JPH08237931A - Linear-rotary composite-type pulse motor - Google Patents

Abstract

PURPOSE: To prevent the length of a stator in a rotary pulse motor section from getting longer than the intrinsic length when an output stroke is long. CONSTITUTION: This is a linear-rotary composite-type pulse motor 1 wherein a linear pulse motor section 2 and a rotary pulse motor section 3 are connected in the axis direction and each moving member 6 and each rotor 16 jointly use only one and the same output shaft 7 and they are supported so as to move or rotate in the axis direction. A rotor shaft (a second output shaft) 17 of the rotary pulse motor section 3 is a hollow shaft. And, a movable member shaft (a first output shaft) 7 of the rotary pulse motor section 3 is slidably passed through the hollow shaft through a ball spline bearing 18 with a rotation- stopping mechanism. Because of this structure, the output in the rotation direction of the rotor shaft (the second output shaft) 17 of the rotary pulse motor section 2 is transmitted to the movable member shaft (the first output shaft) 7 of the linear pulse motor section 2 through the bearing 18 and the shaft 7 is let to serve as an output shaft of the composite-type pulse motor 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear rotary composite type pulse motor.

[0002]

2. Description of the Related Art Conventionally, as a motor of this type, US Pat. No. 5,093,596 (Title of the invention: Combined linear rotary direct drive step motor; JP-A-4-4-2)
No. 29063), a cylindrical three-phase VR type linear step motor part and a hybrid type three-phase rotary step motor part or a VR type three-phase rotary step motor part are arranged side by side in the axial direction, and the respective output shafts are made common. What is housed in one housing is disclosed.

That is, as shown in FIG. 4, in a conventional linear rotary composite type pulse motor 100, a three-phase VR type linear pulse motor portion 101 and a hybrid type three-phase rotary pulse motor portion 102 are arranged in the axial direction. ,
A moving element 104, which is integrally assembled by a bolt (not shown) and has a moving element small tooth 104a facing the small element tooth 103a of the stator 103 of the linear pulse motor portion 101, and Hybrid type 3
The common output shaft 107 is provided with a rotor 106 provided with rotor small teeth 106a facing the stator small teeth 105a of the stator 105 of the phase rotary pulse motor portion 102. Reference numerals 108 and 109 denote stator windings wound around the respective stators 103 and 105.

The common output shaft 107 is slidably supported in the axial direction and the rotating direction by brackets 110 and 111 provided at both ends. In this case, the sliding portions of the brackets 110 and 111 with the output shaft 107 form slide bearings.

[0005]

However, such a conventional linear rotary composite type pulse motor 100 is used.
Then, when the stroke of the linear pulse motor portion 101 is longer than the length of the stator 105 of the rotary pulse motor portion 102, the difference between the stroke and the length of the stator 105 of the rotary pulse motor portion 102 is There has been a problem in that the axial length of the stator 105 must be lengthened by an amount substantially equivalent to that.

The present invention has been made in view of the above points,
An object of the present invention is to solve the above-mentioned problems and to provide a linear rotary composite type pulse motor in which the length of the stator of the rotary pulse motor portion does not become longer than the inherent length even when the output stroke is long.

[0007]

The structure of the present invention for achieving the above object is such that a linear pulse motor section and a rotary pulse motor section are arranged so as to be integrally coupled in the axial direction. The linear rotary composite type pulse motor in which the mover and the rotor share the same output shaft and are rotatably supported in the axial direction is as follows.

(1) As the common output shaft, a first output shaft fixed to the mover of the linear pulse motor unit and outputting a mechanical output of the composite type pulse motor, and the first output shaft With a bearing arranged on the output shaft and a hollow shaft fixed to the rotor of the rotary pulse motor unit,
A second output shaft that slidably penetrates the first output shaft through the bearing in the hollow shaft, wherein the bearing is a ball spline bearing and serves as a rotation stopping mechanism. A plurality of grooves for rolling the rolling balls of the bearing are provided on the outer peripheral surface of the first output shaft in parallel with the axial direction, and a plurality of the rolling balls are rolled in the grooves. The output in the rotation direction output from the second output shaft is transmitted to the first output shaft via the bearing.

(2) In the above item (1), the first output shaft is hollow.

[0010]

As described above, according to the present invention, the rotor shaft (second output shaft) of the rotary pulse motor is a hollow shaft, and the hollow shaft is provided with a ball spline bearing having a rotation stopping mechanism. The mover shaft (first output shaft) of the linear pulse motor unit is slidably penetrated, and the output in the rotating direction of the rotor shaft (second output shaft) of the rotary pulse motor unit is output.
It is transmitted to the mover shaft (first output shaft) of the linear pulse motor unit via the bearing, and the mover shaft (first output shaft) is used as the output shaft of the linear rotary composite type pulse motor. There is. Therefore, the length of the output stroke is adjusted by the ball spline bearing with the rotation stopping mechanism so that the length of the stator of the rotary step motor portion does not become longer than the inherent length.

The mover shaft (first output shaft) has a hollow structure to reduce the inertia of the shaft itself to improve the responsiveness and to connect a suction device such as a vacuum device to one shaft end. Then, another component or the like can be adsorbed and supported on the other shaft end.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be exemplarily described in detail below with reference to the drawings. FIG. 1A is a sectional view showing an embodiment of a linear / rotary combined pulse motor of the present invention, and FIG. 1B is an enlarged view of a portion A of FIG. 1A.

In FIG. 1 (a), the composite type pulse motor 1 comprises a linear pulse motor unit 2 and a rotary pulse motor unit 3, which are driven by a predetermined axial step stroke generated by the linear pulse motor unit 2. Combining the mechanical output and the mechanical output at a predetermined step angle in the rotation direction generated by the rotary pulse motor unit 3,
Output.

The stator 4 of the linear pulse motor unit 2 is
The stator 14 of the rotary pulse motor unit 3 is arranged in the housing 5 composed of the brackets 5a and 5b and the housing member 5c, and is arranged so as to be sandwiched between the brackets 15a and 15b, and is also shown in the drawing. Each of them is axially arranged and coupled by a screw.

The mover 6 disposed in the stator 4 of the linear pulse motor unit 2 is fixed to one hollow first output shaft (mover shaft) 7 and has the first output. Axis 7
Are supported by linear bearings 8a, 8b and rotary bearings 9a, 9b provided on the brackets 5a, 5b so as to be movable in the axial direction and rotatable in the rotating direction. In addition, 10 is a stator winding line wound in the stator 4.

The rotor 16 disposed in the stator 14 of the rotary pulse motor unit 3 has a hollow second output shaft (rotating shaft) having an inner diameter larger than the outer diameter of the first output shaft 7. (Secondary shaft) 17, and the second output shaft 17 is
It is rotatably supported in the rotating direction by rotary bearings 19a and 19b provided on the brackets 15a and 15b. Then, the first output shaft 7 is provided in the hollow portion of the second output shaft 17 via a ball spline bearing 18 with a rotation stopping mechanism arranged on the outer peripheral portion of the first output shaft 7. Is slidably penetrated and supported. In addition, 20 is a stator winding line wound in the stator 14.

The ball spline bearing 18 is a bearing that supports the first output shaft (mover shaft) 7 so as to be movable in the axial direction. For example, there is a ball spline bearing shown in FIG.
That is, the bearing 18 is called a kind of linear bearing, and the cylindrical outer cylinder 18a, a plurality of rolling balls 18b, and the rolling balls 18b are continuously arranged in a line in the axial direction. Retainer 18c that holds multiple rows of objects
Consists of In addition, on both inner peripheral end surfaces of the outer cylinder 18a,
In addition to the seal 18d, a stop ring 18e is assembled.

On the outer peripheral surface of the first output shaft 7,
A plurality of (six in this embodiment) ball rolling grooves 7a are provided in parallel to the axial direction, and the bearing 18 allows the rolling balls 18b to roll while the first output shaft 7 penetrates. It is mounted so as to roll in the moving groove 7a. In the case of the present embodiment, the ball rolling groove 7a provided in the first output shaft 7
Are provided at three locations (3 pairs) on the outer peripheral surface of the first output shaft 7 at equal pitches, with two adjacent grooves 7a as one pair.

The plurality of rolling balls 18b are assembled between the outer cylinder 18a and the surface of the ball rolling groove 7a of the first output shaft 7, and the inside of the groove 7a is directly directed in the axial direction.
The moving element 6 is supported while rolling. The retainer 1
Reference numeral 8c denotes the plurality of rolling balls 18b and the outer cylinder 18
a guide groove 18f made of a synthetic resin to be held together with a, the rolling balls 18b being continuously arranged in a row in the axial direction and rolling in the ball rolling groove 7a; A plurality of rows of circulation grooves 18h are formed, each of which includes a return groove 18g for returning the balls 18b to circulate. The plurality of rows of circulation grooves 18h are usually arranged at three or more locations in the circumferential direction of the inner peripheral surface at equal pitches.

Therefore, the bearing 18 has the structure described above, which allows the first output shaft 7 to move in the axial direction with a small friction, and at the same time, the ball rolling groove 7a.
And a plurality of rolling balls 18b rolling in the groove 7a constitute a rotation stopping mechanism.

(Linear Pulse Motor Section) Next, referring to FIG. 1, the stator core 4a of the stator 4 of the linear pulse motor section 2 has a plurality of protrusions radially inward at equal pitch angles. As shown in FIG. 1B, a plurality of stator small teeth 4b are axially arranged on the inner peripheral surface of these salient poles at equal pitches. . The stator winding 10 is separately wound around each of these salient poles.

On the other hand, in the mover 6 in the stator 4, the magnetic pole cores 6a, 6b, 6 are arranged on the first output shaft 7.
c and 6d and magnetic poles 6a and 6b and 6c and 6d, respectively, sandwiched between them and ring-shaped permanent magnets 6e and 6f which are magnetized in the axial direction are arranged. On the outer peripheral surface of the magnetic pole cores 6a, 6b, 6c, 6d, a plurality of moving small teeth 6g are arranged at equal pitches in the axial direction facing the small stator teeth 4b. Magnetic pole cores 6a, 6b,
The small teeth 6g of the moving elements 6c and 6d are shown in FIG.
As shown in FIG. 5, the tooth pitches are deviated from each other by 1/2. The tooth pitch of the stator small teeth 4b and the tooth pitch of the mover small teeth 6g are the same. 6h is a non-magnetic member and 6i is a pitch adjusting member.

The linear pulse motor section 2 generates a mechanical output in a predetermined step stroke in the axial direction by the pulse drive current flowing through the stator winding 10.

(Rotary Pulse Motor Section) Stator core 14a of the stator 14 of the rotary pulse motor section 3
, A plurality of salient poles are arranged radially inward at equal pitch angles, and these salient poles have a plurality of stator small teeth 14b circumferentially arranged on the inner peripheral surface thereof. Are arranged at an equal pitch. The stator winding 20 is separately wound around each of these salient poles.

On the other hand, the rotor 16 in the stator 14
The magnetic pole cores 16a, 16 on the second output shaft 17.
b, 16c, 16d and the magnetic poles 16a, 16b and 16c,
Ring-shaped permanent magnets 16e and 16f that are sandwiched in the middle of 16d and are magnetized in the axial direction are provided. On the outer peripheral surface of the magnetic pole cores 16a, 16b, 16c, 16d, a plurality of rotor small teeth 16g are arranged at equal pitches in the circumferential direction so as to face the stator small teeth 14b.
The rotor small teeth 16g of each of the magnetic pole cores 16a, 16b, 16c, 16d are displaced from each other by ½ of the tooth pitch. The tooth pitch of the stator small teeth 14b and the tooth pitch of the rotor small teeth 16g are the same.

The rotary pulse motor section 3 generates a mechanical output at a predetermined step angle in the rotating direction by the pulse drive current flowing through the stator winding 20.

FIG. 3 is a sectional view showing a modified example of FIG. 1 of the present embodiment, in which the length of the composite type pulse motor 1 in the axial direction is shortened and improved.

In FIG. 3, when the linear pulse motor unit 2 and the rotary pulse motor unit 3 of FIG. 1 are axially arranged and coupled by screws (not shown), one bracket 5b, linear bearing 8b and By omitting the rotary bearing 9b, one of the hollow first output shaft (mover shaft) 7 is connected to the ball spline bearing 18 of the rotary pulse motor unit 3 and the hollow second output shaft (rotation shaft) is rotated. It is supported by the rotary bearings 19a and 19b via a slave shaft 17.

Note that the technique of the present invention is not limited to the technique in the above-described embodiment, and may be implemented by means of another mode that achieves the same function, and the technique of the present invention can be variously modified within the scope of the above configuration. Can be changed or added.

[0030]

As is apparent from the above description, according to the linear rotary composite type pulse motor of the present invention, the composite type pulse motor is fixed to the moving element of the linear pulse motor unit as a common output shaft, and A first output shaft that outputs a mechanical output of the motor, a bearing that is disposed on the first output shaft, and a hollow shaft that is fixed to the rotor of the rotary pulse motor unit And a second output shaft that slidably penetrates the first output shaft via the bearing, the bearing being a ball spline bearing with a rotation stopping mechanism, and the second output shaft. Since the output in the rotation direction output by the motor is transmitted to the first output shaft via the bearing, the ball spline bearing adjusts the long output stroke to adjust the stator of the rotary pulse motor unit. The long But, there is an effect that does not become longer than the original specific length.

[Brief description of drawings]

FIG. 1 (a) is a cross-sectional view showing an embodiment of a linear / rotary composite type pulse motor of the present invention, FIG. 1 (b).
FIG. 2 is an enlarged view of part A of FIG.

2 is a partially cutaway view of the ball spline bearing 18. FIG.

FIG. 3 is a cross-sectional view showing a modified example of FIG. 1A of this embodiment.

FIG. 4 is a cross-sectional view of a conventional linear rotary composite type pulse motor.

[Explanation of symbols]

 1 Linear / Rotary Composite Type Pulse Motor 2 Linear Pulse Motor Section 3 Rotary Pulse Motor Section 6 Moving Element 7 First Output Shaft 7a Ball Rolling Groove 16 Rotor 17 Second Output Shaft 18 Ball Spline Bearing 18b Rolling Ball

Front Page Continuation (72) Inventor Masahiro Yoshioka 1400 Shinogatada, Kashiwa-shi, Chiba Oriental Motor Co., Ltd. (72) Inventor Yukio Kuraishi 1400 Shinoroda, Kashiwa-shi, Chiba Oriental Motor Co., Ltd. Toshikane Ki 1400, Shinagoda, Kashiwa-shi, Chiba Oriental Motor Co., Ltd.

Claims (2)

[Claims] 1. A linear pulse motor unit and a rotary pulse motor unit are arranged so as to be integrally coupled in the axial direction, and each of the mover and the rotor shares one output shaft, In a linear rotary composite type pulse motor that is supported so as to be movable in the axial direction and rotatable, in the composite type pulse motor, the common output shaft is fixed to the mover of the linear pulse motor unit. A first output shaft that outputs a mechanical output, a bearing that is disposed on the first output shaft, and a hollow shaft that is fixed to the rotor of the rotary pulse motor unit. A second through which the first output shaft is slidably penetrated through a bearing;
And the bearing is a ball spline bearing, and as a rotation stopping mechanism, the rolling balls of the bearing roll on the outer peripheral surface of the first output shaft in parallel to the axial direction. A plurality of grooves for allowing the rolling balls to roll in the grooves, and the output in the rotational direction output by the second output shaft is output via the bearing to the first Linear rotary compound type pulse motor characterized by transmitting to the output shaft of. 2. The linear rotary composite type pulse motor according to claim 1, wherein the first output shaft has a hollow shape.