JP2000107973A - Two-dimensional moving device and loader device for work conveyance - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a two-dimensional moving device which can realize the small capacity and the low cost of a prime mover source. SOLUTION: This two-dimensional moving device has a Y-direction guide block 40 to guide a moving element 30 movable in Y-direction; a Z-direction guide rail member 50 to guide the Y-direction guide block 40 movable in Y-direction; a first driving pulley 71 at one side end of the rail member 50; a first motor M1 to drive to rotate the pulley 71 in the regular and the reverse directions; a second driving pulley 72 at the other side end of the rail member 50; a second motor M2 to drive to rotate the pulley 72 in the regular and the reverse directions; a movable pulley 80 provided at the lower end block of the moving element 30; and four idle pulleys 91 to 94 provided at the rectangular diagonal points of the Y-direction guide block 40. By combining the motors M1 and M2 in four ways of the regular and the reverse rotations, the work can be pulled in freely in the Y-direction and the Z-direction by a single line of belt 60. The motor M1 and the motor M2 are the same each other, and the moving element 30 is driven by the cooperation of the motors M1 and M2 constantly, and as a result, the small capacity of the prime mover source can be realized, and the low cost can be also realized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a two-dimensional moving device for moving a moving element two-dimensionally (on a plane), and more particularly to a loader for transferring a work to a main shaft of a machine tool. .

[0002]

2. Description of the Related Art Conventionally, as a work transfer loader device for a machine tool, as shown in FIG. 3, a Z-direction feeder for transferring a work W straight in a horizontal direction (Z-axis direction) parallel to a main shaft 1 of the machine tool. The apparatus includes a mechanism 10 and a Y-direction feed mechanism 20 that conveys a workpiece W straight in a vertical direction (Y-axis direction) perpendicular to the main shaft 1. The Z-direction feed mechanism 10 is a mechanism that carries the entire Y-direction feed mechanism 20 and feeds it straight. The Z-direction guide mechanism slidably guides the Y-direction feed mechanism 20 in the Z direction. , The Y-direction feed mechanism 2 is mounted horizontally in the bracket 12.
A Z-direction ball screw 14 for linearly moving the Y-axis guide rail dual-purpose bracket 24 in the Z direction;
2 and a Z-direction motor 16 for driving the ball screw 14 to rotate forward and reverse. In addition, the Y-direction feed mechanism 20 includes the Z-axis guide rail / bracket 1.
2, a Y-axis guide rail and bracket 24 for guiding a Y-direction moving rod 22 slidable in the Y direction and having a work gripping portion 22a at a lower end thereof, and a vertical direction in the bracket 24. A Y-direction ball screw 26 for moving the Y-direction moving rod 16 straight in the Y direction
And a Y-direction motor 28 which is mounted on the upper end surface of the bracket 24 and drives the ball screw 26 to rotate forward and backward.

When the rotation of the Z-direction motor 16 is controlled in the normal or reverse direction, the entire Y-direction feed mechanism 20 is moved in the Z-axis direction (horizontal direction).
When the Y-direction motor 28 is controlled to rotate in the forward and reverse directions, and the Y-direction moving rod 22 moves up and down, the work gripping portion 22a is moved in the Z direction by controlling the rotation amount of the two motors. Since the workpiece W can be moved to a desired position on the -Y plane, the workpiece W gripped by the workpiece gripping portion 22a can be loaded or unloaded on the spindle 1 of the machine tool. A pinion rack, a pneumatic cylinder, or the like may be used as the linear feed mechanism in addition to the ball screw.

Although the work gripping operation of the work gripping portion 22a can be controlled independently, it can also be linked with the vertical movement of the Y-direction moving rod 22.

[0005]

However, the above-described work transfer loader apparatus has the following problems.

In this work transfer loader device, the entire Y-direction feed mechanism 20 serving as a sub-coordinate system is mounted on the Z-direction feed mechanism 10 serving as a base coordinate system. Is fed straight in the Z direction. For this reason, the electric cable 28a always moves accompanying it, and the trouble of cable disconnection due to long-term operation cannot be avoided.

When moving the work gripping portion 22a only in the Z direction, the Y direction motor 28 is stopped, and only the Z direction motor 16 is activated. In addition, the work holding part 22a
To move only in the Y direction, the Z direction motor 16
Are stopped, and only the Y-direction motor 28 is started. For this reason, each of the motors 16 and 28 themselves is
2a requires a sufficient capacity to move independently. In particular, the Z-direction motor 16 must use a larger motor than the motor 28 in order to allow the entire Y-direction feed mechanism 20 to move.

When the stroke in the Z direction or the stroke in the Y direction is lengthened, the linear feed mechanism such as a ball screw must be lengthened, and the cost increases due to the lengthening, and the motor increases due to the weight increase. This leads to a large increase in capacity.

In view of the above problems, the first aspect of the present invention
The problem is that the two prime movers that drive the two-dimensional moving body are not in the base-sub relationship but are in an equivalent relationship to each other, and cooperate when moving in any direction, thereby reducing the capacity of the prime mover and An object of the present invention is to provide a two-dimensional mobile device that can realize low cost.

It is a second object of the present invention to provide a two-dimensional moving device in which a power supply cable can be immobilized without accompanying the movement of a two-dimensional moving body.

A third object of the present invention is to provide a two-dimensional moving device which does not cause a significant increase in weight and cost even when the stroke is lengthened.

[0012]

Means for Solving the Problems In order to solve the above-mentioned problems, a means taken by the present invention is to use a single end wound material driven by two prime movers as a feed mechanism of a moving element to be moved. It is in the configuration. That is, the two-dimensional moving device according to the present invention can move the first guide member in the second direction different from the first direction, and the first guide member movably guides the mover in the first direction. A movable member provided at one end of the movable element in the first direction, a movable member provided at the other end of the movable element in the first direction. A first winding drive wheel provided at one end of the second guide member in the second direction, a first driving source for driving the first winding drive wheel to rotate in the forward and reverse directions, A second winding drive wheel provided at the other end in the second direction;
A second prime mover for driving the second winding drive wheel to rotate in the forward and reverse directions and a first guide member are provided respectively, and at least the running of the winding material is performed by the first member and the first member. A first winding idler that deflects between a wrapping drive vehicle and a second wrapping idler that deflects travel of the wrapping material between the wrapping both-ends fixing member and a second wrapping drive vehicle. A winding play wheel, a third winding play wheel that changes the running of the winding material between the first winding drive vehicle and the movable winding wheel, and a second winding play wheel that changes the running of the winding material. 4th turning between the traction drive vehicle and the movable traction wheel
Characterized by having a winding playwheel. Here, a churn, a wire, a rope, a timing belt, or the like can be used as the wrapping material.

The first motive power source drives the first wrapping drive vehicle to rotate in the direction in which the wrapping material is sent from the third wrapping idle wheel to the first wrapping idle wheel, and the second motive power source drives the first wrapping drive wheel. When the second wrapping drive wheel is driven to rotate at the same speed in the direction in which the wrapping material is sent from the fourth wrapping idler to the second wrapping idler, both ends of the wrapping material of the movable wrapping wheel are supported. Are both on the tension side, the movable traction wheel is approached to the third and fourth traction play wheels, and accordingly, the moving element itself moves in the first direction.
Conversely, the first driving source drives the first wrapping drive vehicle to rotate in the direction in which the wrapping material is sent from the first wrapping idler to the third wrapping idler, and the second motive power source When the second winding drive wheel is rotationally driven at the same speed in a direction in which the winding material is sent from the second winding idler to the fourth winding idler, both the winding members on the both ends fixed member side are both rotated. Since it is on the tension side, the both ends fixing member is approached to the first and second winding idle wheels, and accordingly, the moving element itself moves in the direction opposite to the first direction.

The first driving source rotates the first winding drive wheel in the direction in which the wrapping material is sent from the third winding idler to the first winding idler, and the second driving source drives the first winding idler. When the second wrapping drive wheel is driven to rotate at the same speed in the direction in which the wrapping material is sent from the second wrapping idler to the fourth wrapping idler, one of the wrapping materials of the movable wrapping wheel becomes Since the other side is loose on the tension side and one of the wrapping members of the fixing member on both ends is loose on the loose side, the movable element remains stationary in the first direction. Move in the direction. Conversely, the first driving source drives the first wrapping drive vehicle to rotate in the direction in which the wrapping material is sent from the first wrapping idler to the third wrapping idler, and the second motive power source When the second winding drive wheel is driven to rotate at the same speed in the direction in which the winding material is sent from the fourth winding idle wheel to the second winding idle wheel, one of the winding members of the movable winding wheel is driven. On the loose side, the other becomes the tension side, and one of the wrapping members of the both ends fixing member is on the tension side and the other becomes the loose side, so that the movable element is in the second direction while being immobile in the first direction. Move in the opposite direction.

As described above, the driving method of the two winding driving vehicles is basically based on the combination of the four rotation directions at the same speed, but in the case of driving at the same speed and different speed, the second direction or the opposite direction. In addition to the movement, the differential component is superimposed as the movement in the first direction or the opposite direction, so that the oblique movement is realized.
Also, in the case of driving at a different speed in the reverse direction, in addition to the movement in the first direction or the opposite direction, the differential component is superimposed as the movement in the second direction or the opposite direction, so that the oblique movement is realized. I do.

As described above, in the present invention, the first driving source and the second driving source are equal, and the driving of the moving element is always achieved by the cooperation of the first driving source and the second driving source. ing.
For this reason, it is possible to reduce the capacity of the prime mover and reduce the cost as compared with the conventional device. In addition, since the prime mover itself is not mounted on the movable member, but is provided on the second guide member of the fixed portion, cables for electricity, pneumatics, etc. for the prime mover do not accompany the movement of the mover. Therefore, troubles such as disconnection of the cable can be eliminated.

Furthermore, when the stroke of the moving element is lengthened, the guide member and the wrapping member need only be lengthened, and a significant increase in weight and cost can be avoided.

The two-dimensional moving device as described above can be applied to various devices such as a transporter and a pick-and-place device. The two-dimensional moving device is, for example, a loader device for transferring a workpiece of a machine tool provided with a workpiece gripper on a movable element. be able to.

[0019]

Next, embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a work transfer loader device in a machine tool according to an embodiment of the present invention, and FIG.
2A is a plan view showing the work transfer loader device, and FIG.
FIG. 3B is a front view showing the work transport loader device.

The work transfer loader device of this embodiment loads or unloads a work W to or from a chuck 3 of a machine tool 2 such as a lathe.
A Y-direction guide block 40 for guiding the movable element 30 provided with the movable member 2a in the vertical direction (Y direction);
And a Z-direction guide rail member 50 for movably guiding the Y-direction guide block 40 in the (direction). The Z-direction guide rail member 50 is a fixed portion, and the movable element 30 is a lower end block 32 that supports the work gripping portion 22a and a wrapping material both ends fixing both ends 60a and 60b of a single non-slip belt 60 at the upper end. It comprises a plate 34 and two connecting rods 36, 36 which penetrate the Y-direction guide block 40 and connect the lower end block 32 and the wrapping material both end fixing plate 34.

A first drive pulley 71 is provided on the front side of one end (left end in the figure) of the Z-direction guide rail member 50, and the first drive pulley 71 is provided on the back side of the first drive pulley 71.
The motor M1 is driven to rotate in the normal and reverse directions. A second drive pulley 72 is provided in front of the other end (the right end in the figure) of the Z-direction guide rail member 50. The second drive pulley 72 is driven by a second motor M2 provided on the back side. It is driven to rotate forward and backward.

On the front side of the lower end block 32 of the moving element 30, a movable pulley 80 functioning as a moving pulley is rotatably supported. On the front side of the Y-direction guide block 40, four idle pulleys 91 to 94 are provided at rectangular diagonal points. The first idle pulley 91 is a non-slip belt 6
0, while the tension is applied between the wrapping material both end fixing plate 34 and the first driving pulley 71 while turning at a substantially right angle, and the second idle pulley 92 is
In the traveling of zero, the winding material is turned at a substantially right angle while applying tension between the both-end fixing plate 34 and the second driving pulley 72. The third idle pulley 93 changes the running of the non-slip belt 60 at a substantially right angle while applying tension between the first drive pulley 71 and the movable pulley 80, and the fourth idle pulley 94 changes the anti-slip belt 60. Is substantially perpendicularly changed while applying tension between the second driving pulley 72 and the movable pulley 80.

The Y-direction guide block 40 has a built-in brake mechanism (not shown) so that the movement of the movable element 30 can be stopped. The work gripping operation of the work gripping portion 22a can be independently controlled by air pressure or the like, but the work gripping operation can also be performed in conjunction with the operation of the movable element 30.

[Movement in Y direction] The first motor M1
Is driven in a direction in which the belt 60 is sent from the third idle pulley 93 to the first idle pulley 91, and the second motor M2 drives the second drive pulley 72 to move the belt 60 to the fourth idle pulley 91. When the rotation is driven at the same speed in the direction from the pulley 94 to the second idle pulley 92, both ends of the movable pulley 80 supporting the belt 60 are on the tension side.
Since the slider 30 is dragged toward the third and fourth idle pulleys 93 and 94, the movable member 30 itself moves in the Y direction.

[Movement in the -Y direction] Conversely, the first motor M1 drives the first drive pulley 71 to rotate in the direction in which the belt 60 is sent from the first idle pulley 91 to the third idle pulley 93, and Second motor M2
When the driving pulley 92 is driven to rotate at the same speed in the direction in which the belt 60 is sent from the second idle pulley 92 to the fourth idle pulley 94, both belts 60 on both ends fixed plate side 34 are driven.
Are on the tension side, the movable pulley 80 does not rotate, and the fixed plate 34 at both ends is fixed to the first and second idle pulleys 9.
The moving element 30 itself moves in the −Y direction along with it. The movable pulley 80
To the upper end of the mover 30 and, conversely, to the both ends fixed plate 34
It may be provided at the lower end of 0.

[Z-direction movement] The first motor M1
Drive pulley 71 is driven to rotate in a direction in which the belt 60 is sent from the third idle pulley 93 to the first idle pulley 91, and the second drive pulley 72 is driven by the second motor M2 to move the belt 60 to the second idle pulley. When driven to rotate in the direction from the pulley 94 to the fourth idle pulley 92 at the same speed, the left side of the belt 60 of the movable pulley 80 becomes the tight side and the right side becomes the loose side, and the left side belt 60 1 is loose and the right side is tight, so that the movable pulley 80 rotates and the second and third idle pulleys 92 and 93 function as tension pulleys.
, The mover 30 moves in the Z direction while being immobile in the Y direction.

[Movement in the -Z direction] Conversely, the first motor M1 drives the first drive pulley 71 to rotate in the direction in which the belt 60 is sent from the first idle pulley 91 to the third idle pulley 93. Second motor M2
The belt 60 is connected to the fourth idle pulley 94
, The left side of the belt 60 of the movable pulley 80 becomes a loose side and the right side becomes a tension side, and the left side belt 60 of the both ends fixing plate 34 is tensioned. On the right side is the loose side,
Since the movable pulley 80 rotates and the first and fourth idle pulleys 91 and 94 function as tension pulleys and rotate clockwise in FIG. 1, the movable element 30 remains immovable in the Y direction. -Move in the Z direction.

The moving mode of the moving member 30 is based on the premise that the first and second motors M1 and M2 are at the same speed. In addition to the movement in the reverse direction, the differential component of the motors M1 and M2 is superimposed as the movement in the Y direction or the −Y direction, and the oblique movement is realized. In the case of reverse speed driving at a different speed, in addition to the movement in the Y direction or the -Y reverse direction, the differential component of the motors M1 and M2 is superimposed as the movement in the Z direction or the -Z direction, and oblique movement is realized. I do.

When the brake of the Y-direction guide block 40 is applied to stop the movement of the movable element 30 and the motors M1 and M2 are turned off, the Y-direction guide block 40 can be manually moved in the Z or -Z direction. it can.

As described above, in this example, the first motor M1 and the second motor M2 are equal, and the driving of the moving element 30 is always achieved by the cooperation of the first motor M1 and the second motor M2. Have been. Therefore, as compared with the device having the structure shown in FIG. 3, the motor can be reduced in capacity and cost can be reduced.

A motor for driving the moving element 30 in the Y direction is not mounted on the Y-direction guide block 40, and the first motor M1 and the second motor M2 are fixed parts.
Since the electric cables 28 a and 28 b are provided on the direction guide rail member 50, the electric cables 28 a and 28 b do not accompany the movement of the movable element 30. Therefore, problems such as disconnection of the cables 28a and 28b can be eliminated.

When the stroke of the moving member 30 is increased, the Z-direction guide rail member 50, the connecting rod 3
The length of the belt 6 and the belt 60 may be increased, and it is possible to avoid a significant increase in weight and cost.

Although a motor is used as a driving source in the above embodiment, a hydraulic or pneumatic driving source may be used. Further, although four idle pulleys 91 to 94 are used, four or more idle pulleys or tension pulleys may be used.

[0035]

As described above, according to the present invention, the movable wheel provided on the movable element and the second guide are provided in four combinations of forward and reverse rotations of the two prime movers provided on the second guide member. It has a feature in a wrapping transmission mechanism that freely pulls in two-dimensional directions and pulls it with a single end-wrapping material wound around a wrapping play wheel provided on the member. It works.

The first driving source and the second driving source are equal, and the driving of the moving element is always achieved by the cooperation of the first driving source and the second driving source. For this reason, compared to the conventional device,
The capacity of the driving source can be reduced, and the cost can be reduced.

Since the prime mover itself is provided on the second guide member of the fixed part, a power supply cable such as electricity and pneumatics for the prime mover does not accompany the movement of the mover. Therefore, troubles such as disconnection of the cable can be eliminated.

When lengthening the stroke of the mover,
The guide member and the wrapping member need only be lengthened, so that a significant increase in weight and cost can be avoided.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a work transfer loader device in a machine tool according to an embodiment of the present invention.

FIG. 2A is a plan view showing the work transfer loader device, and FIG. 2B is a front view showing the work transfer loader device.

FIG. 3 is a perspective view showing a work transfer loader device in a conventional machine tool.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Spindle of machine tool 2 ... Machine tool 3 ... Chuck of machine tool 22a ... Work gripping part 28a, 28b ... Electric cable 30 ... Moving element 32 ... Lower block 34 ... Fixed member for both ends of wrapping material 36 ... Connecting rod 40 ... Y Direction guide block 50: Z-direction guide rail member 60: Non-slip belt 60a, 60b: Both ends of belt 71: First drive pulley 72: Second drive pulley 80: Movable pulley 91: First idle pulley 92: First 2nd idle pulley 93 ... third idle pulley 94 ... 4th idle pulley M1 ... first motor M2 ... second motor W ... workpiece

Claims (2)

[Claims] 1. A first guide member for movably guiding a movable element in a first direction, and a second guide member for movably guiding the first guide member in a second direction different from the first direction. A wrapping member both ends fixing member provided at one end of the movable element in a first direction; a movable oscillating wheel provided at the other end of the movable element in the first direction; A first winding drive wheel provided at one end in the second direction, a first driving source for driving the first winding drive wheel to rotate in the forward and reverse directions, and the other end of the second guide member in the second direction. A second winding drive vehicle provided in
A second prime mover that drives the second winding drive wheel to rotate in the forward and reverse directions is provided on the first guide member, and at least the running of the winding material is performed by the first member and the first member. A first winding idler that deflects between a wrapping drive vehicle and a second wrapping idler that diverts travel of the wrapping material between the wrapping both-ends fixing member and a second wrapping drive vehicle. A third winding idler that turns the running of the winding material between the first winding drive vehicle and the movable winding wheel, and a second winding idler that runs the winding material. A fourth vehicle that is deflected between the variable driving vehicle and the variable driving vehicle
A two-dimensional moving device, comprising: 2. The loader for transporting a workpiece according to claim 1, wherein the workpiece is provided with a workpiece gripper.