阅读说明：本技术 伺服气缸 (Servo cylinder ) 是由 林先浩 于 2018-01-23 设计创作，主要内容包括：本发明公开一种伺服气缸。本发明的伺服气缸包括：减速器,包括与马达连接的减速器本体及设置在减速器本体内、并减小马达的旋转速度且增加扭矩进行输出的减速输出部；滚珠丝杠,在使一侧端部区域插入到减速器的内部的状态下,在减速器的内部与减速输出部结合,并通过减速输出部进行旋转运动；以及用于运动转换的输出部,与滚珠丝杠连接,并将滚珠丝杠的旋转运动转换输出为直线运动。(The present invention discloses a kind of servo cylinder.Servo cylinder of the invention includes: retarder, the retarder ontology including connecting with motor and is arranged in retarder ontology and reduces the rotation speed of motor and increase the deceleration output section that is exported of torque；Ball-screw is rotated in conjunction with deceleration output section, and through deceleration output section in the state of making side end regions be inserted into the inside of retarder in the inside of retarder；And the output section for moving conversion, it is connect with ball-screw, and be linear motion by the rotary motion of ball-screw conversion output.)

1. a kind of servo cylinder characterized by comprising

Retarder including the retarder ontology connecting with motor, and is arranged in the retarder ontology and reduces the motor Rotation speed and increase the deceleration output section that is exported of torque；

Ball-screw, in the state of making side end regions be inserted into the inside of the retarder, in the retarder Portion is rotated in conjunction with the deceleration output section, and through the deceleration output section；And

For moving the output section of conversion, it is connect with the ball-screw, and the rotary motion of ball-screw conversion is defeated It is out linear motion.

2. servo cylinder as described in claim 1, it is characterised in that:

The deceleration output section is Splittable deceleration output section,

Splittable deceleration output section is after being divided into multiple components along the length direction of the ball-screw, and be combined with each other shape At an entirety, to improve and the contact bearing area of the ball-screw.

3. servo cylinder as claimed in claim 2, it is characterised in that:

Splittable deceleration output section includes:

First internally-arranged type deceleration output module, in the retarder ontology with the intrinsic built-in part knot of the retarder It closes, and in conjunction with the end of the ball-screw；And

Second internally-arranged type deceleration output module, along the thickness direction and described first of the first internally-arranged type deceleration output module The combination of type deceleration output module is set, and supports the end of the ball-screw together with the first internally-arranged type deceleration output module Region.

4. servo cylinder as claimed in claim 3, it is characterised in that:

The second internally-arranged type deceleration output module is made into disc-shape,

The first internally-arranged type deceleration output module is thicker than the second internally-arranged type deceleration output module, and has and formed in side There is the cylindrical shape of scale,

In being formed on one side for the second internally-arranged type deceleration output module towards the first internally-arranged type deceleration output module The position configured slot of position configuration is carried out to the end to the first internally-arranged type deceleration output module.

5. servo cylinder as claimed in claim 3, it is characterised in that:

The ball-screw end formed have non-circular profiles shape and with the first internally-arranged type deceleration output module And the non-circular profiles engaging portion that the second internally-arranged type deceleration output module combines,

Shape is distinguished in the middle section of the first internally-arranged type deceleration output module and the second internally-arranged type deceleration output module The non-circular combined hole being consistent at the non-circular profiles engaging portion shape with the ball-screw.

6. servo cylinder as claimed in claim 3, it is characterised in that:

It is formed in the end of the ball-screw and is arranged with the length direction along the ball-screw in the retarder ontology The axis engagement groove that interior axis combines.

7. servo cylinder as claimed in claim 2, it is characterised in that:

Groove portion is configured in the output section that the retarder ontology is formed with configuration Splittable deceleration output section,

It is combined in output section configuration groove portion and supports the Splittable deceleration output section in conjunction with the ball-screw The thrust support thrust bearing of axis direction load.

8. servo cylinder as claimed in claim 7, which is characterized in that further include:

A pair of of ball bearing in the retarder ontology, is integrated to the lower area of the thrust support thrust bearing simultaneously Be spaced from each other configuration along the length direction of the ball-screw, and support the ball-screw linear motion along radius side To load.

9. servo cylinder as described in claim 1, it is characterised in that:

The output section for moving conversion includes:

Ball nut, in conjunction with the ball-screw, in ball-screw rotation along the length direction of the ball-screw It is mobile；And

Movable block constitutes an entirety in conjunction with the ball nut, and moves together with the ball nut.

10. servo cylinder as claimed in claim 9, it is characterised in that:

The ball nut includes:

Nutplate is combined in a manner of junction with a side end of the movable block；

Be inserted into engaging portion, by from the side of the nutplate it is extended in a manner of formed, and be inserted into be integrated in the movable block Entreat through hole；And

Prominent support portion, from the other side of nutplate protrusion and end carries out contact support to the deceleration output section.

11. servo cylinder as claimed in claim 9, it is characterised in that:

The output section for being used to move conversion further include:

Moving member, including and the movable block the combination flange that is combined in a manner of junction of a side end and with the combination Flange connects and the ball-screw is supplied to be inserted into internal nut, and moves together with the movable block and carry out straight line fortune It is dynamic.

12. servo cylinder as claimed in claim 11, it is characterised in that:

The output section for being used to move conversion further include:

The guidance part that the linear motion of the moving member is guided.

13. servo cylinder as claimed in claim 12, it is characterised in that:

The guidance part includes:

Guiding block, including the through-hole passed through for the moving member, and relative to the retarder ontology to separate specific range Mode configures；And

Guide rod, one end is in conjunction with the guiding block, and the other end is subtracted by mouth with described by the stick of the movable block Fast device ontology combines.

14. servo cylinder as claimed in claim 13, it is characterised in that:

The guide rod is arranged in a manner of equally spaced multiple along the peripheral direction of the moving member.

15. servo cylinder as claimed in claim 13, it is characterised in that:

The ball bushing for supporting the guide rod is built-in with by mouth in the stick for the movable block that the guide rod passes through.

16. servo cylinder as claimed in claim 15, it is characterised in that:

The stick that the ball bushing is pressed into the movable block passes through mouth.

Technical field

The present invention relates to a kind of servo cylinders, more specifically, are related to a kind of servo cylinder, and previous difference, by answering With making a side end of ball-screw in the ball-screw internal combustion structure of the internal combustion of retarder, so as to relative to phase Same stroke (stroke) reduces the entire length of equipment, additionally, due to that can simplify structure, so as to compactly realize equipment.

Background technique

Servo cylinder (servo cylinder) is that the rotary motion of motor (motor) is converted to the electronic of linear motion One kind of brake.

Air cylinder (air cylinder) is also the device used in place of needing to move along a straight line, is used for now various Industry spot, but compared with air cylinder, the structure of servo cylinder is simple, and servo cylinder is different from air cylinder, due to Using servo motor or electric motor, speed and torque (torque) remarkably, are especially easy to carry out position control.

Because of reason as described above, there is the logistics system for being widely used in automobile assembly line in servo cylinder or industry is automatic The trend of the robot of the production system of change etc..For example, the stroke distances being fixed in mechanical arm (robot arm) is round-trip Servo cylinder can be applied to this position by the case where linear motion.

Fig. 1 is the partial cutaway view of common servo cylinder.

Referring to this figure, is had according to the servo cylinder 1 of conventional art and connected in the outside for the retarder 10 being connect with motor 12 Connect the structure of ball-screw 20.

It is combined with ball nut 40 in ball-screw 20, the ball nut 40 can be when ball-screw 20 be rotated along ball The length direction of lead screw 20 carries out forward or backward movement.Though not illustrated in Fig. 1, before ball nut 40 is connected with progress Into the moving member (mover) for retreating movement.

In order to which ball-screw 20 to be integrated to the outside of retarder 10, the periphery of ball-screw 20 is provided with shaft coupling 31。

Also, the periphery of shaft coupling 31 be provided with support ball-screw 20 and moving member axis direction load thrust and Radial direction spring bearing 32.

It is tied on the outside of the radial direction of thrust and radial direction spring bearing 32 configured with clamping block 33 and supporting block 34 etc. Structure object is waited fixation by multiple locking screws 35 as the component to fixed thrust and radial direction spring bearing 32 In corresponding position.

In this regard, when the operation by retarder 10 rotates ball-screw 20 clockwise or counterclockwise, it can Make ball nut 40 carry out forward or backward along the length direction of ball-screw 20 to move, moving member can be made by its operation (mover) operation required by technique is executed while forward or backward.

On the other hand, the servo cylinder 1 of form as shown in Figure 1 is using the most logical of the servo cylinder 1 for having ball-screw 20 Normal form, in the case where previous servo cylinder 1 as described above, ball-screw 20 is in retarder 10 as shown in the region C Combined outside, due to using ball-screw 20 combined outside structure, there are the entire lengths of servo cylinder 1 can only become Long problem.

In fact, the situation elongated in the entire length of servo cylinder 1, as described above, being intended to the servo cylinder 1 that length is long When the robot of the production system etc. of the logistics system or industrial automation applied to automobile assembly line, report have because with periphery knot The interference phenomenon of structure object and the situation for generating many difficulties in the application.

In addition, in the case where previous servo cylinder 1, due to using the combined outside structure of ball-screw 20, In order to which ball-screw 20 to be integrated to the outside of retarder 10, shaft coupling 31, thrust and radius side can only be inevitably applied To slightly more complex structures such as spring bearing 32, clamping block 33, supporting blocks 34, it is not known from present in consideration of it, highlighting New concept compact servo cylinder needs.

Summary of the invention

Technical task

Therefore, the technical task of the invention to be realized is to provide a kind of servo cylinder, with previous difference, makes ball by application One side end of lead screw the internal combustion of retarder ball-screw internal combustion structure, so as to relative to identical stroke (stroke) entire length for reducing equipment, additionally, due to structure can be simplified, so as to compactly realize equipment.

Beneficial effect

According to the present invention, with previous difference, make a side end of ball-screw in the rolling of the internal combustion of retarder by application Ballscrew internal combustion structure, so as to reduce the entire length of equipment relative to identical stroke (stroke), additionally, due to Structure can be simplified, so as to compactly realize equipment.

Detailed description of the invention

Fig. 1 is the partial sectional view of common servo cylinder；

Fig. 2 is the perspective view according to the servo cylinder of one embodiment of the invention；

Fig. 3 is the main view of Fig. 2；

Fig. 4 is the plan view of Fig. 2；

Fig. 5 is the sectional view of the line A-A along Fig. 4；

Fig. 6 is the exploded perspective view of Fig. 2；

Fig. 7 is the rear isometric view of Fig. 6；

Fig. 8 is the amplification stereogram of retarder；

Fig. 9 is the rear isometric view of Fig. 8；

Figure 10 is the exploded perspective view of Fig. 8；

Figure 11 is the rear isometric view of Figure 10；

Figure 12 is to include ball-screw for moving the perspective view for the output section converted；

Figure 13 is the rear isometric view of Figure 12；

Figure 14 is the exploded perspective view of Figure 12；And

Figure 15 is the rear isometric view of Figure 14.

Specific embodiment

Optimal morphology for carrying out an invention

According to an aspect of the present invention, it is possible to provide a kind of servo cylinder, characterized by comprising: retarder, including with motor (motor) the retarder ontology that connects and it is arranged in the retarder ontology and reduces rotation speed and the increasing of the motor The deceleration output section for adding torque (torque) to be exported；Ball-screw makes side end regions be inserted into the retarder Inside in the state of, in the inside of the retarder in conjunction with the deceleration output section, and by the deceleration output section into Row rotary motion；And the output section for moving conversion, it is connect with the ball-screw, and by the rotation of the ball-screw Movement conversion output is linear motion.

The deceleration output section can be Splittable deceleration output section, and Splittable deceleration output section is along the ball wire After the length direction of thick stick is divided into multiple components (part), it is bound to each other to form an entirety, to improve and the ball-screw Contact bearing area.

Splittable deceleration output section can include: the first internally-arranged type deceleration output module, in the retarder ontology In conjunction with the intrinsic built-in part of the retarder, and in conjunction with the end of the ball-screw；And second internally-arranged type slow down Output module, along the thickness direction and the first internally-arranged type deceleration output module knot of the first internally-arranged type deceleration output module It closes, and supports the end regions of the ball-screw together with the first internally-arranged type deceleration output module.

The second internally-arranged type deceleration output module can be made into disc-shape, and first internally-arranged type, which slows down, exports mould Block is thicker than the second internally-arranged type deceleration output module, and can have and be formed with the cylindrical shape of scale in side, towards institute The one side for stating the second internally-arranged type deceleration output module of the first internally-arranged type deceleration output module can be formed with to described The end of first internally-arranged type deceleration output module carries out the position configured slot of position configuration.

It can be formed with non-circular profiles shape and be slowed down with first internally-arranged type defeated in the end of the ball-screw The non-circular profiles engaging portion that module and the second internally-arranged type deceleration output module combine out is slowed down in first internally-arranged type The middle section of output module and the second internally-arranged type deceleration output module can be respectively formed non-circular with the ball-screw The non-circular combined hole that shape section engaging portion shape is consistent.

It can be formed in the end of the ball-screw and be arranged with the length direction along the ball-screw in the deceleration The axis engagement groove that the intrinsic axis of device combines.

Groove portion is configured in the output section that the retarder ontology can be formed with configuration Splittable deceleration output section, in institute Stating in output section configuration groove portion may incorporate support in conjunction with the axis direction of the Splittable deceleration output section of the ball-screw The thrust support thrust bearing of load.

The present invention may also include a pair of of ball bearing, in the retarder ontology, be integrated to the thrust support with pushing away The lower area of power bearing is simultaneously spaced from each other configuration along the length direction of the ball-screw, and supports the ball-screw The load along radial direction of linear motion.

The output section for being used to move conversion can include: ball nut, in conjunction with the ball-screw, in the ball Length direction when lead screw rotates along the ball-screw moves；And movable block (moving block), with the ball spiral shell Mother is bonded an entirety, and moves together with the ball nut.

The ball nut can include: nutplate is combined in a manner of junction with a side end of the movable block；Insertion Engaging portion, by from the side of the nutplate it is extended in a manner of formed, and be inserted into and be integrated to the middle thereof hole of the movable block； And prominent support portion, from the other side of nutplate protrusion and end carries out contact support to the deceleration output section.

The output section for moving conversion further includes moving member (mover), and the moving member may include and the shifting One side end of motion block in a manner of junction in conjunction with combination flange and connect with the combination flange and supply the ball-screw It is inserted into internal nut, and moves and moves along a straight line together with the movable block.

The output section for moving conversion may also include the guiding guided to the linear motion of the moving member Portion.

The guidance part can include: guiding block, including the through-hole passed through for the moving member, and relative to the retarder Ontology is configured in a manner of separating specific range；And guide rod, one end is in conjunction with the guiding block, and the other end is passed through The stick of the movable block is by mouth in conjunction with the retarder ontology.

The guide rod can be arranged in a manner of equally spaced multiple along the peripheral direction of the moving member.

There is the ball bushing for supporting the guide rod by the way that mouth is built-in in the stick for the movable block that the guide rod passes through.

The stick that the ball bushing can be pressed into the movable block passes through mouth.

To the form to carry out an invention

The purpose that should only reach in order to be completely understood by the present invention with the advantage in operation of the invention and by implementing the present invention, The content referring to documented by the attached drawing and attached drawing illustrated to the preferred embodiment of the present invention.

Hereinafter, by the way that preferred embodiment of the present invention will be described, explaining the present invention in detail referring to attached drawing.Each figure Show that revealed identical reference marks indicates identical component.

Fig. 2 is according to the perspective view of the servo cylinder of one embodiment of the invention, and Fig. 3 is the main view of Fig. 2, Fig. 4 Fig. 2 Plan view, Fig. 5 be along Fig. 4 line A-A sectional view, Fig. 6 be Fig. 2 exploded perspective view, Fig. 7 be Fig. 6 rear isometric view, Fig. 8 is the amplification stereogram of retarder, and Fig. 9 is the rear isometric view of Fig. 8, and Figure 10 is the exploded perspective view of Fig. 8, Figure 11 Figure 10 Rear isometric view, Figure 12 be include ball-screw for move conversion output section perspective view, Figure 13 for Figure 12 back Face perspective view, the rear isometric view that the exploded perspective view and Figure 15 that Figure 14 is Figure 12 are Figure 14.

Referring to these diagrams, the servo cylinder 100 of the present embodiment with it is previous different, make ball-screw 130 by applying One side end the internal combustion of retarder 110 120 internal combustion structure of ball-screw, so as to relative to identical stroke (stroke) the entire length L for reducing equipment is set referring to Fig. 3 additionally, due to that can simplify structure so as to compactly realize Ball wire standby, that the servo cylinder may include retarder 110, connect with retarder 110 and rotated by retarder 110 Thick stick 130 and be the output section 150 for being used to move conversion of linear motion by the rotary motion of ball-screw 130 conversion output.

Retarder 110 is that the speed connecting with motor (not shown) (motor) reduces device, plays the rotation for reducing motor The effect that speed and increase torque (torque) are exported.

This just exploitation of retarder 110 uses the various modes such as straight-tooth wheel mode, planetary gear mode, V belt translation mode No matter retarder applies the retarder of which kind of mode for providing the aspect of effect of the invention without any problem.In this regard, being For the sake of convenience, in the present embodiment to the detailed structure of retarder 110 without diagram.

Also, motor connection retarder 110 and (not shown) can be servo motor or electric motor.Applying servo horse In the case where reaching, it is possible to provide control more favorable effect for precision.

Retarder 110 includes: retarder ontology 111, connect with motor and is provided with multiple built-in parts for deceleration 115, referring to Fig. 5；And deceleration output section 120, it is arranged in retarder ontology 111, and reduce rotation speed and the increasing of motor Torque (torque) is added to be exported.

The surface structure of the composition retarder 110 of retarder ontology 111.Be provided in this retarder ontology 111 to Reduce the rotation speed of motor and increases the built-in part 115(of the various structures of torque referring to Fig. 5).Though not internal zero setting part 115 are illustrated and are illustrated in detail, but built-in part 115 can pass through straight-tooth wheel mode, planetary gear mode, V belt translation mode etc. Structure reduce motor rotation speed and increase torque.

Deceleration output section 120 is connect with the built-in part 115 of retarder 110 and ball-screw 130, provide rotation torque with Ball-screw 130 can be made to rotate.That is, the rotation torque that generated by the built-in part 115 in retarder ontology 111 can be transmitted To ball-screw 130 so that ball-screw 130 rotates.

In the present embodiment, deceleration output section 120 is used as Splittable deceleration output section 120, and the Splittable slows down defeated Portion 120 is bound to each other to form an entirety after being divided into multiple components (part) along the length direction of ball-screw 130 out. The output section configuration groove portion 113(reference for the flute profile state for being formed in retarder ontology 111 is arranged in Splittable deceleration output section 120 In Figure 10).

On the other hand, referring to Fig.1, as described above, previous ball-screw 20 retarder 10 combined outside, using ball The combined outside structure of lead screw 20.Therefore the entire length of servo cylinder 1 only can be elongated, in addition, because of the outside of ball-screw 20 Integrated structure and can only be using complicated structure.

But in the present embodiment, it is explained below structure: it is different from previous structure, make a side of ball-screw 130 Portion region is in the state of being inserted into the inside of retarder 110, in the inside and Splittable deceleration output section 120 of retarder 110 In conjunction with.That is, configuring groove portion 113 in the output section that retarder ontology 111 forms flute profile state, set in output section configuration groove portion 113 Set Splittable deceleration output section 120, make the side end regions of ball-screw 130 output section configuration groove portion 113 in segmentation Type deceleration output section 120 combines.

As shown in this embodiment, the end of ball-screw 130 is constituted in the side end regions for making ball-screw 130, i.e. Non-circular profiles engaging portion 131 the case where the inside of retarder 110 is combined with Splittable deceleration output section 120, relative to Stroke (stroke) identical with the servo cylinder 1 of Fig. 1, can reduce the entire length L(of equipment referring to Fig. 3), additionally, due to can Structure is simplified, so as to compactly realize equipment.

In fact, in the servo cylinder 100 of the present embodiment, due to not needing once to be applied to previous servo cylinder 1(ginseng According to Fig. 1) shaft coupling 31, thrust and radial direction spring bearing 32, the complicated structure of clamping block 33, supporting block 34 etc., therefore Compact structure can be achieved.

On the other hand, as shown in this embodiment, if it is desired that the side end regions of ball-screw 130 are being inserted into deceleration In the internal combustion of retarder 110 in the state of the inside of device 110, ball-screw 130 should be steadily supported, thus application segmentation Type deceleration output section 120.

Splittable deceleration output section 120 can include: the first internally-arranged type deceleration output module 121, in retarder ontology 111 Output section configures in groove portion 113 and combines with the built-in part 115(in retarder ontology 111 referring to Fig. 5), and combines ball-screw 130 end；And the second internally-arranged type deceleration output module 122, along the thickness direction of the first internally-arranged type deceleration output module 121 It is combined with the first internally-arranged type deceleration output module 121, and supports ball-screw together with the first internally-arranged type deceleration output module 121 130 end regions.

As described above, Splittable deceleration output section 120 is made as the first internally-arranged type deceleration output module 121 and second After the bi-section of internally-arranged type deceleration output module 122, by combining ball-screw 130 with Splittable deceleration output section 120, from And the contact bearing area with ball-screw 130 can be improved, therefore, it can steadily support ball-screw 130.

Though being also described hereinafter, ball-screw 130 exports position, i.e. guiding block 191 in discharge due to its structure The position at place can not have support construction.It therefore, only should be in opposite side, the i.e. secured twelve Earthly Branches in 120 side of Splittable deceleration output section Support ball-screw 130.

In this regard, in the present embodiment, Splittable deceleration output section 120 is being made as the first internally-arranged type deceleration output module 121 and second internally-arranged type deceleration output module 122 bi-section after, by make ball-screw 130 end and this Splittable Deceleration output section 120 combines, and steadily supports ball-screw 130 so as to bearing area as wide as possible.

In the present embodiment, the second internally-arranged type deceleration output module 122 is made as disc-shape, in contrast, first 121 to the second internally-arranged type deceleration output module 122 of internally-arranged type deceleration output module is thick and has and in side is formed with scale 122b Cylindrical shape.

In this configuration, in the second internally-arranged type deceleration output module towards the first internally-arranged type deceleration output module 121 The 122 position configured slot being formed on one side to the end progress position configuration to the first internally-arranged type deceleration output module 121 Referring to Fig.1 1) 122b(.In position, configured slot 122b carries out position configuration to the end of the first internally-arranged type deceleration output module 121 Afterwards, it can be waited and be screwed togather each other.

In order to screw togather the first internally-arranged type deceleration output module 121 and the second internally-arranged type deceleration output module 122, first Internally-arranged type deceleration output module 121 and the second internally-arranged type deceleration output module 122 form multiple through-hole 121c, 122c.

As described above, the end of ball-screw 130 and including the first internally-arranged type deceleration output module 121 and the second internally-arranged type The Splittable deceleration output section 120 of deceleration output module 122 combines.At this point, ball-screw 130 cannot slow down relative to Splittable Output section 120 is rotated at random.

It is exported for this purpose, in the end of ball-screw 130 being formed that there is non-circular profiles shape and slow down with the first internally-arranged type The non-circular profiles engaging portion 131 that module 121 and the second internally-arranged type deceleration output module 122 combine.In the present embodiment, non-circular Shape section engaging portion 131 constitutes D i section structure.

Also, in the middle section of the first internally-arranged type deceleration output module 121 and the second internally-arranged type deceleration output module 122 It is respectively formed non-circular combined hole 121a, the 122a being consistent with 131 shape of non-circular profiles engaging portion of ball-screw 130.

It is formed in the end of ball-screw 130 and is arranged in retarder ontology 111 with the length direction along ball-screw 130 The axis engagement groove 132(that 0) combines referring to Fig.1 of axis 112(referring to Fig.1 5).

It is exported in this regard, the non-circular profiles engaging portion 131 for constituting the end of ball-screw 130 is slowed down by the second internally-arranged type The non-circular combined hole 122a of module 122 and the non-circular combined hole 121a for being configured to the first internally-arranged type deceleration output module 121 Afterwards, axis engagement groove 132 can be made to be combined in the form of chimeric with axis 112 with Splittable deceleration output section 120.

Therefore, the phenomenon that can not only preventing ball-screw 130 from dallying, but also can get the stable branch of ball-screw 130 Support structure.That is, being integrated to the non-circular profiles engaging portion 131 of ball-screw 130 built in first with wide bearing area configuration Type deceleration output module 121 and the second internally-arranged type deceleration output module 122, therefore can get the stable branch of ball-screw 130 Support structure.

Support is combined in the output section of the retarder 110 configured with Splittable deceleration output section 120 configuration groove portion 113 In conjunction with the thrust support thrust bearing 141 of the axis direction load of the Splittable deceleration output section 120 of ball-screw 130.

The first internally-arranged type that this thrust support thrust bearing 141 can be coupled to Splittable deceleration output section 120 slows down On the outside of the radial direction of output module 121, in this position Splittable deceleration output section 120 of the support comprising ball-screw 130 Axis direction load, i.e., the thrust generated by the linear motion of ball-screw 130.Therefore, it not only can get the steady of ball-screw 130 Fixed support construction, and be bent ball-screw 130 and help to carry out ideal rotary motion.

On the other hand, in a pair of of ball bearing 145 of lower area application of thrust support thrust bearing 141.In this reality It applies in example, a pair of of ball bearing 145 is integrated to the lower area of thrust support thrust bearing 141 in retarder ontology 111 And be spaced from each other configuration along the length direction of ball-screw 130, play the edge half for the linear motion for supporting the ball-screw The effect of the load in diameter direction.At this point, more torques are sagging negative since the spacing distance of a pair of of ball bearing 145 is big Lotus application becomes possible.

As reference, although ball bushing is because carrying out both ends in the end of retarder ontology 111 and discharge output position cylinder It supports and there is stable structure, but ball-screw 130 can not have support construction at discharge output position due to its structure.

In order to reinforce this point, in case of the present embodiment, using a pair of of ball bearing with wide spacing distance 145.That is, according to retarder 110 and making a pair of of ball bearing 145 as the output shaft of slowing-down structure with input shaft position Width, with the load along radial direction of the linear motion of support distances support ball-screw 130 as wide as possible, so as to make The support force of ball-screw 130 maximizes.It in this case, can be by precession minimum vibration.

In the entrance area knot of the output section of the retarder 110 configured with Splittable deceleration output section 120 configuration groove portion 113 Close the oil sealing 142(oil seal for having the oil leak for preventing lubricating oil).Oil sealing 142 can be replaced type.

On the other hand, it connect, plays ball-screw 130 with ball-screw 130 for moving the output section 150 of conversion Rotary motion conversion output is the effect of linear motion.

In other words, when ball-screw 130 is rotated because of the operation of retarder 110, because what is connect with ball-screw 130 For move conversion output section 150 effect, moving member 180(mover) can carry out as shown by arrows in Figure 3 advance P1 or after Move back P2.

As a result, the output section 150 for moving conversion plays the rotary motion of ball-screw 130 being provided as moving member The effect of 180 linear motion.

This output section 150 for being used to move conversion can include: the ball nut 160 and movable block moved integrally with one 170(moving block), the moving member 180 that carries out substantial linear motion, the linear motion for guiding moving member 180 lead Draw portion 190.

Ball nut 160 is screwed togather with ball-screw 130, plays the length when ball-screw 130 is rotated along ball-screw 130 Spend the mobile effect in direction.

In the present embodiment, ball nut 160 can include: nutplate 161, the side end with movable block 170 is with junction Mode combine；Be inserted into engaging portion 162, by from the side of nutplate 161 it is extended in a manner of formed, and be inserted into be integrated to movable block 170 middle thereof hole 171(, 4 and Figure 15 referring to Fig.1)；And prominent support portion 163, it is prominent from the other side of nutplate 161 And end carries out contact support to deceleration output section 120.

After the insertion engaging portion 162 of ball nut 160 is inserted into the middle thereof hole 171 of movable block 170, it will roll Pearl nut 160 is screwed togather with movable block 170.For this purpose, the periphery in nutplate 161 forms multiple through-hole 161a(ginseng for screwing togather According to Figure 15).

As described above, movable block 170 constitutes an entirety in conjunction with and with ball nut 160 with ball nut 160.

Ball nut 160 can be moved when ball-screw 130 is rotated along the length direction of ball-screw 130, due to movement Block 170 and ball nut 160 constitute an entirety, therefore when ball-screw 130 rotates, movable block 170 can also be along ball wire The length direction of thick stick 130 is mobile.

Moving member 180 is connect with movable block 170, and to carry out the part of substantial linear motion.It can make to need straight line Mechanical arm of movement etc. connect with moving member 180 or realizes comprising moving member 180.

The combination flange 181 that this moving member 180 includes: and a side end of movable block 170 is combined in a manner of junction； And it is connect in conjunction with flange 181 and is inserted into internal nut 182 for ball-screw 130.

In order to which moving member 180 to be connect with movable block 170, in order to screw togather, in 181 shape of combination flange of moving member 180 At multiple through-hole 181a(4 and Figure 15 referring to Fig.1).And multiple through-hole 182a are formed in the end of nut 182, and this can be passed through Through-hole 182a connection mechanical arm etc..

On the other hand, moving member to be made 180 ideally executes linear motion P1, P2 as shown by arrows in Figure 3, then needs pair The linear motion of moving member 180 is guided.

For this purpose, guidance part 190 is arranged in the output section 150 for moving conversion in the present embodiment.In other words, guidance part 190 play the role of guiding the linear motion of moving member 180.

This guidance part 190 includes: guiding block 191, is matched in a manner of separating specific range relative to retarder ontology 111 It sets；And multiple guide rods 192, it is connect with guiding block 191.

Guiding block 191 is arranged in the one of retarder ontology 111 as the fixed structure object moved unlike as moving member 180 Side.The through-hole 191a passed through for the nut 182 of moving member 180 is formed in guiding block 191.Therefore, when ball-screw 130 is because subtracting The operation of fast device 110 and when rotating, moving member 180 can pass through the direction P1 or the side P2 of through-hole 191a such as Fig. 3 of guiding block 191 It moves along a straight line to shown.

The linear motion of the substantially guiding moving member 180 of guide rod 192.The one end and guiding block of this guide rod 192 191 combine, and the other end by movable block 170 stick by mouth 173(referring to Fig.1 4) with the stick knot of retarder ontology 111 0) 115(that heals up is combined referring to Fig.1.Since movable block 170 is guided by guide rod 192, the movement being connect with movable block 170 Part 180 can also carry out forward-reverse linear motion without skew in the positive direction.

In the case for this embodiment, support is built-in with by mouth 173 in the stick for the movable block 170 that guide rod 192 passes through and is led Draw the ball bushing 193 of stick 192.

Ball bushing 193 can support guide rod 192 in the state of being pressed into the stick of movable block 170 by mouth 173.Cause This, can be obtained stable guiding action of the movable block 170 relative to guide rod 192.

As shown in explanation in detail above, the servo cylinder 100 of the present embodiment is had the following structure: not with previous Fig. 1 Together, make the side end regions of ball-screw 130 in the state of being inserted into the inside of retarder 110, in retarder 110 Portion is combined with Splittable deceleration output section 120.

As shown in this embodiment, in the side end regions for making ball-screw 130, that is, the end of ball-screw 130 is constituted Non-circular profiles engaging portion 131 the case where the inside of retarder 110 is combined with Splittable deceleration output section 120, relative to Stroke (stroke) identical with the servo cylinder 1 of Fig. 1 can reduce the entire length L(of equipment referring to Fig. 3), additionally, due to can will Structure simplifies, so as to compactly realize equipment.

Ball is made by application with previous difference according to the present embodiment with structure and effect shown in described above One side end of lead screw 130 the internal combustion of retarder 110 120 internal combustion structure of ball-screw, so as to relative to Identical stroke (stroke) reduces the entire length L(of equipment referring to Fig. 3), additionally, due to that can simplify structure, so as to tight Realize equipment with gathering.

As described above, and the present invention is not limited to documented embodiment, to having usual knowledge in the art Technical staff for it is readily apparent that thought of the invention can not departed from and range carries out various amendments and deformation.Therefore, This fixed case or variation also should belong to scope of the presently claimed invention.

Industrial application

The present invention can be used for industrial equipment or various logistics transfer equipment to transport article etc..