JP4905930B2 - Cylinder drive type rotary actuator - Google Patents

Description

  The present invention relates to a cylinder-driven rotary actuator that rotates a rotor through a power transmission mechanism using a rack and pinion using a cylinder device as a drive source.

  As this type of rotary actuator, for example, disclosed in Patent Document 1 (Japanese Utility Model Publication No. 48-23034), Patent Document 2 (Japanese Patent Application Laid-Open No. 62-137402), and Patent Document 3 (Japanese Patent Application Laid-Open No. 10-292802). There is something that was done.

  The one described in Patent Document 1 accommodates a pinion and two parallel racks meshing with the pinion in the machine base, and a pair of each rack on both sides of the machine base, and therefore a total of four cylinders. And a free piston that contacts both ends of the rack is fitted therein, and the rack is pushed by the free piston, thereby rotating the pinion.

  Patent Document 2 discloses a partition wall in which a drive cylinder in which a drive shaft having a rack is slidably fitted and a stop cylinder in which a stop shaft having a rack is slidably fitted is supported by a pinion. The racks of both cylinders are meshed with a pinion by being combined in parallel through the section.

  Patent Document 3 discloses a rocking shaft driving air cylinder for rotating a rocking shaft provided with a pinion in a cylindrical post and rotating the rocking shaft, and a rocking shaft for adjusting the speed. The speed adjustment hydraulic cylinder is installed in the post, and the rack is connected to the piston rod of the swing cylinder driving air cylinder, and the rack is connected to the piston rod of the swing cylinder speed adjustment hydraulic cylinder. Are guided by respective guides provided in parallel to the inner surface of the post, and these racks are engaged with the pinions of the swing shaft.

  However, in any of these, the pinion side and the rack side are specified as one integrated structure as described above, and it is impossible to arbitrarily change the driving capability, speed, etc. according to the application, specifications, etc. .

In general, in rack processing, the degree of processing on one side of a material is extremely large, and therefore, the stress state of the gear cutting surface of the rack and the opposite surface often differ greatly, and there is a high possibility of bending. Since the bending of the rack affects the engagement with the pinion, if the pinion side and the rack side are integrated, it is difficult to maintain the proper positional relationship between the support parts. The backlash caused by the meshing backlash increases, which is a factor that hinders smooth operation.
Japanese Utility Model Publication No. 48-23034 JP-A-62-137402 JP-A-10-292802

  Therefore, the problem of the present invention is that the combination form of the pinion side and the rack side can be arbitrarily changed in accordance with the application and specifications, etc., in addition to the ability to drive and speed, etc. It is an object of the present invention to provide a cylinder-driven rotary actuator that can achieve an appropriate meshing relationship with a small backlash between the rack and the pinion.

  A cylinder-driven rotary actuator according to the present invention includes a pinion unit having a pinion supported by a main body block, and a rack unit configured to guide a rack that moves integrally with a piston of the cylinder device by an end block at one end of the cylinder device. Thus, by joining the main body block and the end block, the pinion and the rack are engaged with each other, and the pinion and the rack are covered with the main body block and the end block as a cover.

With this as a basic configuration, the invention according to claim 1 is characterized in that the body block of the pinion unit is formed with a recess where a part of the pinion faces, and the end block of the cylinder device is U-shaped to be fitted to the body block. The rack is penetrating through the main body block and the end block so that the pinion and the rack are engaged with each other in the concave portion of the main body block.

The invention according to claim 2 , which is a specific form thereof, includes a rotor that is supported in the main body block and exposed on the main body block, and the pinion is disposed in the main body block such that a part of the pinion faces the concave portion of the main body block. It is fixed to the rotor shaft.

In the invention which concerns on Claim 3 , the rack cover which accommodates the rack which penetrated this to the edge part block of a cylinder apparatus is attached.

In the invention according to claim 4 , which is a specific form thereof, a shock absorber is built in the rack cover.

According to a fifth aspect of the present invention, a second cylinder device is connected to the first cylinder device having a rack penetrated through the end block on the side opposite to the end block, and the piston rod is connected to the first cylinder. It is connected to the piston of the device to form a double acting cylinder structure.

In the invention according to claim 6 , the end block and the rack are shared, and two cylinder devices are provided opposite to each other on both sides of the end block.

In the invention according to claim 7 , which is the embodiment, the end block is provided with a speed adjusting section that adjusts the speed by circulating the pressure fluid between the two cylinder devices on both sides of the end block.

According to an eighth aspect of the present invention, recesses are formed on both side surfaces of the main body block of the pinion unit so that the pinion partially faces each other, and the end blocks of the two rack units are fitted and joined to the main body block. The racks of the two rack units are engaged with the pinions in the respective recesses, and each end block and the main body block are covered together with the pinion.

  According to the present invention, a rack unit that drives a rack with a cylinder device and a pinion unit that receives a pinion are separated, and the end block of the former cylinder device and the latter main body block are joined to each other, thereby And the pinion mesh with each other, and these are covered with the main body block and the end block as a cover, so that the pinion unit side can be shared and the cylinder unit stroke on the rack unit side can be changed, or it can be Easy to change to various combinations according to required driving capacity, rotation speed, reduction ratio, etc. it can.

  In addition, since the end block on the rack unit side and the main body block on the pinion unit side are joined to engage the rack and pinion, it is possible to easily adjust the engagement with a shim or the like, and the rack requires high processing accuracy. In addition, it is not necessary to increase the machining accuracy of other parts to a high degree, and it is possible to achieve a high meshing accuracy with the rack and pinion, and to provide a low-back cylinder-driven rotary actuator at a low cost. .

  Further, since the end block on the rack unit side and the main body block on the pinion unit side also serve as a cover that covers the meshed rack and pinion, the overall structure is simple, and assembly and maintenance are facilitated.

According to the first aspect of the present invention, the end block of the cylinder device is U-shaped, the rack passes through the end block, and the main body block and the end block are fitted and joined together, so that the pinion and the rack are connected. Since the structure engages in the recess of the main body block, it is possible to simplify the joint structure of both units combined in a state where the pinion and the rack are covered.

According to the invention of claim 2 , in the pinion unit, the rotor has its shaft supported in the main body block so as to be exposed on the main body block, and the pinion has the main body so that a part thereof faces the concave portion of the main body block. Since it is fixed to the rotor shaft within the block, the bearing portions of the rotor and pinion can be protected by the main body block and the rotor itself.

According to the invention of claim 3 , since the rack cover for accommodating the rack penetrating the end block of the cylinder device is attached, not only the pinion but also the entire rack cover is not exposed to the outside. The meshing between the rack and the pinion is not hindered by external factors.

According to the invention of claim 4 , since the shock absorber is built in the rack cover, the rotary actuator with the shock absorber can be easily realized.

According to the fifth aspect of the present invention, the multi-stage rotational power can be output using the rack unit cylinder device as a double-acting cylinder structure.

According to the sixth aspect of the present invention, since the end block and the rack are shared and the two cylinder devices are arranged opposite to each other on both sides of the end block, the rotor torque can be increased, and According to the invention which concerns on Claim 7 , the hydro checker which adjusts the speed in that case can be easily added to an edge part block.

According to the invention according to claim 8 , since the rack unit parallel duplex structure with a common pinion unit is provided, compared with the case of the invention of claim 6 in which the cylinder device is provided oppositely on both sides of the end block, The overall length can be shortened to increase the rotor torque.

  The cylinder drive type rotary actuator according to the present invention is basically constructed by assembling the separated pinion unit A and rack unit B as shown in FIG. 1, but the pinion unit A is shared by the rack unit B. By changing the aspect on the side, various combinations can be adopted according to the required driving ability, rotational speed, and the like.

First, the structure on the pinion unit A side that can be used in common will be described.
As shown in FIGS. 1 and 2, the pinion unit A has a shaft portion 1 a (rotor shaft) protruding integrally with the circular rotor 1, and is supported by upper and lower bearings 4 a and 4 b in the main body block 2. By fixing the pinion 3 to the shaft portion 1 a in the main body block 2, the rotor 1 is rotatable on the upper surface of the main body block 2, and the pinion 3 is rotatable integrally with the rotor 1 in the main body block 2. It has become. Groove-shaped recesses 5 are formed on both side surfaces of the main body block 2 so as to extend over both end edges thereof, so that a part of the pinion 3 faces the recesses 5.

  On the other hand, as shown in FIGS. 1 and 3 to 6, the basic configuration of the rack unit B is such that the end block 7 that also serves as the rod side cover of the cylinder device 6 that is operated by air pressure or hydraulic pressure has a U-shape, and the piston rod 8 A rack 9 integrated with the piston rod 8 is formed by cutting a part of the rack 9 and this rack 9 is slidably passed through the both end walls 7a and 7b of the U-shaped end block 7, and the slide The movement is guided by the guide tube 10 on the side wall portion 7 c which is one wall of the end block 7. The guide cylinder 10 is partially lacking on the cylinder device 6 side in order to ensure the exposed length of the rack 9.

  The rack 9 protrudes from the end wall portion 7b on one side of the end block 7 (opposite to the cylinder device 6). When the cylinder device 6 is not provided on the protruding side, the rack 9 protrudes. A bottomed cylindrical rack cover 11 that can accommodate the portion is attached to the end wall portion 7b. At that time, the flange 11a of the rack cover 11 is screwed to the outer surface of the end wall portion 7b. A shock absorber can be provided in the rack cover 11 as necessary, and a stroke adjusting member that can be adjusted from the outside can be added.

  The U-shaped size of the end block 7 of the rack unit B is a size that covers almost half of the main body block 2 of the pinion unit A from the outside and fits closely to the almost half. In order to combine A and the rack unit B, the end block 7 and the main body block 2 are fitted together, and both are screwed and joined. As a result, the rack 9 and the pinion 3 are engaged with each other in the recess 5, and the rack 9 and the pinion 3 are covered with the end block 7 and the main body block 2 as covers.

  Next, on the basis of the configuration as described above, an embodiment in which the rack unit B side is variously changed with respect to the commonly used pinion unit A side will be described.

  The first embodiment shown in FIGS. 7 and 8 uses the two rack units B provided with the rack cover 11 as described above, and their end blocks 7 are arranged almost on both sides of the body block 2 of the pinion unit A. The two rack units B are fitted together and joined, the rack 9 of the two rack units B is engaged with the pinion 3 of the pinion unit A, and the two rack units B are juxtaposed on both sides of the pinion unit A. The pinion 3 (rotor 1) is rotated at B.

In the second embodiment shown in FIG. 9 and FIG. 10, the cylinder device on the rack unit side is an opposing continuous type using two cylinder devices. That is, the rack unit B-2 of the second embodiment is provided with two cylinder devices 6 that share the rack 9 on both sides of the U-shaped end block 7. In this case, as shown in FIG. 10, a communication portion 12 that communicates between both cylinder devices 6 is provided on the outer surface of the side wall portion 7 c of the end block 7, and a speed adjusting member 13 is attached to the communication portion 12. A hydro checker unit (speed adjusting unit) 14 that adjusts the speed by circulating a pressure fluid between the two cylinder devices 6 is attached.
In addition, you may attach the stroke adjustment member 15 to the outer end of the cylinder apparatus 6 as needed.

  In Embodiment 3 shown in FIG. 11, the cylinder unit on the rack unit side is a double acting type in which two cylinder devices are directly connected. That is, the rack unit B-3 according to the third embodiment has a cylindrical spacer 16 on the side opposite to the end block 7 in addition to the basic configuration as described above with reference to FIGS. Thus, a double-acting cylinder device 6 is provided. The spacer 16 is for avoiding interference between the protection of the rod side packing portion of the double acting cylinder device 6 and the teeth of the rack 9.

  The rack unit B-2 of the second embodiment (cylinder device opposing connection type) shown in FIGS. 9 and 10 or the rack unit B-3 of the third embodiment (return cylinder device type) shown in FIG. The combination with the pinion unit A has the following forms.

  In the fourth embodiment shown in FIG. 12, only one rack unit B-2 of the second embodiment shown in FIGS. 9 and 10 is used, and this is joined only to one side of the main body block 2 of the pinion unit A, and the opposite side. Is a cover in which the concave portion 5 of the main body block 2 is covered with an attached cover C which is a U-shaped plate.

  In Example 5 shown in FIG. 13, two rack units B-2 of Example 2 shown in FIGS. 9 and 10 are used, and these are joined to both sides of the main body block 2 of the pinion unit A.

  Example 6 shown in FIG. 14 is the rack unit B-2 of Example 2 shown in FIGS. 9 and 10, and uses two of the rack unit B-2 with and without the hydrochecker unit 14, These are joined to both sides of the main body block 2 of the pinion unit A.

  The seventh embodiment shown in FIG. 15 uses two rack units B-3 of the third embodiment shown in FIG. 11 and is joined to both sides of the main body block 2 of the pinion unit A. The thing provided with the absorber and the stroke adjustment member 15 is shown.

It is a disassembled perspective view of an example of the pinion unit which comprises the rotary actuator of this invention, and an example of a rack unit. It is sectional drawing of a pinion unit. It is a front view of the rack unit shown in FIG. It is also a plan view. It is a back view similarly. It is sectional drawing similarly. FIG. 3 is a perspective view of Embodiment 1 in which the rack unit pinion unit and the pinion unit shown in FIGS. 1 and 2 are combined. FIG. It is the perspective view of the front side of Example 2 which made the cylinder apparatus by the side of a rack unit the opposing connection type by two cylinder apparatuses. It is a perspective view of the back side. It is the perspective view of the front side of Example 3 which made the cylinder device by the side of a rack unit double action type which connected two cylinder devices directly. 10 is a plan view showing a combination of Example 4. FIG. 10 is a plan view showing a combination of Example 5. FIG. 10 is a plan view showing a combination of Example 6. FIG. 10 is a plan view showing a combination of Example 7. FIG.

Explanation of symbols

A Pinion unit B Rack unit B-2 Rack unit B-3 Rack unit C Attached cover 1 Rotor 1a Shaft (rotor shaft)
2 Body block 3 Pinions 4a and 4b Upper and lower bearings 5 Recess 6 Cylinder device 7 End block 7a and 7b End wall 7c Side wall 8 Piston rod 9 Rack 10 Guide tube 11 Rack cover 11a Flange 12 Communication portion 13 Speed adjustment member 14 Hydro checker unit (speed adjustment unit)
15 Stroke adjusting member 16 Spacer

Claims (8)

The main body block and the end block include a pinion unit having a pinion supported by the main body block, and a rack unit that guides a rack that moves integrally with the piston of the cylinder device by an end block at one end of the cylinder device. And the pinion and the rack mesh with each other, and the pinion and the rack are covered with the main body block and the end block as a cover ,
The main body block of the pinion unit is formed with a recess where a part of the pinion faces, and the end block of the cylinder device is a U-shape that fits with the main body block, and the rack passes through the end block. A cylinder-driven rotary actuator characterized in that a pinion and a rack are engaged in the recess by fitting and joining a block . A rotor having a bearing in the main body block and exposed on the main body block is provided, and the pinion is fixed to the shaft of the rotor in the main body block so that a part of the pinion faces the concave portion of the main body block. The cylinder drive type rotary actuator according to claim 1. The cylinder drive type rotary actuator according to claim 1 or 2, wherein a rack cover for accommodating a rack penetrating the end block of the cylinder device is attached. 4. The cylinder drive type rotary actuator according to claim 3, wherein a shock absorber is built in the rack cover. A second cylinder device is connected to the first cylinder device having the end block penetrating the rack on the side opposite to the end block, and the piston rod is connected to the piston of the first cylinder device. 5. The cylinder drive type rotary actuator according to claim 1, wherein the cylinder drive type rotary actuator has a moving cylinder structure. 3. The cylinder drive type rotary actuator according to claim 1, wherein two cylinder devices are provided opposite to each other on both sides of the end block with a common end block and rack. The cylinder drive type rotary actuator according to claim 6, wherein the end block is provided with a speed adjusting unit that adjusts the speed by allowing a pressure fluid to flow between the two cylinder devices on both sides of the end block. Concave portions on which the pinion partly faces are formed on both side surfaces of the main body block of the pinion unit, and the end blocks of the two rack units are fitted and joined to the main body block so that the racks of the two rack units are in the respective concave portions. The cylinder drive type rotary actuator according to any one of claims 1 to 7, wherein the cylinder drive type rotary actuator is engaged with the pinion and covered with the pinion by each end block and the main body block.

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