JP3445700B2 - NC drive actuator - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an NC drive actuator which is a combination of a linear motor and a motor so that an output shaft rotates and axially moves.

[0002]

2. Description of the Related Art A tool change arm unit of an automatic tool changer such as a machine tool, for example, a machining center, requires two operations of rotation (swirl) and axial movement.
Conventionally, the prior art disclosed as a drive mechanism for a tool changing arm is disclosed in Japanese Utility Model Publication No. 4-13234 and No. 4-17.
There is issue 031.

In Japanese Utility Model Laid-Open No. 4-13234, a plurality of spur gears 102 to 10 are driven by a servomotor 101 as shown in FIG.
5 and the spline shaft portion 122, the center shaft 107 having the tool exchange arm 106 at the tip is rotated forward and backward, and the servo motor 108 rotates the center shaft 107 through the bevel gears 109 and 110 and the pinion 111 and the rack 112. It is designed to reciprocate in any direction.

As shown in FIG. 8, the kaihei 4-17031 has a synchro belt 11 driven by a servo motor 113.
A bar screw nut (not shown) is fixed to rotate a spline shaft 116 engaged with a tool changing arm 115 via a screw screw 4 and a ball screw 119 rotated via a synchro belt 118 by a servo motor 117. Tool changing arm 11 via 120 and lever 121
5 is adapted to reciprocate in the axial direction.

[0005]

In the prior arts of Japanese Utility Model Laid-Open No. 4-1234234 and Japanese Utility Model Laid-Open No. 4-17031, the servo motors are used for rotation and axial movement, respectively. However, both of them had a problem that the number of parts was large, the structure was complicated, and control was difficult. The present invention has been made in view of the above problems of the prior art, and an object of the present invention is to provide a simple and reliable structure that can be used for a tool changing device of a machine tool, a turret tool post device, or the like. To provide a high NC control actuator.

[0006]

In order to achieve the above object, an NC drive actuator according to claim 1 of the present invention comprises an annular moving body which is concentrically provided in a hole of an actuator body so as to be axially movable only. A mechanical system including a shaft member concentrically provided only in the movable body center hole,
A ring-shaped permanent magnet in which the N pole and the S pole are arranged so as to be continuous in the axial direction or concentric with the inner surface of the hole of the actuator body, or the U phase, the V phase, and the W phase are wound so as to sequentially move in the axial direction. The coil and a coil wound around the outer surface of the moving body so that U-phase, V-phase and W-phase corresponding to the permanent magnet are axially moved in order, or N corresponding to the coil on the inner surface of the hole of the actuator body. An electric system of a linear motor including a permanent magnet having poles and S poles arranged in series in the axial direction, a stator provided concentrically on the inner surface of the moving body, and a rotor provided concentrically on the outer surface of the shaft member. An electric system of a motor consisting of, a rotation detector for detecting a rotation angle of the shaft member, and a linear detector for detecting an axial movement amount,
The axial movement by the linear motor and the rotation by the motor via the moving body of the shaft member are used.

The N of claim 1 configured as described above.
The C drive actuator is an NC-controlled linear motor in which a moving body that is axially movable along at least two guide grooves that are circumferentially equidistant in the axial direction on the inner surface of the hole of the actuator body and is concentrically provided. And a concentric shaft member that can only rotate on this moving body through a plurality of bearings is driven by an NC control servo motor.
Since it has a simple structure without any complicated mechanism, it is an NC control actuator with a highly reliable detector with few failures and malfunctions.

In the NC drive actuator according to claim 2 of the present invention, only the axial movement is possible in the hole of the actuator body, the concentric annular moving body and the center hole of the moving body are only rotatable. A ring-shaped permanent magnet or U-phase or V-phase, in which a N-pole and a S-pole are arranged axially in a concentric arrangement with a mechanical system including a shaft member and an inner surface of the hole of the actuator body. , A coil wound so that the W phase axially moves in order, and a coil wound so that the U phase, V phase, and W phase corresponding to the permanent magnets are axially moved sequentially in the outer surface concentric with the shaft member. Alternatively, an electric system of a linear motor including a permanent magnet arranged so that N poles and S poles corresponding to coils on the inner surface of the hole of the actuator body are axially continuous, and a stator provided concentrically on the inner surface of the moving body. And the shaft member A linear motor for a shaft member, which includes an electric system of a motor including a rotor provided concentrically on an outer surface, a rotation detector for detecting a rotation angle of the shaft member, and a linear detector for detecting an axial movement amount. The axial movement by the motor and the rotation by the motor are used.

[0009]

N according to claim 2, which is constructed as described above.
C control actuator are those having the same effect as 請 Motomeko 1.

According to the third aspect of the present invention, the tool exchanging arm unit is provided at the tip of the shaft member to constitute the exchanging arm unit of the automatic tool exchanging device. Therefore, the exchanging arm unit main body also serves as the actuator main body, which is extremely simple and reliable. It becomes a high exchange arm unit.

Further, according to claim 4 , the turret tool post is constituted by providing a turret for detachably attaching a plurality of tools on the outer periphery at the tip of the shaft member, so that the tool post main body also serves as the actuator main body. And it becomes a highly reliable turret turret.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

[0014]

【Example】

[Embodiment 1] FIG. 1 is a vertical sectional view of an exchange arm unit using an NC drive actuator of Embodiment 1. First, the present change arm unit is used in an automatic tool changer (ATC) of a machining center, for example, between the tool magazine and the spindle, the tool change arm 10 has an angle of approximately 90 ° and 1 °.
The tool is exchanged by a turning of 80 ° and an axial inserting / removing operation.

The main body 1 of the exchange arm unit also serves as the actuator main body, and axial guide grooves 1a and 1b are vertically formed on the inner surface of the hole of the main body 1 at equal intervals on the circumference. Guide key 2 movably engaged with groove 1a
An annular moving body 2 having a and 2b at both ends is provided concentrically so as to be movable only in the axial direction.

A coil 3A of the linear motor 3 is concentrically provided on the inner surface of the hole of the main body 1, and a ring-shaped permanent magnet 3B is concentrically provided on the outer surface of the moving body 2 at a position corresponding to the coil 3A. The coil 3A of the linear motor 3 is U, V, W
Are wound so as to sequentially move in the axial direction by the supplied AC voltage, and the permanent magnet 3B is arranged such that at least one set of N pole and S pole is continuous in the axial direction. Therefore, the linear motor 3 including the coil 3A and the permanent magnet 3B moves the moving body 3 in the axial direction according to the drive signal from the servo control unit of the NC device described in detail later. Coil 3A
May be provided on the moving body 2 and the permanent magnet 3B may be provided on the main body 1.

Further, an output shaft 5 is rotatably supported by the movable body 2 via a plurality of bearings 4, and a twin type tool exchange arm 10 is fixed to the tip of the output shaft 5. The stator 6A is concentrically provided on the inner surface of the hole of the moving body 1, the rotor 6B is concentrically provided on the outer surface of the output shaft 5 at a position corresponding to the stator 6A, and the motor 6 is built-in. The output shaft 5 is rotated by a drive signal from the servo control unit of the device.

A main body of a rotation detector 8 for detecting the rotation angle of the output shaft 5 is provided on the inner surface of the upper portion of the main body 1 so as to be movable only in the axial direction along the axial guide groove 1c and concentrically. The rear end of the output shaft 5 is inserted in the rotor of the rotation detector 8. Further, the scale portion of the linear detector 9 for detecting the axial position of the output shaft 5 is fixed to the upper surface of the main body of the rotation detector 8, and the reading portion of the linear detector 9 is attached to the main body 1 side. ing.

Therefore, the output shaft 5 (tool change arm 10)
The axial position and rotation angle of the two detectors 8 and 9 are always
And is input to the NC device and is controlled by a known NC servo system which performs positioning when the current position or current angular position from the detectors 8 and 9 matches the position command value. . The rotation detector 8
A known rotation detector such as an encoder or a resolver can be used, and the linear detector 8 can be a known linear detector such as an inductosyn or magnescale.

FIG. 2 is an operation timing chart of the motor 6 and the linear motor 3 during one cycle of the automatic tool changing operation.
The operation will be described below. In the case of automatically exchanging the tools of the spindle (not shown) positioned at the tool exchange position and the magazine pot (not shown) indexed at the exchange position of the tool magazine by the tool exchange arm 10 located in the center, Rotation a causes the tool change arm 10 to be almost 9
The tool rotates about 0 ° and grips the spindle tool (used tool) and the magazine tool (next tool) at the same time with the grip claws at both ends of the tool changing arm 10.

Then, as the linear motor 3 moves forward b, the tools gripped at both ends of the tool changing arm 10 are simultaneously removed from the spindle and the magazine pot. Immediately before this removal operation ends,
That is, when there is no risk of interference between the respective taper holes of the spindle and the magazine pot and the rear end portion of the tool to be gripped, the forward rotation C of the motor 6 starts again, the tool exchanging arm 10 rotates 360 °, and it is used. The positions of the used tool and the next tool are exchanged.

[0022] Just before the replacement operation is completed, i.e., when the possibility of interference has disappeared the tapered bore and the tool rear end of the main shaft and Ma moth Jinpotto, the linear motor 3 starts to retract d, the tool change arm Tools gripping both ends are inserted into the respective taper holes to the spindle and magazine pot. When the insertion is completed, the exchange arm 10 is rotated by approximately 90 ° by the reverse rotation e of the motor 6 again, and the tool exchange arm 1 is rotated.
0 separates from both tools and waits at the same time.

[Embodiment 2] FIG. 3 is a vertical sectional view of an exchange arm unit using an NC drive actuator of Embodiment 2. In FIG. 3, axial guide grooves 11a are formed on the lower side of the inner surface of the hole of the main body 11 of the exchange arm unit at equal intervals on the circumference, and a guide key 12a movably engaged with the guide groove 11a is provided on the outer circumference. Is provided concentrically and is movable only in the axial direction.

An output shaft 15 is rotatably and concentrically supported by the movable body 12 via a plurality of bearings 14, and a twin type tool exchange arm 20 is fixed to the tip of the output shaft 15. A coil 13A of U-phase, V-phase, and W-phase of the linear motor 13 similar to that of the first embodiment is concentrically provided above the guide groove 11a in the hole of the main body 1 and is provided on the outer surface of the output shaft 15 at a position corresponding to the coil 13A. A ring-shaped permanent magnet 13 </ b> B having N and S poles is concentrically fitted via 17. A stator 16A of the motor 16 similar to that of the first embodiment is provided on the inner surface of the center hole of the moving body 12, and a rotor 16B is concentrically provided on the outer surface of the output shaft 15 at a position corresponding to the stator 16A. Further, a rotation detector 18 and a linear detector 19 similar to those of the first embodiment are attached to the rear end of the output shaft 15.

FIG. 4 is a block diagram showing the servo system of the NC device 50 for controlling the NC drive actuator. The arithmetic unit 52 stores the program command value stored in advance and the rotation angle data of the rotation detector 18 or the straight line detector. The part that compares 19 position data. The command unit 51 is a unit that outputs a command signal based on the calculation result of the calculation unit 52. The servo control unit 53 is a unit that drives the linear motor 13 or the motor 16 based on a command signal from the command unit. N above
The same servo system of the C device 50 is attached to the above-described first embodiment and the third embodiment described later. The tool exchanging operation of the second embodiment is the same as that of the first embodiment and will be omitted to avoid duplication of description.

[Third Embodiment] FIG. 5 is a vertical sectional view of an exchange arm unit including an NC drive actuator according to a third embodiment. In FIG. 5, the stator 26A of the motor 26 similar to that of the first embodiment is inserted in the inner surface of the hole of the main body 21 of the exchange arm unit on the lower side, and the coil 23A of the linear motor 23 similar to that of the first embodiment is installed on the upper side. It has been inserted. Body 21
A sleeve 22 having a female spline engraved in the center hole is rotatably supported through a plurality of bearings 24 on both sides of an inner surface motor 26 of the hole of the spline shaft for engaging the female spline of the sleeve 22. The output shaft 25 having the portion 25a is provided so as to be movable only in the axial direction.

The permanent magnet 23B of the linear motor 23 is concentrically provided at a position corresponding to the coil 23A on the outer surface of the output shaft 25, and the rotor 26 of the motor 26 is provided on the outer surface of the sleeve 22.
B is provided concentrically. Therefore, the output shaft 25 is NC
A linear motor 23 for driving moves and positions in the axial direction,
It is designed to be rotated and rotationally positioned by an NC drive motor 26, and the tool change arm 3 is attached to the tip of the output shaft 25.
0 is fitted, and a rotation detector and a linear detector (not shown) are attached to the upper end similarly to the first and second embodiments. The operation of the third embodiment is the same as that of the first embodiment, and the description thereof will be omitted.

[Embodiment 4] FIG. 6 is a vertical cross-sectional view of a main part of a turret tool post using an NC drive actuator. The replacement arm unit bodies 1, 11, 21 of Embodiments 1 to 3 are shown in FIG.
To the tool rest main body 31, and the tool changing arms 10, 20,
A turret 40 to which a plurality of tools T1 and T2 are detachably attached instead of 30 is fixed concentrically to the tip of the output shaft, and a pair of couplings having crown-shaped teeth on the opposing end surfaces of the tool rest body 31 and the turret 40. 41A and 41B are fixed to each other. The linear motor and the motor (not shown) are the same as those described in the first to third embodiments.

Therefore, in the turret tool post of the fourth embodiment, the couplings 41A and 41B are engaged and disengaged by the axial reciprocation of the output shaft (turret rotation center shaft) by the linear motor, and the couplings 41A and 41B are separated. When the turret 40 is moved forward, the turret 40 is swung and indexed by the motor, and after the indexing is completed, the turret 40 is retracted by the linear motor and the coupling 41
B is pressed by 41A, and the turret 40 is attached to the tool post body 31.
Is positioned and clamped.

[0030]

Since the present invention is configured as described above, it has the following effects. Since an NC drive actuator having an output shaft that is axially moved by a linear motor and is rotated by the motor is used, and this NC drive actuator constitutes the exchange arm unit of the automatic tool changer, the tool exchange arm can be inserted and removed and rotated. One operation can be performed directly by the motor, and two different operation timings can be arbitrarily adjusted by changing the NC software, and the tool change operation time can be further shortened and a simple mechanism Therefore, the number of constituent parts can be reduced, and the failure rate can be reduced by eliminating the need for control equipment such as limit switches and relays, resulting in an inexpensive and highly reliable replacement arm unit. Further, since the turret turret is the NC control actuator, the turret turret has the same effect as described above.

[Brief description of drawings]

FIG. 1 is a vertical cross-sectional view of a replacement arm unit including an NC drive actuator in which a linear motor and a motor according to a first embodiment of the present invention are installed.

FIG. 2 is a timing chart of a tool changing operation between the linear motor and the motor.

FIG. 3 is a vertical cross-sectional view of an exchange arm unit including an NC drive actuator in which a linear motor and a motor according to a second embodiment are provided in series.

FIG. 4 is a simplified diagram of the NC drive actuator of the second embodiment and a block diagram of the NC servo system.

FIG. 5 is a vertical cross-sectional view of an NC drive actuator in which a fixed motor and a linear motor of the third embodiment are provided in series.

FIG. 6 is a cross-sectional view of essential parts of a turret tool post using an NC drive actuator according to a fourth embodiment.

FIG. 7 is a cross-sectional view of a conventional servo motor driven replacement arm unit.

FIG. 8 is a sectional view of a conventional servo motor-driven replacement arm unit.

[Explanation of symbols]

1,11,21 Replacement arm unit body 2.12 Mobile 3,13,23 Linear motor 5,15,25 Output shaft 3A, 13A, 23A, coil 3B, 13B, 23B Permanent magnet 5,15,25 Output shaft 6,16,26 motor 6A, 16A, 26A stator 6B, 16B, 26B rotor 8,18 rotation detector 9,19 Linear detector 10, 20, 30 Tool change arm 22 Sleeve 31 Turret body 40 turrets 41A, 41B coupling 50 NC device 51 Command unit 52 operation unit 53 Servo controller

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-62-118755 (JP, A) JP-A-7-51965 (JP, A) Actual exploitation Sho-61-17885 (JP, U) (58) Field (Int.Cl. ⁷ , DB name) B23Q 3/157 H02K 16/00 H02K 41/03

Claims (4)

(57) [Claims] 1. A mechanical system including an annular moving body which is axially movable and concentrically provided in a hole of an actuator body, and a shaft member which is only rotatable and concentrically provided in a central hole of the moving body. A ring-shaped permanent magnet or a U-phase, a V-phase, and a W-phase, which are arranged concentrically with the inner surface of the hole of the actuator body so that the N-pole and the S-pole are axially continuous, and are wound so as to sequentially move in the axial direction. And a coil wound around the outer surface of the moving body so that the U-phase, V-phase, and W-phase corresponding to the permanent magnet move axially in order, or the coil on the inner surface of the hole of the actuator body. An electric system of a linear motor composed of permanent magnets arranged so that N poles and S poles are continuous in the axial direction, a stator provided concentrically on the inner surface of the moving body, and a concentric surface on the outer surface of the shaft member. The electric power of the motor consisting of the rotor An air system, a rotation detector for detecting the rotation angle of the shaft member, and a linear detector for detecting the amount of axial movement, and the axial movement of the shaft member by a linear motor and the rotation by a motor. An NC drive actuator characterized by utilizing and. 2. A mechanical system including an annular moving body that is axially movable and concentrically provided in a hole of an actuator body, and a shaft member that is only rotatable and concentrically provided in a central hole of the moving body. And a ring-shaped permanent magnet or a U-phase, a V-phase, and a W-phase wound around the inner surface of the hole of the actuator body so that the N-pole and the S-pole are axially connected to each other so that the U-phase, the V-phase, and the W-phase are axially moved in order. And a coil wound on the outer surface of the shaft member such that the U-phase, the V-phase, and the W-phase corresponding to the permanent magnet are axially moved in order on the outer surface of the shaft member or the coil on the inner surface of the hole of the actuator body. An electric system of a linear motor composed of permanent magnets arranged so that N poles and S poles are continuous in the axial direction, a stator provided concentrically on the inner surface of the moving body, and a concentric surface on the outer surface of the shaft member. Electricity of motor consisting of rotor A system, a rotation detector for detecting a rotation angle of the shaft member, and a linear detector for detecting an axial movement amount, and utilizes axial movement of the shaft member by a linear motor and rotation by the motor. An NC drive actuator characterized by the following. 3. A tool changing arm is provided at the tip of the shaft member.
Constituting a replacement arm unit for an automatic tool changer
The NC drive actuator according to claim 1 or 2 . 4. A plurality of tools are attached to the outer periphery of the tip of the shaft member.
Provide a turret that can be detachably attached and construct a turret tool post.
The NC drive actuator according to claim 1 or 2, wherein the NC drive actuator is formed.