JP2001025925A - Angle indexing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set the surface direction of a table having a work placed thereon at a prescribed angle to a working direction precisely without need for skill, and facilitate tooling change with a change in working content. SOLUTION: The surface direction of a table 12 is set to a prescribed angle by the rotation of the table 12 by means of a DC servomotor M1 having a harmonic-drive reduction mechanism and the rotation of a table unit TU by means of a DC servomotor M2 having a harmonic-drive reduction mechanism in a perpendicular direction to the rotational-axis direction of the DC servomotor M1. The surface direction of the table 12 on an angle indexing device 10 can be set arbitrarily and precisely by the rotation of the table 12 by means of the DC servomotor M1 of the table unit TU and the rotation of the table unit TU by means of the DC servomotor M2 of a base unit BU. It is thus possible to set a prescribed surface of a work W to an prescribed direction only by placing and fixing the work W on the table 12.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an angle indexing device for accurately setting a surface direction of a table on which a work or the like is mounted to a predetermined angle.

[0002]

2. Description of the Related Art Conventionally, in order to accurately set the surface direction of a table on which a work is placed at a predetermined angle with respect to a working direction, a special jig having a table surface at a predetermined angle,
Alternatively, after a general-purpose jig whose table surface can be adjusted within a predetermined angle range is placed on a work table and temporarily fixed, the position and angle of the table are finely adjusted and fixed to the work table with bolts or the like.

[0003]

In order to accurately set the surface direction of the table on which the work is placed at a predetermined angle with respect to the work direction, it is necessary to produce a special jig in accordance with the work or the like each time. In addition to this, considerable skill was required for fine adjustment of the position and angle and fixing. Further, there is a problem that the adjustment of the position and the angle when the general-purpose jig is used requires more skill.

In view of the above, the present invention has been made to solve such a problem, and the surface direction of a table on which a work is placed and a predetermined position thereof can be accurately set with respect to the work direction, and the angle accompanying the change in work contents can be set. Another object of the present invention is to provide an angle indexing device that can be easily changed in position.

[0005]

According to the present invention, there is provided an angle indexing apparatus comprising a table unit to which a work is mounted, and a base unit which makes the table unit rotatable. A unit configured to: a first actuator having a harmonic drive reduction mechanism; a table base for fixing the first actuator; and a shaft supported by the first actuator;
A table rotatable about an axis of the first actuator, wherein the base unit includes a second actuator having the harmonic drive reduction mechanism; and a second actuator configured to rotate the second actuator by rotating the first actuator. The table unit is fixed in a direction perpendicular to the longitudinal direction of the shaft, one end of the table unit is supported by the second actuator, and the other end of the table unit is supported by a bearing. The second
A main body base that is rotatable around the axis of the actuator, and the direction of the table surface is changed by the rotation of the table by the first actuator and the rotation of the table unit by the second actuator. It can be set to a predetermined angle.

As described above, the surface direction of the table of the angle indexing device can be arbitrarily and accurately set by the rotation of the table by the first actuator of the table unit and the rotation of the table unit by the second actuator of the base unit. it can.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an angle indexing device according to the present invention will be described based on a specific embodiment.

FIG. 1 is a front view showing an angle indexing device according to one embodiment of the present invention. 2 is a top view of FIG. 1, FIG. 3 is a right side view of FIG. 1, and FIG. 4 is a left side view of FIG.

1 to 4, an angle indexing device 10 is shown.
Is mainly composed of a table unit TU capable of rotating a table 12 on which a work W or the like is placed by a DC servo motor M1 serving as a first actuator, and the table unit TU being rotated with respect to the rotation axis direction of the DC servo motor M1. And a base unit BU rotatable in the vertical direction by a DC servo motor M2 as a second actuator.
Here, as the DC servo motors M1 and M2, those having a built-in harmonic drive reduction mechanism described later are used, and a high reduction ratio can be set without generating backlash, so that high-precision rotation positioning can be performed. it can. The work W and the like on the table 12 are omitted as appropriate. In particular, the work W
The attachment means for holding is an air cylinder not shown,
It can be set together with a servo motor, etc.

As is well known, the harmonic drive reduction mechanism has a wave generator (Wave Generator) fixed to the drive shaft and having an elliptical cam formed on the outer peripheral surface, and a gear formed on the outer peripheral surface by an annular elastic body on the outer periphery. Circular spline (Circular Splin) in which a gear is formed on the inner peripheral surface with a flexspline and an annular rigid body on the outer periphery
e), wherein the number of teeth of the circular spline is set to be greater than the number of teeth of the flexspline. Therefore, when the wave generator is rotated by the drive shaft while elastically deforming the flex spline, the flex spline meshes with a circular spline having a greater number of gear teeth in the major axis direction of the wave generator's elliptical cam, so that the flex spline engages the wave generator. The outer peripheral surface of the wave generator is moved in a direction opposite to the rotation direction. Then, the circular spline engaged with the flex spline is rotated at a reduction ratio based on the difference in the number of teeth in a direction opposite to the rotation direction of the wave generator.

Next, the configuration of the table unit TU will be described with reference to FIGS. FIG. 5 is a longitudinal sectional view taken along line AA of FIG.

The table unit TU includes a table base 11 to which an external flange of the DC servomotor M1 is bolted and fixed, and a table 12 which is bolted and directly connected to a rotating shaft of the DC servomotor M1. Thereby, the table 12 is rotatable in the surface direction on the table base 11 by the DC servo motor M1.

Next, the configuration of the base unit BU will be described with reference to FIGS.

The base unit BU has a right wall 21a.
A main body base 21 to which an external flange of the DC servomotor M2 is bolted and fixed, and a main body which supports the shaft 13 at the other end of the table unit TU which is directly bolted to the DC servomotor M2 in one axial direction. Base 21
And a bearing 22 of an angular bearing with a seal inserted into the left wall portion 21b. Thereby, both ends of the table unit TU are connected to the D of the right wall portion 21a of the table base 21.
C servo motor M2 and left wall 21 of table base 21
b and the shaft 13 and the bearing 22 respectively.
The table unit TU is rotatable in a tilt direction perpendicular to the surface of the table 12 by the DC servo motor M2.

As shown in FIGS. 1, 2 and 4,
The table 1 is mounted on the shaft 13 of the table unit TU.
A dog 14 for setting the direction of the second surface is fixed. Then, on the left wall portion 21b of the main body base 21 of the base unit BU, the inclination initial position sensor 25 and the inclination limit position sensor 2 that are turned ON when light is shielded by the dog 14.
6a and 26b are respectively attached at predetermined angular positions. Further, the dog 14 on the left wall 21b of the main body base 21,
Tilt initial position sensor 25 and tilt limit position sensor 26
A cover 27 is attached so as to cover a and 26b.

The DC servo motor M1 receives power and signals from the outside through the rotating shaft of the DC servo motor M2. Further, a through hole is formed on the table 12 side through the rotation shaft of the DC servo motor M1.
Therefore, the pneumatic and hydraulic pipelines, power lines, signal lines, etc., are connected through substantially the centers of these rotating shafts.

Next, the operation of these configurations will be described.

First, in order to set the initial tilt position of the table unit TU with respect to the base unit BU of the angle indexing device 10, the table unit TU is rotated clockwise in FIG. 4 by the DC servo motor M2 with respect to the base unit BU. You. Then, the base unit B is fixed by the dog 14 fixed to the shaft 13 of the table unit TU.
When the tilt limit position sensor 26a attached to U is turned ON, the DC servo motor M2 is rotated in the reverse direction. Then, the table unit TU is rotated counterclockwise with respect to the base unit BU, and the rotation is stopped when the initial tilt position sensor 25 is turned on. Thus, the base unit B
The setting of the initial tilt position of the table unit TU with respect to U is completed.

At this time, a jig Z provided with a simple hole or the like for positioning the work W is fixed on the surface of the table 12 of the table unit TU of the angle indexing device 10 in advance. Then, the work W is placed on the table 1 via the jig Z.
2 is placed. At this time, the workpiece W is merely placed, and in the present embodiment, the air pipe is formed by using a hollow portion (not shown) at the center in the axial direction of the DC servo motor M1 in order to stabilize the placed state. The work W is placed on the jig Z and is suctioned and fixed to the jig Z by a negative pressure during the operation after the work is placed on the jig Z.

As described above, after the work W is placed and fixed on the surface of the table 12 via the jig Z, the DC servo motors M1 and M2 are rotated based on the commands.
As a result, the surface direction of the table 12 is accurately set to a predetermined angle, and the predetermined surface of the workpiece W mounted and fixed on the table 12 is set to be, for example, perpendicular to the working direction. In this manner, by simply placing and fixing the work W on the table 12 surface, a plurality of work surfaces of the work W can be sequentially and selectively made to coincide with a direction adapted to the work direction.

As described above, the angle indexing device 10 of this embodiment includes the table unit TU and the base unit BU, and the table unit TU is a DC as a first actuator having a harmonic drive reduction mechanism.
The base unit BU includes a servo motor M1, a table base 11 for fixing the DC servo motor M1, and a table 12 supported by the DC servo motor M1 and rotatable in the surface direction on the table base 11. A DC servo motor M2 as a second actuator having a harmonic drive reduction mechanism;
It is fixed in the direction perpendicular to the rotation axis direction of the servomotor M1, one end of the table unit TU is supported by the DC servomotor M2, and the shaft 13 at the other end of the table unit TU is supported by the bearing 22. The table unit TU is provided with a rotatable main body base 21.
The surface direction of the table 12 is set to a predetermined angle by the rotation of the table 12 by the servo motor M1 and the rotation of the table unit TU by the DC servo motor M2.

That is, the direction of the surface of the table 12 of the angle indexing device 10 corresponds to the DC servo motor M of the table unit TU.
1 and the rotation of the table unit TU by the DC servo motor M2 of the base unit BU. Therefore, only by placing and fixing the work W on the surface of the table 12, the predetermined surface of the work W can be set in the predetermined direction.

Next, a position / angle control system using the above angle indexing device 10 will be described with reference to the embodiment shown in FIGS. Here, FIG. 6 is a front view showing the overall configuration of the pad printing machine 100 to which the position angle control system is applied. FIG. 7 is a top view of FIG.
FIG. 9 is a side view showing a working state in the oblique printing station in FIG. 6, and FIG. 9 is a side view showing a working state in the horizontal printing station in FIG. Note that the pad printing machine 100
Are not related to the gist of the present invention, and the description thereof will be omitted. In the drawings, components having the same configuration or corresponding portions as those of the above-described embodiment are denoted by the same reference numerals and symbols.

As is well known, pad printing (also known as dandelion printing) involves placing ink on a groove formed with a predetermined character / symbol shape, and forming ink remaining after squeezing with silicone rubber or the like. After being transferred to the tip pad portion P, the pad portion P is pressed and printed on a predetermined outer peripheral surface of the work W. At this time, it has a feature that printing can be performed even if the outer peripheral surface of the work W is not a flat surface but a curved surface.

In the pad printing, if the printing surface of the work W is not set to be perpendicular to the pressing direction of the pad portion P, not only the ink of the pad portion P is not accurately printed on the printing surface of the work W. However, the predetermined character / symbol shape is shifted or blurred. Then, the print quality deteriorates and the work W becomes defective.

Further, in the pad printing machine 100 to which the position / angle control system using the angle indexing device 10 according to the present embodiment is applied, a predetermined character / symbol shape is printed twice on the same portion. By doing so, it is intended to improve the print quality, and in particular, it is required that there be no deviation or bleeding of a predetermined character / symbol shape.

As shown in FIGS. 6 to 9, the printing procedure in the pad printing machine 100 is as follows. First, in the station S0, the jig Z fixed on the table 12 of the angle indexing device 10 is used. On the other hand, the work W is placed by the operator. Next, from the station S0, the angle indexing device 10 is planarly moved in the X-axis direction and the Y-axis direction by the X-axis-Y-axis drive table 30 to which the main body base 21 is fixed, and reaches the station S1. During this movement time, the surface direction of the table 12 in the angle indexing device 10 is set to a predetermined angle corresponding to pad printing on the work W in the station S1 by the DC servo motors M1 and M2 as described above. (See FIG. 8).

At this time, the pad section P for pad printing in the station S1 is in a standby state. Therefore, when the angle indexing device 10 completes the movement to the station S1, the pad portion P can be immediately pressed against the work W to perform pad printing. Note that the X axis
The Y-axis drive table 30 uses two orthogonal sets of ball screws (not shown) and a DC servo motor, and
It is configured to be movable in the axial direction and the Y-axis direction.

As described above, in the pad printing process by the pad printing machine 100 of the present embodiment, the station S0
Sequentially from station S1 → station S2 → station S3 → station S4 → station S3 →
Station S2 → Station S1 → Station S
When the angle indexing device 10 is set to 0, the X-axis-Y-axis drive table 30
Are moved and positioned in the X-axis direction and the Y-axis direction specified in advance at the stations S0, S1, S2, S3, and S4. At the same time, each station S0, S1, S2, S
In S3 and S4, the surface direction of the table 12 in the angle indexing device 10 is set to a predetermined angle specified in advance by the DC servo motors M1 and M2. In addition, station S
1 and S4 are oblique printing stations, and stations S2 and S3 are horizontal printing stations.

Thus, the work W placed on the table 12 of the angle indexing device 10 via the jig Z at the station S0 at each station S1, S2, S3
In S4, four types of character / symbol shapes are printed twice on each corresponding portion. Thereafter, the angle indexing device 10 returns to the station S0, and the printed work W is removed from the jig Z on the table 12 by the operator, and is replaced with the next work W.

According to such a work procedure of the pad printing process, since the work W is printed twice at each station, the preparation time until the ink is transferred to the pad portion P and the standby state is set is reduced. Since there is no need to provide at all stations except the second time at station S4,
This has the effect of greatly reducing the cycle time.

Conventionally, a dedicated jig having an angle surface corresponding to each station with respect to the work W is required, but the angle indexing device 10 of the pad printing machine 100 of the present embodiment is required. As the jig Z for positioning and placing the work W on the surface of the table 12, only one simple jig made of a rectangular parallelepiped or the like having a parallel plane may be manufactured.
It is very easy to change the setup for small-quantity, multi-product works W.

Since the angle change associated with the change of the working direction with respect to the work W can be easily achieved by numerical control, no skill is required. Further, conventionally, since each station was completely separated, the number of operators required for the number of types of printing for the work W was required. Each time the work W was removed, a large number of man-hours were required. In the pad printing machine 100 of the embodiment, since only one worker is required, a great reduction in man-hours can be achieved.

As described above, the position and angle control system according to the present embodiment includes the DC servo motor M1 as the first actuator having the harmonic drive reduction mechanism,
A table base 11 for fixing the DC servo motor M1,
A table unit TU comprising a table 12 which is rotatably supported in the plane direction on a table base 11 and which is rotatably supported by the DC servo motor M1, and a DC servo motor M2 as a second actuator having a harmonic drive reduction mechanism
And the DC servo motor M2 is fixed in a direction perpendicular to the rotation axis direction of the DC servo motor M1, and one end of the table unit TU is supported by the DC servo motor M2, and the other end of the table unit TU is used as a bearing. And a base unit BU composed of a rotatable main body base 21 and a base unit BU. The base unit BU is fixed, and the base unit BU is movable as a position setting means in the X-Y direction. X axis-Y axis drive table 3
0, the base unit BU is moved to a predetermined position by the X-axis / Y-axis drive table 30, the table 12 is rotated by the DC servo motor M1, and the table unit TU is rotated by the DC servo motor M2. Thus, the surface direction of the table 12 is set to a predetermined angle.

That is, the surface direction of the table 12 of the angle indexing device 10 composed of the table unit TU and the base unit BU corresponds to the DC servo motor M of the table unit TU.
1 and the rotation of the table unit TU by the DC servo motor M2 of the base unit BU, and the position of the predetermined surface is set by the X-axis-Y-axis drive table 30. Therefore, the table 12
Simply by placing and fixing the work W on the surface, the predetermined surface of the work W can be moved to a predetermined position, and at the same time, the angle of the predetermined surface of the work W can be set to correspond to the predetermined work direction.

In the above embodiment, the application of the position / angle control system using the angle indexing device to the pad printing process has been described.
The present invention is not limited to this. For example, the present invention can be applied to a series of precision machining processes and the like in which it is necessary to use a different processing tool for each of a plurality of stations and change the work surface of the work for each of the stations. .

Although the X-axis-Y-axis drive table 30 described in the present embodiment is set so as to move on a two-dimensional plane so that pad printing can be performed at any place on the work W, the present invention is implemented. In this case, the drive table can be used only in the X-axis direction. That is, when implementing the present invention, it is sufficient that the device has at least a linear motion.

The first and second actuators having the harmonic drive reduction mechanism have been described as the actuators described in the above embodiments. However, in the case of implementing the present invention, the mounting or position control of the workpiece W is required. One or more actuators by other pneumatic control, hydraulic control, and electric control may be provided.

Further, the main forms of the table unit and the base unit described in the above embodiment are determined by the table base 11 and the main body base 21 holding the first and second actuators M1 and M2. However, when implementing the present invention, it is only necessary that a specific position in the three-dimensional space can be determined by the two axes of the first and second actuators M1 and M2.

[0040]

As described above, according to the angle indexing device of the present invention, the angle indexing device includes the table unit and the base unit, and the table unit includes the first actuator having the harmonic drive reduction mechanism, and the second actuator. 1
A table base for fixing the actuator of the first type;
A table rotatably supported by the actuator of the first actuator and rotatable about the axis of the first actuator, wherein the base unit includes a second actuator having the harmonic drive reduction mechanism and the second actuator. The first actuator is fixed in a direction perpendicular to the longitudinal direction of the rotation shaft, one end of the table unit is supported by the second actuator, and the other end of the table unit is supported by a bearing. A main body base that makes the table unit rotatable around the axis of the second actuator. The table unit is rotated by the first actuator, and the table unit is rotated by the second actuator. The surface direction of the table is set to a predetermined angle by the rotation of. That is, the surface direction of the table in the angle indexing device can be set by the rotation of the table by the first actuator of the table unit and the rotation of the table unit by the second actuator of the base unit. Thereby, the surface direction of the table can be arbitrarily and accurately set based on the command, and the repetition accuracy can be compensated.

[Brief description of the drawings]

FIG. 1 is a front view showing an angle indexing device according to one embodiment of the present invention.

FIG. 2 is a top view of FIG.

FIG. 3 is a right side view of FIG. 1;

FIG. 4 is a left side view of FIG. 1;

FIG. 5 is a longitudinal sectional view taken along the line AA of FIG. 1;

FIG. 6 is a front view showing an overall configuration of a pad printing machine to which a position / angle control system using an angle indexing device according to an embodiment of the present invention is applied.

FIG. 7 is a top view of FIG. 6;

FIG. 8 is a side view showing a working state in the oblique printing station of FIG.

FIG. 9 is a side view showing a working state in the horizontal printing station of FIG. 6;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Angle indexing device 11 Table base 12 Table 21 Main body base 22 Bearing 30 X axis-Y axis drive table (position setting means) M1 DC servo motor (first actuator) M2 DC servo motor (second actuator) TU table unit BU base unit

 ──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Katsumi Toyoda 79-3 Kurono, Gifu City, Gifu Prefecture F-term in Tomei Engineering Co., Ltd. 3C048 AA01 BC02 CC01 CC04 DD17

Claims (1)

[Claims] 1. An angle indexing device comprising a table unit to which a work is mounted, and a base unit which makes the table unit rotatable, wherein the table unit has a harmonic drive (Harmonic Drive) reduction mechanism. A base, comprising: a first actuator; a table base for fixing the first actuator; and a table pivotally supported by the first actuator and rotatable about the axis of the first actuator. A second actuator having the harmonic drive reduction mechanism; and a second actuator fixed to the second actuator in a direction perpendicular to a length direction of a rotation axis of the first actuator, and one end of the table unit. The other end of the table unit is supported by the second actuator. A main body base that is rotatable about an axis of the second actuator by supporting the table unit with a support, and the rotation of the table by the first actuator and the second actuator An angle indexing device for setting the surface direction of the table to a predetermined angle by rotation of the table unit.