JPS63305766A - Self-driven linear motor - Google Patents

Abstract

PURPOSE:To permit the fine control of movement and the driving of a long running distance, by a method wherein an oscillating body is provided with piezo-electric laminates on both sides thereof while the timing of the expansion and contraction of the laminates is regulated. CONSTITUTION:In a self-driven linear motor 1, incorporated into a linear rail X having a rectangular section, a linear running body 2 is arranged at the lower surface side of a sliding surface Y, opposing to the linear rail X, and a transfer body 15, supporting a conveying matter W, is arranged at the upper surface side of the sliding surface Y. The running body 2 is constituted of metallic blocks 5a, 5b, arranged at both sides of the laminates of vertical oscillating elements 4 consisting of two sheets of annular piezo-electric elements having different directions of polarization mutually, and a bolt 7, inserted into a screw thread provided on the inner surfaces of respective metallic blocks 5a, 5b to screw the screw threads 8a, 8b on the upper and lower ends thereof and pinch the oscillating elements 4. The transfer body 15, consisting wheels 16 and side plates 17, is pressed against the sliding surface Y by tension springs 19 to contact with the surface Y. According to this method, the transfer body 15 moves on the linear rail X by the expansion and contraction of the oscillating body 3 and the expansion rate of the piezo-electric elements 10a, 10b.

Description

Detailed Description of the Invention Industrial Application Fields The present invention is for transporting objects by moving along linear rails, and for positioning tools, workpieces, etc. of NC machine tools, and for WA fine-tuning. This invention relates to a self-propelled linear motor that is used for fine feeding of mirror specimens, fine angle adjustment of engineering reflecting mirrors, etc.

<Prior Art> In order to move the conveyed object and make it possible to precisely adjust the position, a driving body that can move a minute distance is required.

Therefore, as a solution to this problem, the patent application
As disclosed in No. 322, a linear step motor including a piezoelectric laminate for linear movement and a laminate for clamping was proposed.

<Problems to be Solved by the Invention> By the way, in this configuration, since the piezoelectric laminate for clamping is transferred while being in contact with the corresponding wall of the straight passage, it is difficult to transfer the piezoelectric laminate for clamping when the straight passage has a complicated structure such as a cylinder. In addition, the corresponding wall requires high parallelism and smoothness, making it difficult to process. Furthermore, if the path becomes long, errors cannot be avoided, which results in a drawback that the system is unsuitable for applications requiring a long distance to travel.

The object of the present invention is to provide a self-propelled linear motor that does not have the above-mentioned drawbacks.

Means to solve problems〉 The present invention For one side sliding surface of a linear rail with a polygonal cross section.

It includes a vibrating body that vibrates in the vertical direction, and a piezoelectric laminate that is disposed at substantially maximum amplitude positions at both ends of the vibrating body and presses against one sliding surface of the linear rail. A linear running body is provided in which an expansion/contraction operation occurs in the direction of layer a in synchronization with the vibration of A transport body is placed in the.

The present invention is characterized in that the linear traveling body is connected to the transporting body via a tension spring at a node position approximately in the center of the vibrating body.

Effect> The linear traveling body is held on the linear rail by being connected to the transport body via a tension spring.

When the vibrating body expands, since the central part of the vibrating body is at the node position, both ends slightly expand and contract outward.

At this time, for example, when the piezoelectric laminate on the left end expands and comes into pressure contact with one sliding surface of the linear rail, and the piezoelectric laminate on the right end contracts and the vibrating body expands, the piezoelectric laminate on the left end stretching side Since the vibrating body is connected to the linear rail side through the body, the vibrating body expands using the press-contact portion as a fulcrum, and its right end extends.

Next, when the piezoelectric laminate at the left end contracts and the piezoelectric laminate at the right end expands and comes into pressure contact with one sliding surface of the linear rail, the vibrating body contracts, and the piezoelectric laminate at the right end stretches. Since the vibrating body is connected to the linear rail side via the vibrating body, the vibrating body contracts using the pressure contact portion as a fulcrum, and the left end is pulled together.

Therefore, this continuity causes the linear motor to travel along the linear rail.

If the linear motor is to run in reverse, the timing of expansion and contraction of the left and right piezoelectric laminates may be reversed in accordance with the timing of expansion and contraction of the vibrating body.

<Example> In Fig. 1.2, l is a self-propelled linear motor l of the present invention assembled on a linear rail X having a rectangular cross section, and the sliding surface y of the linear rail X facing A transport body 1 that supports a linear traveling body 2 on the lower surface side and a conveyed object W on the upper surface side.
5 are installed.

The linear traveling body 2 has a rod shape along the linear rail X, and its configuration will be explained.

Referring to FIG. 1, 3 is a vibrating body, and a longitudinal vibrating element 4 is made up of two annular piezoelectric elements with mutually different polarization directions.
．． Metal blocks 5a and 5b made of duralumin are arranged on both sides of the laminate of No. 4, and a bolt 7 is inserted into the center of each member, and the screws 8a and 8b at the upper and lower ends of the bolts are inserted into the metal blocks 5a and 5b, respectively. It is constructed by screwing the vibration element 4.4 into a screw provided around the inner surface and sandwiching the vibration element 4.4 between metal blocks 5a and 5b.

In such a configuration, as shown in FIG.
, 4 may be provided with horn-shaped metal blocks 6a, 6b whose ends are reduced in diameter to amplify the vibrations.

The lengths of the metal blocks 5a, 5b, 6a, and 6b are such that both ends thereof are at the center position (node position) of the vibration element 4.4!
I) to h wavelength.

Further, a piezoelectric laminate 10a is formed by stacking a plurality of piezoelectric element plates polarized in the thickness direction on both ends of the vibrating body 2, and electrically distributing power to each piezoelectric element plate in parallel.

lOb is fixed so that its stacking direction coincides with the direction orthogonal to the sliding surface y of the linear rail X.

Next, the transport body 15 will be explained.

The transfer body 15 consists of two front and rear wheels 16.16 placed a on the sliding surface y, and a side plate 17.17 rotatably connecting the wheels 16.16. The node position (center) of the vibration element 4.4 and the side plate 17.
A spring hook 11.18 is protruded from 17, and a tension spring 19.19 is passed through the spring hook 11.18. The tension springs 19 and 19 cause the linear traveling body 2 to
and the transfer body 15 are urged toward the upper and lower sliding surfaces y and y, and the piezoelectric laminates 10a and 10b are biased toward the sliding surfaces y and y.
press against.

In the above configuration, in order to move the self-propelled linear motor l along the linear rail X in the right direction as shown by the arrow in FIG. 1, as shown in FIG. E1 to 4
When an alternating voltage of sinωt is applied, the piezoelectric laminate 10a at the right end has f(t)=-1 when 0<1↑12,
When d/2<t<T, a rectangular pulse voltage with a timing waveform of jjf(t) -1 is applied, and a rectangular pulse voltage with a timing waveform of -f (t) is applied to the piezoelectric laminate 10b at the left end.

Alternatively, a voltage of g2cojωt may be applied to the piezoelectric laminate 10a, and a voltage of E2sinωt may be applied to the piezoelectric laminate lOb.

As a result, the piezoelectric laminate lOa contracts and the piezoelectric laminate 10b expands in synchronization with the expansion of the vibrating body 3 by the longitudinal vibration element 4.4, so that the sliding surface y and the piezoelectric laminate 10b are The piezoelectric laminate 10a of the linear traveling body 2'' advances to the right with the piezoelectric 81-layer body 10b as a fulcrum (FIG. 4 A to C).

Next, in synchronization with the contraction of the vibrating body 3, the piezoelectric laminate 1
Since 0a expands and the piezoelectric laminate lOb contracts, the sliding surface y and the piezoelectric laminate 10a come into pressure contact, and the linear traveling body 2
The piezoelectric laminate 10b is pulled to the right with the piezoelectric laminate 10a as a fulcrum. (FIG. 4 H to H) Then, as a result of this continuous operation, the linear traveling body 2 moves step by step as the vibrating body 3 expands and contracts, and along with this,
The transport body 15 on the linear rail X has its wheels 16.18
Run to the right while rotating. Therefore, by mounting the transported object W on the transfer body 15 or by continuously connecting the transported object W, it becomes possible to transport the transported object W.

In addition, when the self-propelled linear motor 1 is made to travel to the left side, the timing of expansion and contraction of the piezoelectric laminates 10a and 1Ob with respect to the vibrating body 3 may be reversed.

In FIG. 6, a linear traveling body 20 having the same structure as the linear traveling body 2 is used in place of the transporting body 15, and the linear traveling body 20 itself is used as the transporting body. With such a configuration, the driving force increases.

In addition, whether the conveyed object is mounted on the linear traveling body 20 or
Just keep it going.

In FIG. 7, the linear rail X has an equilateral triangular cross section, and a linear running body 30 is disposed on each sliding surface y. In such a configuration, the spring hooks connect the pieces 31 to the longitudinal vibration elements 4 and 4, respectively.
4 protrudes outward in a bifurcated manner from the center position of the piezoelectric laminate 10a, lOb, and by passing the tension springs 32 between adjacent spring hooks around the linear rail This achieves pressure contact and retention of the self-propelled linear motor itself.

The longitudinal vibration element 4.4 described above and the piezoelectric laminate 10m, 10b
For voltage control, in addition to using an AC power supply, an alternating voltage can be generated using a DC power supply via a switching mechanism.

<Effects of the Invention> As described above, the present invention provides the piezoelectric laminates 10a and 10b on both sides of the vibrating body 3, and connects the vibrating body 3 and the piezoelectric laminate 10a.
By adjusting the timing of expansion and contraction of , 10b, it is possible to run on the linear rail X. Therefore, the rotation direction of the linear rail X can be adjusted by timing conversion, and the driving force can be adjusted by voltage control. In addition to being easy to control, the linear rail X only needs to have a polyhedral cross section, and the structure is extremely simple.Moreover, the piezoelectric laminates 10a and 10b have tension springs 19.
32, the sliding surface y does not require high smoothness and can be easily molded. Moreover, for this reason, it has excellent effects such as being applicable not only to minute movement control but also to cases where a long travel distance is required.

[Brief explanation of the drawing]

The accompanying drawings show an embodiment of the present invention, and FIG. 1 is a partially cutaway side view of a self-propelled linear motor 1, FIG. 2 is a front view of the same, and FIG.
The figure is a chart diagram showing voltage application timing, Figure 4 is an explanatory diagram showing operation timing, Figure 5 is a side view of the second embodiment, Figure 6 is a side view of the third embodiment, and Figure 8. is a front view of the fourth embodiment. X; linear rail y; sliding surface l; self-propelled linear motor 2; linear traveling body 3; vibrating body 4.4; longitudinal vibration element 5a, 5b, 6a, 6b; metal block 10a, l
Ob; piezoelectric laminate 15; transfer body 19, 32; tension spring
20.30; Applicant for linear traveling body Nippon Spark Plug Co., Ltd. Sada Yukikuro Sawa Minoru, 1> Agent Patent attorney Kitao Matsuura 'a'; (] Figure 1 Figure 2 Figure 3 Image 1 Figure 4 Figure 5 Figure 6 Figure 7 Figure 3 F Procedural amendment (method) % formula % 1. Indication of case Japanese Patent Application No. 140248/1982 2. Title of invention Self-propelled linear motor 3. Amendment Relationship with the case of the person who filed the patent application Address: 14-18 Takatsuji-cho, Mizuho-ku, Nagoya Representative Suzu
Ki-tei -11・□r-,"21',,1 address
Mugishima 2nd Building 8, 3-11-11 Chiyoda, Naka-ku, Nagoya
No. 01 (052) 331-14155, Date of amendment order August 5, 1988 6. Subject of amendment Description 7, Contents of amendment

Claims (1)

[Claims] 1) A vibrator that vibrates vertically on one sliding surface of a linear rail having a polygonal cross-section, and a vibrating body disposed at approximately the maximum amplitude position on both ends of the vibrating body, It is equipped with a piezoelectric laminate that presses against the side sliding surface, and both piezoelectric laminates expand and contract in the stacking direction in synchronization with the vibration of the vibrating body, and both piezoelectric laminates are voltage controlled so that the timing of expansion and contraction is opposite to each other. At the same time, a transporting body is arranged on the other sliding surface of the linear rail, and the linear traveling body is transported via a tension spring at a node position approximately in the center of the vibrating body. A self-propelled linear motor characterized by being connected to the body. 2) The self-propelled linear motor according to claim 1, wherein the transport body is the linear traveling body. 3) The self-propelled linear according to claim 2, characterized in that the linear rail has a triangular cross section, the linear running bodies are arranged on each side, and the linear running bodies are connected at node positions of the vibrating body. motor.