Actuator

Abstract

To provide an actuator that is able to prevent a load from being applied to a transmission cable.SOLUTION: An actuator 1 includes: a drive unit 10 having a first moving member 11 provided so as to be movable forward and backward; an actuating unit 20 provided separately from the drive unit 10; and a transmission cable unit 30 having a transmission cable 31 for connecting the drive unit 10 and the operation unit 20 and transmitting a forward and backward movement of the first moving member 11 to the actuating unit 20 to operate the actuating unit 20. The drive unit 10 includes: a frame 14 that supports the first moving member 11 so as to be movable forward and backward; a drive mechanism that moves the first moving member 11 forward and backward; and a stopper that limits a stroke of the first moving member 11 by limiting the movement of the first moving member 11 to at least one side of a forward and backward directions D1.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an actuator.

Background Art

[0002] Patent Document 1 discloses a three-axis orthogonal robot including a Z moving actuator having an actuator (moving member) movably provided in the Z-axis direction and a Z-axis direction drive unit installed on a base unit, which are connected by a transmission cable. The Z-axis direction drive unit includes a stepping motor, a ball screw that rotates as the output shaft of the stepping motor rotates, and a ball screw nut attached to the ball screw. This ball screw nut moves forward and backward within a range of a predetermined stroke based on the rotation of the ball screw.

[0003] In the device disclosed in Patent Document 1, the forward and backward movement of the ball screw nut of the Z-axis direction drive unit is transmitted to the actuator of the Z moving actuator by the transmission cable. As a result, the actuator of the Z moving actuator moves forward and backward in both the +Z direction and the -Z direction by the driving force of the Z-axis direction drive unit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the device disclosed in Patent Document 1, depending on the application, the operator (moving member) may be replaced with another Z-axis moving unit having a different stroke. When the stroke of the operator of the replaced Z-axis moving unit is smaller than the stroke of the ball screw nut of the Z-axis driving unit, the ball screw nut of the Z-axis driving unit tries to move even after the operator of the Z-axis moving unit has finished moving. Then, there is a possibility that the transmission cable transmits the forward and backward movement of the ball screw nut to the operator of the Z-axis moving unit that has finished moving. As a result, a large load may be applied to the transmission cable.

[0006] The present invention has been made under the above circumstances, and an object thereof is to provide an actuator capable of suppressing a load from being applied to a transmission cable.

Means for Solving the Problems

[0007] In order to achieve the above object, an actuator according to the present invention includes a driving unit having a first moving member provided so as to be able to move forward and backward, an operating unit provided separately from the driving unit, a transmission cable unit that connects the driving unit and the operating unit and has a transmission cable for transmitting the forward and backward movement of the first moving member to the operating unit to operate the operating unit. The driving unit includes a frame that supports the first moving member so as to be movable forward and backward, a driving mechanism that moves the first moving member forward and backward, and a stopper that restricts the stroke of the first moving member by restricting the movement of the first moving member to at least one side in the forward and backward direction.

[0008] The first moving member may have a cable connection portion to which one end of the transmission cable is connected.

[0009] The operating unit has a second moving member to which the other end of the transmission cable is connected. The second moving member may move forward and backward when the forward and backward movement of the first moving member is transmitted by the transmission cable.

[0010] The stopper may be provided such that the installation position of the first moving member in the forward and backward direction can be changed.

[0011] The stopper may be installed in a T-groove formed in the frame and may have a nut and a bolt whose installation position with respect to the T-groove can be changed by screwing them together.

[0012] The drive unit is supported by the frame and has a guide shaft that supports the first moving member so as to be movable forward and backward. The stopper may be a member attached to the guide shaft.

[0013] The transmission cable unit has a hollow outer cable. The transmission cable may be inserted into the outer cable while protruding from both ends of the outer cable.

[0014] One end of the outer cable may be connected to the frame of the drive unit.

[0015] The drive mechanism a rotating screw shaft, and a nut that moves as the screw shaft rotates and on which the first moving member is installed.

[0016] A knob that allows the screw shaft to be manually rotated may be provided at the end of the screw shaft of the drive mechanism.

[0017] The cable connection portion of the first moving member may be provided such that the connection position of one end of the transmission cable with respect to the first moving member can be changed.

Advantages of the Invention

[0018] In the actuator according to the present invention, the stopper of the drive unit restricts the movement of the first moving member to at least one side in the advancing and retreating directions, thereby restricting the range of the stroke of the first moving member. As a result, in the present invention, it is possible to prevent the transmission cable from transmitting the advancing and retreating movements of the first moving member to the operating unit more than necessary. Consequently, it is possible to avoid the load caused by the transmission from being applied to the transmission cable. From the above, the actuator according to the present invention can suppress the application of a load to the transmission cable. Further, it is possible to avoid preparing several types of transmission cables with strokes matched to the stroke of the operating unit.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 4C

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Mode for Carrying Out the Invention

[0020] Hereinafter, the actuator 1 according to the embodiment of the present invention will be described. In the figure, the Y-axis direction is the same as the advancing and retreating direction D1 in which the moving member 11 of the drive unit 10 moves, as shown in FIGS. 1 and 2. The X-axis direction and the Z-axis direction are directions orthogonal to the advancing and retreating direction D1. Also, the XY plane in the figure is a horizontal plane parallel to the surface on which the actuator 1 is installed. However, it is not limited thereto, and the object on which the actuator 1 is installed is not limited to a plane. The actuator 1 may be installed at a location other than a plane.

[0021] As shown in FIGS. 2 and 3, the actuator 1 includes a drive unit 10, an operating unit 20, and a transmission cable unit 30 having a transmission cable 31 and an outer cable 32. In the present embodiment, the actuator 1 is used for the clamping portion of the operating unit 20 to clamp and hold the workpiece W based on the movement of the moving member 11 of the drive unit 10.

[0022] The drive unit 10 includes a drive mechanism 13, a moving member 11, a guide shaft 12, a frame 14, a guide shaft support member 15, a knob 16, and a stopper S.

[0023] The drive mechanism 13 includes a screw shaft 13a, a nut 13b, a motor M, and a belt B.

[0024] The screw shaft 13a is configured as a screw surface having a spiral screw groove formed on its outer peripheral surface. The screw shaft 13a is rotatably supported by the frame 14 and linearly moves the nut 13b in the advancing and retreating direction D1 based on the screwing engagement with the nut 13b. A pulley 13c and a knob 16 are provided at the -Y side end of the screw shaft 13a. The pulley 13c is, for example, a timing pulley. However, it is not limited thereto. The pulley 13c may be other than a timing pulley.

[0025] Nut 13b is arranged on the outer periphery of the screw shaft 13a. Further, the moving member 11 is fixed to the nut 13b. Thus, the nut 13b moves together with the moving member 11.

[0026] The motor M has, for example, an output shaft Ma (rotating shaft), a rotor, a stator, an encoder, and a motor cover covering these. Electric power is supplied to the motor M from a power source via the actuator cable C3. The cable performs functions such as supplying external electric power to the motor M and inputting / outputting control signals. When electric power is supplied to the motor M, the rotor rotates. The rotational movement of this rotor is output to the output shaft. Thus, the output shaft Ma rotates. A pulley Mb is attached to the output shaft Ma. The pulley Mb is, for example, a timing pulley. However, it is not limited to this. The pulley Mb may be something other than a timing pulley. Note that the rotational movement of the rotor of the motor M may be decelerated by a speed reducer at a predetermined reduction ratio and then output to the output shaft Ma, or may be output to the output shaft Ma without being decelerated.

[0027] The belt B transmits the rotational movement of the output shaft Ma of the motor M to the screw shaft 13a. When the output shaft Ma of the motor M rotates, the rotational movement of the output shaft Ma is transmitted to the screw shaft 13a via the belt B, and as a result, the screw shaft 13a rotates. The belt B is, for example, a timing belt formed with a plurality of teeth that engage with the teeth formed on the pulleys 13c and Mb. However, it is not limited to this. The pulley Mb may be something other than a timing pulley.

[0028] The moving member 11 (first moving member) is a member that moves forward and backward in the forward and backward direction D1 together with the nut 13b. The moving member 11 is formed, for example, by extrusion molding a metal such as aluminum. The moving member 11 is formed with a T-groove 11a, a through-hole 11b for a guide shaft, a hole 11c for fitting the nut, and a cable arrangement portion 11d which is a groove in which the transmission cable 31 is arranged.

[0029] The T-grooves 11a are formed in two places on the upper surface (+Z side surface) of the moving member 11. These T-grooves 11a are formed with a T-shaped cross-section and are formed along the Y-axis direction.

[0030] The through-hole 11b for the guide shaft is a hole through which the guide shaft 12 is inserted. The through-hole 11b for the guide shaft is formed to penetrate in the Y-axis direction, and a bearing (not shown) is fitted inside.

[0031] The screw shaft 13a is inserted into the hole 11c for nut fitting, and the nut 13b is inserted while being screwed in.

[0032] This moving member 11 is slidably arranged on the guide shaft 12. Thereby, as shown in Fig. 4A, the moving member 11 is arranged to be able to move forward and backward within the range of the stroke S1 between the stopper S and the guide shaft support member 15. Also, the moving member 11 has a cable connection portion C.

[0033] As shown in Figs. 4B and 4C, one end portion 31a on the +Y side of the transmission cable 31 of the transmission cable unit 30 is connected to the cable connection portion C. Also, the cable connection portion C is attached to the upper surface (+Z side surface) of the moving member 11. In the present embodiment, the cable connection portion C has two bolts, two nuts, and a cable pressing member Ca. However, it is not limited to this, and the number of bolts and the number of nuts may be appropriately changed. Also, the cable connection portion C may be composed only of bolts and nuts without having the cable pressing member Ca. The cable connection portion C is fixed to the T-groove 11a while pressing one end portion 31a on the +Y side of the transmission cable 31 into the cable arrangement portion 11d with respect to the upper surface of the moving member 11. Thereby, one end portion 31a on the +Y side of the transmission cable 31 is connected to the moving member 11.

[0034] As shown in FIGS. 3 and 4, the guide shaft 12 supports the moving member 11 so as to be movable forward and backward. In the present embodiment, the guide shaft 12 is composed of two cylindrical or tubular members. However, it is not limited thereto. The guide shaft 12 may be other than the two cylindrical or tubular members as long as it can support the moving member 11 so as to be movable forward and backward. For example, instead of the guide shaft 12, various linear motion guide members such as a rail-shaped member formed inside the frame 14 may be used.

[0035] The frame 14 is a member that houses and protects the drive mechanism 13, the moving member 11, the guide shaft 12, etc. inside it. Further, one end portion 32a on the +Y side of the outer cable 32 of the transmission cable unit 30 is connected to the frame 14. This frame 14 has a base 14a, a frame body 14b, a front bracket 14c, and a rear bracket 14d.

[0036] As shown in FIGS. 3 and 5, the base 14a is integrally formed on the upper part of the frame body 14b. A moving member housing chamber R1 in which the moving member 11 and the screw shaft 13a are arranged is formed in the base 14a. The moving member housing chamber R1 is open upward (+Z direction). The upper part (+Z direction) of the moving member housing chamber R1 is covered by attaching a cover C1. A T-groove 14e is formed on the bottom surface of this base 14a.

[0037] Two T-grooves 14e are formed on the bottom surface of the base 14a. This T-groove 14e is formed in a T-shaped cross section and is formed along the Y-axis direction.

[0038] The frame body 14b, together with the base 14a, is formed by extrusion molding of a metal such as aluminum. However, it is not limited to this. The frame body 14b may be formed separately from the base 14a. The frame body 14b has a motor housing chamber R2 in which a motor M or the like is disposed. The motor housing chamber R2 is separated from the moving member housing chamber R1 of the base 14a by a partition wall 14f. The upper surface of this partition wall 14f is the bottom surface of the base 14a in which a T-groove 14e is formed.

[0039] As shown in FIGS. 3 and 4B, the front bracket 14c is attached to the +Y side ends of the base 14a and the frame body 14b by fasteners such as screws and bolts. This front bracket 14c supports the -Y side end of the guide shaft 12. The moving member 11 is movably supported by a guide shaft 12 supported by the frame 14 via a guide shaft support member 15 and the front bracket 14c. Further, in the front bracket 14c, there is formed a housing space for accommodating a pulley 13c of the screw shaft 13a, a pulley Mb of the output shaft Ma of the motor M, and a belt B. The belt B is attached in a state where tension is applied to the pulley 13c and the pulley Mb inside the housing space of this front bracket 14c. Further, the housing space of the front bracket 14c is covered by attaching a cover C2.

[0040] The rear bracket 14d is attached to the +Y side ends of the base 14a and the frame body 14b by fasteners such as screws and bolts, for example. An actuator cable C3 is drawn out from this rear bracket 14d. Further, a connector 14d-1 is provided at the end of the actuator cable C3, and this connector 14d-1 is connected to a motor substrate of the motor M.

[0041] The guide shaft support member 15 is fixed to the base 14a while being disposed inside the moving member accommodation chamber R1 of the base 14a. The guide shaft support member 15 supports the +Y side end portion of the guide shaft 12. The guide shaft support member 15 also functions as a stopper that restricts movement of the moving member 11 in the +Y direction by a predetermined amount or more.

[0042] The knob 16 is provided at the -Y side end portion of the screw shaft 13a and protrudes from the frame 14. The knob 16 is installed for the user of the actuator 1 to manually rotate the screw shaft 13a. By the user rotating the screw shaft 13a using the knob 16, the moving member 11 can be moved forward and backward in the forward and backward direction D1.

[0043] The stopper S is used to restrict movement of the moving member 11 in the -Y side direction in the forward and backward direction D1. This stopper S is provided so that its installation position in the forward and backward direction D1 of the moving member 11 can be changed with respect to the T groove 14e of the base 14a. In the present embodiment, the stopper S is installed in the T groove 14e formed in the base 14a and is composed of a nut and a bolt whose installation position of the stopper S can be changed by mutual screwing. However, it is not limited thereto. The stopper S may be composed of something other than a nut and a bolt as long as the installation position of the stopper S can be changed. Also, the stopper S is installed in one of the two T grooves 14e formed in the base 14a that is selected. As shown in FIG. 4A, the stopper S restricts the stroke S1 of the moving member 11 by restricting movement of the moving member 11 in the -Y side direction in the forward and backward direction D1. By changing the position of the stopper S in the forward and backward direction D1, the length of the stroke S1 is adjusted. As a result, the movable distance of the moving member 11 is changed. The position of the stopper S is appropriately changed according to the use of the actuator 1.

[0044] As shown in FIGS. 1 and 2, in this embodiment, the actuating unit 20 is a device that holds the workpiece W using the rotational force of the output shaft Ma of the motor M of the driving unit 10 as the driving force. The actuating unit 20 is provided separately from the driving unit 10. As shown in FIG. 6, this actuating unit 20 includes a moving member 21, a biasing means 22, a pair of clamping portions 23, and a housing 24.

[0045] The housing 24 is a member that houses and protects the moving member 21 and the biasing means 22. A housing space for housing the moving member 21 and the biasing means 22 is formed in the housing 24. Further, the other end portion 32b on the -Y side of the outer cable 32 of the transmission cable unit 30 is connected to the housing 24.

[0046] The moving member 21 (second moving member) is a member that moves forward and backward in the advancing and retreating direction D1 within the range of the stroke S2 inside the housing 24. In this embodiment, the stroke S2 is the same length as the stroke S1 shown in FIG. 4A (S2≒S1). The other end portion 31b on the -Y side of the transmission cable 31 of the transmission cable unit 30 is connected to the moving member 21. Further, two elongated holes 21a having an elongated hole shape whose longitudinal direction is inclined with respect to the advancing and retreating direction D1 are formed in the moving member 21. The elongated holes 21a are formed symmetrically about a direction parallel to the advancing and retreating direction D1.

[0047] The biasing means 22 biases the moving member 21 toward the -Y side inside the housing 24. In this embodiment, the biasing means 22 is composed of a coil spring. However, it is not limited to this. The biasing means 22 may be composed of something other than a coil spring.

[0048] The clamping part 23 is a part that clamps the workpiece W. The clamping part 23 is attached to the housing 24 so as to be able to narrow or expand in the clamping direction D2. A connection pin 23a that is inserted into the long hole 21a formed in the moving member 21 is formed on the clamping part 23. A bearing is installed on the connection pin 23a to smoothly move the connection pin 23a within the long hole 21a, and thus to smoothly drive the clamping part 23.

[0049] As shown in FIGS. 2 and 3, the transmission cable unit 30 connects the drive unit 10 and the operating unit 20. Then, the transmission cable unit 30 transmits the driving force of the drive unit 10 to the operating unit 20 to operate the operating unit 20. The transmission cable unit 30 includes a transmission cable 31 and a hollow outer cable 32.

[0050] The transmission cable 31 is formed of a flexible material so as to be bendable. The transmission cable 31 is inserted through the hollow outer cable 32 while protruding from both one end portion 32a and the other end portion 32b of the outer cable 32 and being movable within the range of the stroke S3 inside the hollow outer cable 32. In the present embodiment, the stroke S3 is the same length as the stroke S1 shown in FIG. 4A and the stroke S2 shown in FIG. 6 (S3≒S1≒S2). The transmission cable 31 is used to transmit the driving force of the drive unit 10 to the operating unit 20 to operate the operating unit 20 by moving inside the hollow outer cable 32. Specifically, the transmission cable 31 transmits the forward and backward movement of the moving member 11 of the drive unit 10 to the moving member 21 of the operating unit 20. As a result, the transmission cable 31 causes the moving member 21 of the operating unit 20 to move forward and backward.

[0051] Similar to the transmission cable 31, the outer cable 32 is formed of a flexible material so as to be bendable.

[0052] The operation of the actuator 1 configured as described above will be described with reference to the drawings.

[0053] First, when power is supplied to the motor M from the actuator cable C3, as shown in FIG. 7, the output shaft Ma of the motor M rotates together with the pulley Mb. As the output shaft Ma and the pulley Mb rotate as the driving force of the drive unit 10, the rotational force is transmitted by the belt B, and the pulley 13c provided on the screw shaft 13a also rotates. As a result, the screw shaft 13a rotates.

[0054] When the screw shaft 13a rotates, based on the screwing engagement between the screw shaft 13a and the nut 13b, the nut 13b performs a linear motion in the forward and backward direction D1. For example, the nut 13b performs a linear motion in the +Y direction in the forward and backward direction D1. When the nut 13b performs a linear motion in the +Y direction, the moving member 11 into which the nut 13b is fitted also moves in the +Y direction while sliding on the guide shaft 12. Note that the moving member 11 can move until it contacts the guide shaft support member 15. The transmission cable 31 of the transmission cable unit 30 is connected to this moving member 11 by the cable connection portion C. Therefore, the transmission cable 31 moves in the +Y direction while moving inside the outer cable 32.

[0055] When the transmission cable 31 moves in the +Y direction, as shown in FIG. 8, in the operating unit 20, the moving member 21 moves in the +Y direction against the biasing force of the biasing means 22. Then, the connection pin 23a of the clamping portion 23 moves within the hole of the long hole 21a having a long hole shape formed in the moving member 21. As a result, the pair of clamping portions 23 move in a direction of approaching each other. As a result, the clamping portion 23 clamps the workpiece W.

[0056] Next, as shown in FIG. 9, when the output shaft Ma of the motor M rotates in the reverse direction, the pulley Mb also rotates. When the pulley Mb rotates, the rotational force is transmitted by the belt B, and the pulley 13c provided on the screw shaft 13a also rotates. As a result, the screw shaft 13a rotates.

[0057] When the screw shaft 13a rotates, for example, the nut 13b moves linearly in the -Y direction in the forward and backward direction D1. When the nut 13b moves linearly in the -Y direction, the moving member 11 into which the nut 13b is fitted also moves in the -Y direction while sliding on the guide shaft 12. As shown in FIG. 10, when the moving member 11 moves in the -Y direction, it will eventually contact the stopper S. Due to this contact, further movement of the moving member 11 in the -Y direction is restricted. Also, as shown in FIGS. 9 and 10, the transmission cable 31 of the transmission cable unit 30 is connected to the moving member 11 by the cable connection portion C. For this reason, the transmission cable 31 moves in the -Y direction while moving inside the outer cable 32.

[0058] When the transmission cable 31 moves in the -Y direction, as shown in FIG. 11, in the operating unit 20, the moving member 21 moves in the -Y direction. At this time, the moving member 21 moves in the -Y direction while being guided by the biasing force of the biasing means 22. Then, the connection pin 23a of the clamping portion 23 moves within the hole of the long hole 21a having a long hole shape formed in the moving member 21. As a result, the pair of clamping portions 23 move in a direction away from each other. As a result, the clamping of the workpiece W by the clamping portion 23 is released.

[0059] As described above, in the actuator 1 according to the present embodiment, as shown in FIG. 10, the stopper S of the drive unit 10 restricts the movement of the moving member 11 in the forward and backward direction D1, thereby restricting the range of the stroke S1 of the moving member 11. Thereby, in the present embodiment, it is possible to avoid the transmission cable 31 transmitting the forward and backward movement of the moving member 11 to the operating unit 20 more than necessary.

[0060] For example, in the actuator 1A according to the comparative example, as shown in FIG. 12, the drive unit 10 does not have a stopper S. In this comparative example, when the stroke S1 of the moving member 11 of the drive unit 10 is longer than the stroke S2 of the moving member 21 of the operating unit 20, buckling may occur in the transmission cable 31 as the moving member 11 moves in the -Y direction. And due to the occurrence of this buckling, the transmission cable 31 may deteriorate or be damaged. Also, in the actuator 1A according to the comparative example, due to this buckling, there is a possibility that the moving member 21 of the operating unit 20 cannot move smoothly in the +Y direction.

[0061] On the other hand, in the actuator 1 according to the present embodiment, as shown in FIG. 10, due to the action of the stopper S of the drive unit 10, the transmission cable 31 can be prevented from transmitting the forward and backward movement of the moving member 11 to the operating unit 20 more than necessary. As a result, it is possible to avoid the load caused by the transmission from being applied to the transmission cable 31. From the above, the actuator 1 according to the present embodiment can suppress the application of a load to the transmission cable 31.

[0062] Also, as shown in FIG. 13, in the actuator 1B that does not have a stopper S, in order to avoid buckling of the transmission cable 31, it may be replaced with a transmission cable unit 30-2 corresponding to the stroke S2 of the moving member 21 of the operating unit 20. However, in this case, it is necessary to prepare a plurality of transmission cable units 30, 30-2 with different strokes S3, S3-2, and the cost of parts management may increase.

[0063] In contrast, in the actuator 1 according to the present embodiment, as shown in FIG. 10, the stopper S of the drive unit 10 restricts the movement of the moving member 11 in the advancing / retreating direction D1, thereby restricting the range of the stroke S1 of the moving member 11. For this reason, in the actuator 1 according to the present embodiment, there is no need to replace it with another transmission cable having a different stroke, and there is no need to manage a plurality of transmission cables 31. As a result, the actuator 1 according to the present embodiment can suppress management costs such as inventory management of parts.

[0064] Also, in the actuator 1 according to the present embodiment, as shown in FIG. 14, the stopper S of the drive unit 10 can change the range of the stroke S1 of the moving member 11 by restricting the movement of the moving member 11 in the advancing / retreating direction D1. For this reason, it becomes possible to replace it with another operating unit 20-2 having a different stroke S2-2.

[0065] The operating unit 20-2 shown in FIG. 14 is a device in which the advancing / retreating rod 28 advances and retreats using the rotational force of the output shaft Ma of the motor M of the drive unit 10 as a driving force. The operating unit 20-2 is provided separately from the drive unit 10. This operating unit 20-2 includes a moving member 21, a movement direction conversion member 26, a biasing means 27, an advancing / retreating rod 28, and a housing 29.

[0066] The housing 29 is a member that houses and protects the moving member 21 and the movement direction conversion member 26. Further, the -Y side other end portion 32b of the outer cable 32 of the transmission cable unit 30 is connected to the housing 29.

[0067] The moving member 21 (second moving member) is a member that moves forward and backward in the advancing / retreating direction D1 within the range of the stroke S2-2 inside the housing 29. The -Y side other end portion 31b of the transmission cable 31 of the transmission cable unit 30 is connected to this moving member 21. A movement direction conversion member 26 is connected to the -Y end portion of the moving member 21.

[0068] The moving direction conversion member 26 is formed such that its YZ cross-section has an L shape. The moving direction conversion member 26 is provided inside the housing 29 so as to be rotatable about the pin 26a. One end 26b of the moving direction conversion member 26 is connected to the moving member 21, and the other end 26c of the moving direction conversion member 26 is connected to the lower end (-Z side end) of the advance / retreat rod 28. The moving direction conversion member 26 converts the linear motion of the moving member 21 in the Y-axis direction into the linear motion of the advance / retreat rod 28 in the Z-axis direction.

[0069] The biasing means 27 biases the advance / retreat rod 28 in the +Z direction inside the housing 29. In the present embodiment, the biasing means 27 is composed of a coil spring. However, it is not limited thereto. The biasing means 22 may be composed of something other than a coil spring.

[0070] In the actuator 1 replaced from the operating unit 20 to the operating unit 20-2, by adjusting the position of the stopper S, the stroke S1 of the moving member 11 can be made equal to the stroke S2-2. As a result, in the actuator 1 replaced with the operating unit 20-2, it is possible to prevent the transmission cable 31 from transmitting the forward and backward movement of the moving member 11 to the operating unit 20-2 more than necessary. As a result, it is possible to avoid the load caused by the transmission from being applied to the transmission cable 31. From the above, the actuator 1 according to the present embodiment can suppress the load from being applied to the transmission cable 31.

[0071] Also, in the actuator 1 according to the present embodiment, as shown in FIG. 5, the stopper S is installed in the T-groove 14e formed in the base 14a, and is composed of a nut and a bolt whose installation position can be changed by screwing them together. Therefore, the user of the actuator 1 can easily change the stroke S1 of the moving member 11. As a result, as shown in FIG. 10, it is possible to avoid the load caused by the transmission from being applied to the transmission cable 31. From the above, the actuator 1 according to the present embodiment can suppress the load from being applied to the transmission cable 31.

[0072] Also, in the actuator 1 according to the present embodiment, as shown in FIGS. 3 and 4B, a knob 16 that can manually rotate the screw shaft 13a is provided at the end of the screw shaft 13a. Thereby, even when the power supply to the motor M of the drive unit 10 is not supplied or during a power failure, the user can rotate the screw shaft 13a using the knob 16 to move the moving member 11 forward and backward in the forward and backward direction D1.

[0073] Also, in the actuator 1 according to the present embodiment, as shown in FIG. 4C, the cable connection portion C of the moving member 11 is provided such that the connection position of one end portion 31a of the transmission cable 31 with respect to the moving member 11 can be changed. In the present embodiment, the connection of the transmission cable 31 to the moving member 11 can be facilitated.

[0074] Specifically, as shown in FIG. 15, in the actuator 1, depending on its use, it may be replaced with another operating unit 20-2 having a different stroke S2-2 of the second moving member. In this case, when the stroke S2-2 changes, the protruding length L of the transmission cable 31 from the operating unit 20-2 may change. Also, even for the transmission cable unit 30 having the same stroke, the protruding length L of the transmission cable 31 may change due to individual differences in the manufacturing of the unit or elongation of the transmission cable 31 due to use. Then, it may become difficult to connect one end portion 31a of the transmission cable 31 to the moving member 11 of the drive unit 10.

[0075] In contrast, in the actuator 1 according to the present embodiment, the cable connection portion C of the moving member 11 is provided such that the connection position of one end portion 31a of the transmission cable 31 with respect to the moving member 11 can be changed. Therefore, it is possible to connect the transmission cable 31 to the moving member 11 while absorbing the protruding length L generated by replacing it with another operating unit 20-2. As a result, in the present embodiment, the connection of the transmission cable 31 to the moving member 11 can be facilitated.

[0076] Further, the user can perform the installation work of the actuator 1 without worrying about the variation in the protruding length L generated by replacing it with another operating unit 20-2. Also, the actuator 1 can operate the operating units 20 and 20-2 at desired strokes S2 and S2-2 without changing the program of the drive unit 10.

[0077] Also, both the transmission cable 31 and the outer cable 32 of the transmission cable unit 30 are formed of a flexible material so that they can be bent. Therefore, the actuator 1 can operate the operating units 20 and 20-2 even when the transmission cable unit 30 is bent.

[0078] As described above, the embodiments of the present invention have been described, but the present invention is not limited to the above embodiments.

[0079] For example, as shown in FIG. 4B, in the actuator 1 according to the present embodiment, the stopper S is disposed on the -Y side of the moving member 11 in order to limit the movement of the moving member 11 in the -Y direction D1 of the advancing and retreating direction. However, it is not limited thereto. Like the actuator 2 according to the modification 1 shown in FIG. 16(A), the stopper S may be disposed on the +Y side of the moving member 11 in order to limit the movement of the moving member 11 in the +Y direction D1 of the advancing and retreating direction.

[0080] Also, as shown in FIG. 4B, in the actuator 1 according to the present embodiment, the stopper S is disposed only on the -Y side of the moving member 11. However, the present invention is not limited to this. As in the actuator 3 according to the modification 2 shown in FIG. 16(B), the stopper S may be disposed on both the -Y side and the +Y side of the moving member 11 in the advancing / retreating direction D1 to restrict the movement of the moving member 11 in both the -Y side and the +Y side directions.

[0081] Further, in the present embodiment, as shown in FIG. 5, a T-groove 14e is formed in the base 14a as a groove to which the stopper S is attached. However, the present invention is not limited to this. As long as it is a shape to which the stopper S can be attached, the groove may be a groove having a cross-section other than a T-shape.

[0082] Also, in the present embodiment, as shown in FIG. 4B, a T-groove 11a is formed in the moving member 11 as a groove to which one end 31a of the transmission cable 31 is attached. However, the present invention is not limited to this. As long as it is a shape to which the cable connection portion C can be attached, the groove to which one end 31a of the transmission cable 31 is attached may be a groove having a cross-section other than a T-shape.

[0083] Also, in the present embodiment, as shown in FIG. 4B, a T-groove 11a is formed in the moving member 11 as a groove to which the cable connection portion C for fixing one end 31a of the transmission cable 31 is attached. However, the present invention is not limited to this. As long as it is a shape to which the cable connection portion C can be attached, the groove to which the cable connection portion C for fixing one end 31a of the transmission cable 31 is attached may be a groove having a cross-section other than a T-shape.

[0084] Also, in the present embodiment, as shown in FIG. 4A, the moving member 11 has one cable connection portion C. However, it is not limited thereto. Like the actuator 4 according to Modification 3 shown in FIG. 17, the moving member 11 may have a plurality of cable connection portions C. In this case, as shown in FIG. 18, the actuator 4 can connect a plurality of operating units 20 corresponding to the number of cable connection portions C to one drive unit 10. Further, in the actuator 4 according to Modification 3, even when one cable connection portion C fails, it can be connected to the transmission cable 31 at the other cable connection portions C.

[0085] Also, in the present embodiment, as shown in FIG. 4A, the moving member 11 has one cable connection portion C. However, it is not limited thereto. Like the actuator 4 according to Modification 3 shown in FIG. 17, the moving member 11 may have a plurality of cable connection portions C. The plurality of cable connection portions C are each provided such that the installation position with respect to the moving member 11 can be changed. In this case, as shown in FIG. 18, the actuator 4 can connect a plurality of operating units 20 corresponding to the number of cable connection portions C to one drive unit 10. Therefore, the actuator 4 can operate the plurality of operating units 20. Further, in the actuator 4 according to Modification 3, even when one cable connection portion C fails, it can be connected to the transmission cable 31 at the other cable connection portions C. In Modification 3 shown in FIGS. 17 and 18, the cable connection portions C are arranged side by side in the X-axis direction orthogonal to the forward and backward direction D1. However, it is not limited thereto. The cable connection portions C may be arranged side by side in the forward and backward direction D1, or may be arranged irregularly.

[0086] Also, in the present embodiment, as shown in FIG. 4A, the drive unit 10 has one moving member 11. However, it is not limited to this. Like the actuator 5 according to the modification 4 shown in FIGS. 19 and 20, the drive unit 10 may have a plurality of moving members 11. For example, the plurality of moving members 11 may have different feed speeds in the forward and backward direction D1 by installing a plurality of screw shafts 13a with different screw pitches, or by installing a plurality of motors M and corresponding screw shafts 13a.

[0087] Also, in the present embodiment, as shown in FIG. 5, the stopper S is provided such that its installation position in the forward and backward direction D1 of the moving member 11 can be changed with respect to the T-groove 14e of the base 14a. However, it is not limited to this. As shown in FIG. 21, the stopper S may be a member provided such that its installation position in the forward and backward direction D1 of the moving member 11 can be changed with respect to the guide shaft 12. In this case, for example, the stopper S is fixed to the guide shaft 12 by screwing a set screw from the +Z side.

[0088] Also, in the present embodiment, as shown in FIG. 22, the cable pressing member Ca of the cable connection portion C may be formed with a long hole Ca-1 having the forward and backward direction D1 as its longitudinal direction. In this case, it becomes easy to finely adjust the connection position of one end portion 31a of the transmission cable 31 with respect to the moving member 11.

[0089] The present invention can be implemented in various embodiments and modifications without departing from the broad spirit and scope of the present invention. The above-described embodiments are for explaining the present invention and do not limit the scope of the present invention.

Description of Reference Numerals

[0090] 1, 1A, 1B, 2, 3, 4, 5: Actuator 10: Drive Unit 11: Moving Member (First Moving Member) 11a: T-Groove 11b: Through-Hole for Guide Shaft 11c: Hole for nut insertion 11d: Cable arrangement section 12: Guide shaft 13: Driving mechanism 13a: Screw shaft 13b: Nut 13c: Pulley 14: Frame 14a: Base 14b: Frame body 14c: Front bracket 14d: Rear bracket 14d-1: Connector 14e: T-groove 14f: Partition wall 15: Guide shaft support member 16: Knob 20, 20-2: Actuating unit 21: Moving member (second moving member) 21a: Long hole 22: Biasing means 23: Clamping part 23a: Connecting pin 24: Housing 26: Moving direction conversion member 26a: Pin 26b: One end 26c: The other end 27: Biasing means 28: Retractable rod 29: Housing 30, 30-2: Transmission cable unit 31: Transmission cable 31a: One end portion 31b: The other end portion 32: Outer cable 32a: One end portion 32b: The other end portion S: Stopper C: Cable connection part Ca: Cable pressing member Ca-1: Long hole M: Motor Ma: Output shaft Mb: Pulley B: Belt C1, C2: Cover C3: Actuator Cable W: Work R1: Moving Member Accommodation Chamber R2: Motor Accommodation Chamber D1: Forward / Backward Direction D2: Clamping Direction S1, S2, S2-2, S3, S3-2: Stroke

Claims

1. A drive unit having a first moving member provided to be movable forward and backward; An operating unit provided separately from the drive unit; A transmission cable unit having a transmission cable that connects the drive unit and the operating unit and transmits the forward and backward movement of the first moving member to the operating unit to operate the operating unit. The drive unit includes a frame that supports the first moving member so as to be movable forward and backward, a drive mechanism that moves the first moving member forward and backward, and a stopper that restricts the movement of the first moving member to at least one side in the forward and backward direction to restrict the stroke of the first moving member, an actuator.

2. The first moving member has a cable connection portion to which one end of the transmission cable is connected, the actuator according to claim 1.

3. The operating unit has a second moving member to which the other end of the transmission cable is connected, The second moving member moves forward and backward by the forward and backward movement of the first moving member being transmitted by the transmission cable, the actuator according to claim 1.

4. The stopper is provided such that the installation position of the first moving member in the forward and backward direction can be changed, the actuator according to claim 1.

5. The stopper is installed in a T-groove formed in the frame and has a nut and a bolt whose installation position with respect to the T-groove can be changed by screwing them together, the actuator according to claim 4.

6. The drive unit has a guide shaft supported by the frame and supporting the first moving member so as to be movable forward and backward, The stopper is a member attached to the guide shaft, the actuator according to claim 4.

7. The transmission cable unit has a hollow outer cable, The transmission cable protrudes from both ends of the outer cable and is inserted into the outer cable, the actuator according to claim 1.

8. One end of the outer cable is connected to the frame of the drive unit, the actuator according to claim 7.

9. The drive mechanism includes A rotating screw shaft; A nut that moves as the screw shaft rotates and on which the first moving member is installed, the actuator according to claim 1.

10. The actuator according to claim 9, wherein a knob capable of manually rotating the screw shaft is provided at an end of the screw shaft of the drive mechanism.

11. The actuator according to claim 2, wherein the cable connection portion of the first moving member is provided such that the connection position of one end portion of the transmission cable to the first moving member can be changed.

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