JPH0375763B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to an actuator that can control an arbitrary rotation angle of a shaft.

"Prior Art" Conventionally, swing motors have been used for swinging arms in construction machines, rotation indexing in machine tools, and the like. This is also called a rotary cylinder.
The cylinder has a partition wall and a partition plate integrated with the rotating shaft, and the cylinder is provided with two connection ports that communicate with the inside of the cylinder, and pneumatic or hydraulic pressure is applied from one connection port. When supplied, the rotating shaft rotates clockwise by a predetermined angle, and when air pressure or hydraulic pressure is supplied from the other connection port, it rotates in the opposite direction.

``Problem to be Solved by the Invention'' However, the rotation angle of the rotating shaft of such a swing motor is determined to be a constant rotation angle such as 60°, 90°, 180°, 280°, etc. depending on the model. There is. The rotating shaft reciprocates within this fixed rotation angle range, but does not stop midway through this fixed rotation angle range.

Therefore, if you want to use such a swing motor to stop the rotating shaft at three or more positions within its rotation angle range, you need to attach a stopping mechanism such as a cam mechanism to the swing motor from the outside. It has been considered to engage and disengage the rotating shaft of the swing motor and stop the rotating shaft at a predetermined rotation angle. However, in this case, the predetermined rotation angle of the rotation axis and
It is troublesome to have to synchronize the timing of engagement of the stop mechanism to the swing motor, and depending on the shape of the stop mechanism, it may be difficult to synchronize the timing of engagement of the stop mechanism to the swing motor. It is inconvenient that the rotation angle of the rotating shaft may differ depending on the direction of rotation of the rotating shaft, and two swing motors provided with a stopping mechanism in advance are connected coaxially.
It was also considered that one of the rocking motors could be rotated by a predetermined rotational angle and stopped by the stop mechanism, and then the other rocking motor could be rotated by a predetermined rotational angle, thereby stopping at three locations within the total rotational angle range. However, in this case, the rotational resistance becomes large due to the weight of the swing motor attached to the workpiece, and there is a disadvantage that not only smooth operation cannot be obtained, but also the mechanism becomes large.

The present invention solves the above-mentioned problems.The purpose of the present invention is to allow a shaft to reciprocate in any rotation angle range, and to easily and accurately rotate the shaft at any rotation angle position within the rotation angle range. To provide a compact actuator that can be stopped smoothly.

"Means for Solving the Problems" The actuator of the present invention has a shaft rotatably supported by a main body, and an axis thereof extending in a direction orthogonal to the shaft via a first connecting member on the side of the main body. A first cylinder mechanism is provided facing the direction, and a second cylinder mechanism is provided on the movable part of the first cylinder mechanism so that the axial direction is parallel to the first cylinder mechanism.
The second support portion is connected to the second connecting member via the connecting member.
a cylinder mechanism, a cam drive body connected to a movable part of the second cylinder mechanism that is not connected to the first cylinder mechanism via a third connecting member, and a cam drive body fixed to the shaft and connected to the cam. It is characterized by comprising a cam that is engaged with a drive body and reciprocates the shaft by movement of the cam drive body.

"Operation" In the actuator of the present invention, when the first cylinder mechanism operates, the second connecting member, the entire second cylinder mechanism, and the third connecting member,
The cam drive body moves and the shaft rotates back and forth. Also,
When the second cylinder mechanism operates, the cam drive body moves via the third connecting member, causing the shaft to reciprocate. That is, the stopping angle of the shaft changes corresponding to the two stopping states (extended state and contracted state) of each cylinder mechanism.

The stopping angle of the shaft appears as a result of combining the combined operations (total of 4 states) of these cylinder mechanisms. The rotation angles of the shaft corresponding to the three states differ by the amount corresponding to the stroke of each cylinder mechanism.

Therefore, by appropriately setting the stroke etc. of each cylinder mechanism, it is possible to stop the shaft at any of three arbitrary angles (i.e., to make it reciprocate in any rotation angle range, and to stop it at any angle within this rotation angle range). can be stopped).

"Embodiment" An embodiment of the present invention will be described below with reference to FIGS. 1 to 3. Reference numeral 1 in FIG. 1 is a cylindrical main body, and this main body 1 has end plates 2 and 3 at both ends thereof. A shaft 4 is fitted into the main body 1 with one end thereof protruding from the main body 1, and is rotatably supported by the main body 1 via bearings 5 and 6.

Further, a first connecting member (a first connecting member) is provided on the side of the main body 1.
(connecting plate) 7 is fixed. A first cylinder mechanism 8 is attached to the first connecting member 7, located below the main body 1 in FIG. This first cylinder mechanism 8 consists of a single-rod double-acting cylinder, the piston rod 9 of which is oriented in a direction perpendicular to the axis 4 and is shown in the first position in FIG.
It is made to protrude to the left side of the cylinder 10 of the cylinder mechanism 8.

A second connecting member (second connecting plate) 11 is attached to the piston rod 9 of the first cylinder mechanism 8. A second cylinder mechanism 12 is attached to this second connecting member 11 . The second cylinder mechanism 12 is a single-rod type double-acting cylinder, and is located below the main body 1 in FIG. 1 and is arranged in parallel with the first cylinder mechanism 8. The respective axes of the first cylinder mechanism 8 and the second cylinder mechanism 12 are parallel, and the piston rod 13 of the second cylinder mechanism 12 is
The cylinder 14 of the cylinder mechanism 12 is projected to the right side. The second connecting member 11 includes a first
A cylindrical guide member 15 located between the cylinder mechanism 8 and the second cylinder mechanism 12 is fixed parallel to the axis of the first cylinder mechanism 8.
A guide rod 16 attached to the first connecting member 7 is slidably fitted into the guide member 15 .

Piston rod 13 of second cylinder mechanism 12
There is a substantially U-shaped third connecting member (third connecting plate).
17 is attached at one end. The other end of the third connecting member 17 is slidably fitted into a guide rod 18 attached to the second connecting member 11.
The guide rod 18 is parallel to the axis of the second cylinder mechanism 12.

A cam drive body (pin) 19 oriented in the same direction as the shaft 4 is fixed to the third connecting member 17 .

On the other hand, a proximal end portion of a lever (rectangular plate)-shaped cam 21 having a long hole 20 formed at its distal end is fixedly attached to a predetermined location of the shaft 4 . A cam drive body 19 is slidably fitted into the elongated hole 20.

The main body 1 is fixed to, for example, the tip of a rotating arm via a mounting portion 22 shown in FIGS. 2 and 3.

Next, the operation of the actuator configured as described above will be explained. For example, attach the main body 1 to the tip of a rotating arm via the attachment part 22,
For example, a tool is attached to the shaft 4. Then, when the first cylinder mechanism 8 is operated to extend in the state where the first cylinder mechanism 8 and the second cylinder mechanism 12 are contracted, the second connecting member 11 is connected to the second cylinder mechanism 12 together with the second cylinder mechanism 12. The second connecting member 11 moves in the direction of the arrow A in the figures and FIG. 3, and stops when it reaches a position C in two-dot chain line in the figures. At this time, the guide member 15 slides relative to the guide rod 16 in the direction of arrow A in the figure, and the second cylinder mechanism 12 is moved parallel to the axis of the first cylinder mechanism 8.
move accurately. Further, as the second cylinder mechanism 12 moves, the third connecting member 17 and the cam drive body 19 also move along the arrow A in FIGS. 2 and 3.
move in the direction. Therefore, the cam driving body 19 slides within the elongated hole 20 with respect to the elongated hole 20, and the shaft 4 and the cam 21 rotate by a predetermined angle clockwise in FIG. 2 about the shaft 4 and then stop. , the cam 21 is located at a location indicated by a chain double-dashed line D in FIG. Therefore,
Machining can be performed at that position using a tool attached to the shaft 4.

Next, when the first cylinder mechanism 8 is contracted, the second cylinder mechanism 12, guide member 15, third connection member 17, and cam drive body 19 are moved together with the second connection member 11 as shown in FIGS. In Figure 3, move in the direction of arrow B and return to the original position shown in the figure.
Machining can be performed using a tool attached to the shaft 4 at this position.

Next, when the second cylinder mechanism 12 is extended, the cam drive body 19 is moved together with the third connecting member 17.
moves in the direction of arrow B in FIGS. 2 and 3, and the third connecting member 17 moves in the direction of arrow B in FIGS.
Reach position and stop. At this time, the third connecting member 17 is guided by the guide rod 18 and moves accurately in the same direction as the axial direction of the second cylinder mechanism 12 .
Therefore, the cam driving body 19 slides within the elongated hole 20 with respect to the elongated hole 20, and the shaft 4 and the cam 21 rotate by a predetermined angle in the counterclockwise direction in FIG. 2 about the shaft 4. The cam 21 is stopped, and the cam 21 is located at a location indicated by a chain double-dashed line F in FIG. Therefore, machining can be performed using a tool attached to the shaft 4 at this position.

Next, when the second cylinder mechanism 12 is contracted, the cam drive body 19 is moved together with the third connecting member 17.
moves in the direction of arrow A in FIGS. 2 and 3 and returns to the original position shown in the same figures.

Note that the order in which the first cylinder mechanism 8 and the second cylinder mechanism 12 extend and retract is not limited to the order described above, and may be changed as appropriate. By changing the order in which the extend and contract operations occur, the shaft 4 can be rotated within the reciprocating rotation range. It can be rotated and stopped at the three locations within the reciprocating rotation angle range.

Furthermore, the distance between the shaft 4 and the cam drive body 19 and the strokes of the first cylinder mechanism 8 and the second cylinder mechanism 12 are not necessarily constant, and can be changed to any rotation angle range of the shaft 4. can be obtained.

Further, in the embodiment described above, the shaft 4 is stopped at three locations within its rotational angle range, but this is not limited to this, and for example, two or more actuators of the embodiment described above may be used in combination. Therefore, the rotation angle range of the actuator shaft can be expanded by integrating the rotation angles of the shafts 4 of each actuator, and the shaft 4 can be stopped in multiple stages within the rotation angle range.

Further, in the embodiment described above, the rotation of the shaft 4 was stopped when each piston (not shown) of the first cylinder mechanism 8 and the second cylinder mechanism 12 reached their stroke ends. Without being limited to this, if the first cylinder mechanism 8 and the second cylinder mechanism 12 are controlled by appropriately combining a control valve, a timer, a switch, etc. with the first cylinder mechanism 8 and the second cylinder mechanism 12, The shaft 4 can be stopped at any rotation angle within its rotation angle range,
The shaft 4 can also be reciprocated intermittently or continuously.

"Effects of the Invention" As explained above, according to the present invention, the shaft can be rotated reciprocally in any rotation angle range, and the shaft can be easily and accurately rotated at any rotation angle position within the rotation angle range. Moreover, it is possible to provide a compact actuator that can be stopped smoothly.

[Brief explanation of drawings]

FIG. 1 is a partially omitted side view showing an embodiment of the present invention, FIG. 2 is a front view thereof, and FIG. 3 is a bottom view thereof. DESCRIPTION OF SYMBOLS 1... Main body, 4... Shaft, 7... First connecting member (first connecting plate), 8... First cylinder mechanism,
9, 13...Movable part (piston rod), 10,
14...Support part (cylinder), 11...Second connection member (second connection plate), 12...Second cylinder mechanism, 17...Third connection member (third connection plate), 19...Cam driving body (pin), 20... Long hole, 21... Cam.

Claims (1)

[Scope of Claims] 1. A shaft rotatably supported by a main body, and a first shaft provided on the side of the main body via a first connecting member, with its axis directed in a direction orthogonal to the shaft. 1
a second cylinder mechanism, and a second cylinder mechanism whose supporting part is connected to the movable part of the first cylinder mechanism via a second connecting member so that the axial direction is parallel to the first cylinder mechanism. a cylinder mechanism;
a cam driving body connected to the movable part of the cylinder mechanism via a third connecting member; and a cam driving body fixed to the shaft and engaged with the cam driving body, and the movement of the cam driving body reciprocatingly rotates the shaft. An actuator characterized by comprising a cam that causes the actuator to move. 2. A patent claim characterized in that the first cylinder mechanism and the second cylinder mechanism are comprised of single-rod type double-acting cylinders, and each piston rod is provided as the movable part so as to advance in directions opposite to each other. The actuator according to item 1. 3. The cam has an elongated hole on its tip side, and consists of a lever extending in a direction perpendicular to the axis, and the cam drive body consists of a pin provided parallel to the axis, and the pin is 3. The actuator according to claim 1, wherein the actuator is fitted into a long hole.