller is provided on the structural member 12.
3 shows a state in which each of them is mounted. In FIG. 20, a mechanical hand 297 is attached to the tip of the cylinder 230. Sequencer 29 with this programming board
8, 300 are detachably attached to the structural member 12. Sequencer with programming board 2
A belt conveyor actuator 304 provided with an endless belt 302 is continuously provided in the vicinity of 98 and 300. The plate member 306 can be transported by the belt conveyor actuator 304. In FIGS. 20 and 21, transmission of various signals input to the sequencers 298 and 300 with a programming board, for example, an electric signal, a fluid pressure signal, etc. 252, via the electrical signal path 279.

[0061]

According to the structure of the actuator according to the present invention, the following effects are obtained.

That is, even after the actuator is once positioned and set so as to convey the work to a desired position, the actuator is provided on the moving member via the mounting means for connecting the structural member and the moving member . It may be readjusted, or changing the moving position of the moving body. In addition, the moving member can be easily removed from the structural member to perform maintenance and inspection work.

Further, the structural member and the support member are connected.
By connecting a plurality of actuators via the means to form an actuator structure assembled into a desired shape, an actuator structure having a shape corresponding to the working space can be constructed, and the working space can be saved. And the workpiece can be transported in any direction. Therefore, CIM (Computer)
-IntegratedManufacturing)
Thus, a structure of a plurality of actuators can be easily constructed .

[Brief description of the drawings]

FIG. 1 is applied to a structure of an actuator of the present invention.
FIG. 3 is a perspective view of the actuator according to the first embodiment .

FIG. 2 is an exploded perspective view of FIG.

FIG. 3 is applied to a structure of an actuator of the present invention.
It is an exploded perspective view of the actuator concerning a 2nd example .

FIG. 4 is applied to a structure of an actuator of the present invention.
It is a perspective view of the actuator concerning a 3rd example .

FIG. 5 is applied to a structure of an actuator of the present invention.
It is a perspective view of the actuator concerning a 4th example .

6 is a perspective view of a moving member of the actuator shown in FIG.

FIG. 7 is applied to a structure of an actuator of the present invention.
FIG. 15 is a perspective view illustrating a moving member of an actuator according to a fifth embodiment .

FIG. 8 is applied to a structure of an actuator of the present invention.
FIG. 16 is a perspective view illustrating a moving member of an actuator according to a sixth embodiment .

FIG. 9 is applied to a structure of an actuator of the present invention.
It is a perspective view showing the moving member of the actuator concerning a 7th example .

FIG. 10 is a view showing a structure applied to an actuator according to the present invention;
It is a perspective view showing the moving member of the actuator concerning an 8th example .

FIG. 11 is a view showing a structure applied to an actuator structure according to the present invention;
It is a perspective view showing the moving member of the actuator concerning a 9th example .

FIG. 12 shows a first structure of the actuator according to the present invention.
It is a perspective view of an example of an assembly.

FIG. 13 is a first embodiment of the connecting means of the actuator structure according to the present invention.

FIG. 14 is an exploded perspective view showing a first embodiment of the connecting means of the actuator structure according to the present invention.

FIG. 15 shows a second embodiment of the connecting means of the actuator structure according to the present invention.

FIG. 16 is a third embodiment of the connecting means of the structure of the actuator according to the present invention.

FIG. 17 is a fourth embodiment of the connecting means of the structure of the actuator according to the present invention.

FIG. 18 is a fifth embodiment of the connecting means of the actuator structure according to the present invention.

FIG. 19 shows a second example of the structure of the actuator according to the present invention.
It is a perspective view of an example of an assembly.

FIG. 20 shows a third structure of the actuator according to the present invention.
It is a perspective view of an example of an assembly.

FIG. 21 shows a fourth structure of the actuator according to the present invention.
It is a perspective view of an example of an assembly.

[Explanation of symbols]

10, 50, 62, 78, 214, 216, 218 ... Actuator 210, 288, 294, 296 ... Actuator structure 12, 52, 64 ... Structural member 14, 170 ... Motor 16, 112 ... Ball screw 18, 82, 106, 236, 238, 240 ... Moving body 20, 66, 68, 84, 140, 152 ... Moving member 36, 142, 156 ... Frame part 46, 108, 158 ... Guide part 80, 154 ... Timing belt 90, 166 ... Motor pulley unit 92, 168 Idle pulley unit 116, 148, 188, 202 Connection part 160 Table top 162 Slide table 182, 196 Rodless cylinder 212, 244 Column member 246 Groove 252 Fluid passage 258 Bolt 279 ... Electrical signal path

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Akio Saito, Inventor 4-2-2 Kinudai, Taniwahara-mura, Tsukuba-gun, Ibaraki Pref. SMC Corporation Tsukuba Technology Center (72) Inventor Toru Sugiyama 4 Kinudai, Yawahara-mura, Tsukuba-gun, Ibaraki -2-2 SMC Corporation Tsukuba Technology Center (56) References JP-A-58-102810 (JP, A) JP-A-62-166978 (JP, A) JP-A-63-77690 (JP, A) ) Japanese Utility Model Application No. 2-96001 (JP, U) Japanese Utility Model Application No. 64-11427 (JP, U) Japanese Utility Model Application No. 3-57503 (JP, U)

Claims (3)

(57) [Claims] 1. A method according to claim 1 , further comprising a recess having a plurality of outer surfaces in a longitudinal direction.
A pillar-shaped structural member having an elongated connecting groove formed therein,
The structure portion is arranged in the recess under a driving action of a driving source.
Moved object displaced along the longitudinal direction of the material is incorporated
An actuator comprising a moving member; and a plurality of longitudinally extending connecting grooves formed on a plurality of outer surfaces.
Composed of a plurality of structural members
Support members formed in a three-dimensional shape, and the support members are connected to each other or the structural members and the support members.
Doo and a connecting means for constructing a structure with a plurality linked, it consists, with respect to the concave portion of the structural member, the opening direction of the recess
Mounting hands for individually and removably attaching the moving members
A step, wherein the connecting means is connected to one of the support members via a screw member.
And the head is inserted into the connecting long groove of the other structural member.
Includes a bolt to be engaged, and corresponds to a cross-sectional shape of the head.
An actuator structure , wherein the head is held in the connecting long groove formed as described above . 2. A structure according to claim 1, wherein the structure of the actuator, characterized in that the controller is provided to be freely positioned move freely and detachable. 3. The structure according to claim 1, wherein the moving object moves along a longitudinal direction of the structural member.
An actuator structure driven by a belt member .