JP2002346873A - Loading apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a loading apparatus of single construction to enable loading without interference with such an obstacles as a shoe possibly located in the vicinity of the loading position, and to enable loading in a short time as well. SOLUTION: A board shape rotary member 3 is so provided as to be concentric with the center O of the revolution of the planetary gear 8 of the planetary gearing 2 and as to rotate freely. A loader member 4 which can support a work W is so fitted to the rotary member 3 as to radially move back and forth freely through a regulating means 15 being arranged in between. An eccentric pin 17a fitted to the planetary gear 8 is connected to the rotary member 3 and the loader member 4. Rotation of the rotary member 3 and a radial movement of the loader member 4 are activated by the movement of the eccentric pin 17a on a cycloidal curve caused by a planetary movement of the planetary gear 8.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loading device which is used in a processing machine, an assembling machine, an inspection machine, etc., and supplies various works, for example, a circular work such as a raceway in a rolling bearing.

[0002]

2. Description of the Related Art Conventionally, a cassette loader, an index loader or the like has been used as a loading device in a grinding machine or the like. The cassette loader consists of a work transfer unit that loads and unloads the work to and from the processing position, and a fixed distribution unit that replaces the work in the work transfer unit. Loading. The index loader sequentially loads works into a plurality of work pockets provided on a rotating disk, and the disk rotates in a certain direction so that the work in the pocket moves on the circumference and is carried in. At the same time, the work is carried out and discharged. In a shoe centerless method used for grinding, a shoe supporting a work is generally fixed at a processing position, and the direction of loading and unloading of the work is regulated by the shoe. Therefore, in a grinding machine using a shoe centerless method as a processing method, a cassette loader is often used to supply a work to a processing position.

[0003]

The cassette loader is composed of three operations: work unloading, work distribution and work loading.
The operation of carrying out and carrying in the work to and from the processing position is operated by a hydraulic cylinder, and the fixed distribution is performed by the weight of the work, which is widely used. However, there is a disadvantage that the loading time is long because three operations are required for loading. The index loader generally has a short loading time, but in order to use it in the shoe centerless method, it is necessary to add an operation to avoid interference with the shoe,
Alternatively, shoes need to be provided in all work pockets. Therefore, the supply path becomes complicated.

It is an object of the present invention to provide a loading device having a simple configuration capable of loading a workpiece without causing interference even when there is an interfering object such as a shoe near a loading destination position. Another object of the present invention is to shorten the loading time and shorten the cycle time.

[0005]

According to a first aspect of the present invention, there is provided a loading apparatus having a planetary gear having a planetary gear capable of freely moving in a planetary movement, a driving means for applying a driving force of the planetary movement to the planetary gear, and A rotating member rotatably provided concentrically with the orbital center of the planetary gear, a loader member mounted on the rotating member so as to be able to advance and retreat in a substantially radial direction from the guide of the restricting means and capable of supporting a work; And an eccentric connecting portion provided eccentrically with respect to the rotation center and connected to the rotating member and the loader member. The rotation of the rotating member and the radial operation of the loader member are performed by the motion of the eccentric connection portion along the cycloid curve caused by the planetary gear performing the planetary motion. According to this configuration, the eccentric connecting portion of the planetary gear moves along a fixed path having a cycloid curve by applying a driving force of planetary motion to the planetary gear by driving the driving means. Due to the movement of the eccentric connecting portion along the cycloid curve, the rotating member connected to the eccentric connecting portion rotates, and the loader member installed on the rotating member and connected to the eccentric connecting portion radially moves while rotating with the rotating member. To go back and forth. As described above, since the cycloid curve is used for rotating the rotating member and driving the loader member in the radial direction, the loader member is retracted radially inward while the phase angle of the turning movement is away from the loading destination position. ,
When the phase angle approaches the loading destination position, it projects outward in the radial direction. Therefore, even if there is an interfering object such as a shoe near the loading destination position, the workpiece can be loaded without causing interference. Since the operation of the cycloid curve is obtained by the planetary gear device, the turning movement and the radial movement can be performed by one driving means, and the configuration of the loading device can be simplified. Therefore, the cost of equipment equipped with this loading device can be reduced.

[0006] The planetary gear device includes an internal gear fixed to the loading device main body, and at least one planetary gear meshed with the internal gear and rotatably mounted on a common carrier. The loader member may be provided for each planetary gear. When the planetary gear meshes with the internal gear in this way, the cycloid curve becomes an internal cycloid curve having a curved shape protruding toward the inner diameter side with respect to the orbit of the planetary gear. When at least three planetary gears are provided and a loader member is provided for each planetary gear, supply and discharge of the work to three locations can be realized by one operation. For example, when one loader member is at the loading destination position, the locations where the other loader members are located are taken as the loading position and the discharging position, respectively, so that the work is loaded and unloaded to the outside and loaded by the loading device. Delivery of the workpiece at the previous position can be performed in one operation. Therefore, the loading time can be reduced, and the cycle time can be reduced. In the case of an inner cycloid curve, by disposing the turning point of the curve near the loading destination position, it is possible to move the loader member while avoiding surrounding interference objects. Therefore, the connection point between the loader member and the eccentric connection portion can be disposed closer to the loading destination position than the revolving center, and the loader members provided for the respective planetary gears can be disposed without interfering with each other. .

The planetary gear device includes a sun gear fixed to the loading device main body, and at least three planetary gears meshed with the sun gear and rotatably mounted on a common carrier. The loader member may be provided for each planetary gear. In the case of this configuration, the above-mentioned cycloid curve becomes an outer cycloid curve having a curved shape protruding toward the outer diameter side with respect to the orbit of the planetary gear. In the case of the outer cycloid curve, the turning point of the curve is set to the opposite side of the loading destination position, that is, 180
° Arrange at positions far apart. As a result, when the connection point of the eccentric connection portion enters inside, the loader member goes out, and the loader member can be moved near the loading destination position while avoiding peripheral interference objects. As described above, at least three planetary gears are provided and a loader member is provided for each of the planetary gears, so that one operation of loading and unloading the work can be performed. In the case of the planetary gear device having this configuration, the internal gear is unnecessary, and a sun gear having external teeth is provided instead.

The restricting means is, for example, a guide member fixed to the rotating member and extending in the radial direction. With such a guide member, the movement direction of the loader member can be regulated and smoothly guided with a simple configuration.

The rotating member may be a rotating plate, and the rotating plate may be interposed between the planetary gear and the loader member. In this case, the eccentric connecting portion may be formed of an eccentric pin, and the rotary plate may be provided with a radial guide slit through which the eccentric pin movably passes. By using the rotating member as the rotating plate and the eccentric connecting portion as the eccentric pin, the motion of the eccentric connecting portion that draws the cycloid curve of the planetary gear can be transmitted to both the rotating member and the loader member with a simple configuration. it can.

[0010] The planetary gear may be rotatably supported by a carrier, and the carrier may be fixed to a drive shaft connected to the drive means. By supporting the planetary gear on the carrier fixed to the drive shaft in this way,
The planetary gear can be driven with a simple configuration.

A loading device according to a second aspect of the present invention is provided with a planetary gear device having a planetary gear capable of freely moving planetary gears, driving means for applying a driving force of the planetary movement to the planetary gears, and the planetary gear. An eccentric loader section for supporting the work at an eccentric position with respect to the rotation center of the leverage planetary gear, wherein the work is moved along a cycloid curve of the eccentric loader section generated by the planetary gear performing a planetary motion. It is. In this configuration,
The work supported by the eccentric loader moves along the cycloid curve. Therefore, while the phase angle of the orbital movement of the planetary gear is away from the loading destination position, the work is retracted inward in the radial direction, and when the phase angle approaches the loading destination position,
Protrudes radially outward. Therefore, even in the case of this configuration, even if there is an interfering object such as a shoe near the loading destination position, the workpiece can be loaded without causing interference. In addition, in the case of this configuration, since the rotating member and the restricting means are not required, the configuration is further simplified.

[0012]

FIG. 1 shows a first embodiment of the present invention.
It will be described with reference to FIG. This loading device
The apparatus includes a loading device main body 1, a planetary gear device 2, a rotating member 3 and a loader member 4 driven by the planetary gear device 2 via an eccentric connecting portion 17, and a driving unit 5 of the planetary gear device 2. The loader member 4 is a member that supports the work W. The planetary gear device 2 includes a loading device main body 1.
, And three planetary gears 8 meshing with the internal gear 6 and rotatably mounted on a common carrier 7. Four or more planetary gears 8 may be provided. The planetary gear 8 is rotatably mounted on the carrier 7 via a bearing 18. The diameter of the pitch circle of the internal gear 6 is an integral multiple of the diameter of the pitch circle of the planetary gear 8, and in this example, three times. The carrier 7 is fixed to the drive shaft 9, and the rotation of the drive shaft 9 causes the carrier 7 to rotate, thereby causing the planetary gear 8 to perform planetary motion. The carrier 7 is fixed to the drive shaft 9 by fitting the drive shaft 9 into an inner diameter hole of the carrier 7, engaging the key 10, and tightening the key 10 with the nut 11. The drive shaft 9 is rotatably supported on the loading device body 1 by front and rear bearings 12. The axis of the drive shaft 9 is concentric with the axis of the internal gear 6, and is located at the revolution center O of the planetary gear 8. The drive shaft 9 is
The coupling 1 is provided to the servo motor serving as the driving means 5.
3 are connected.

The rotating member 3 has a bearing 14 at the tip of the drive shaft 9.
It is rotatably mounted via. The rotating member 3
The loader member 4 is formed of a plate-shaped member, that is, a rotating plate, and is provided on the surface opposite to the planetary gear 8 so as to be able to advance and retreat in the radial direction under the guidance of the regulating means 15. The rotating member 3 has a triangular front shape. The loader member 4
It is provided for each of the planetary gears 8 and is equally arranged at three locations in the circumferential direction (FIG. 4).

The loader member 4 is a member having a work transfer section 4a for transferring the work W at its tip, and is formed in an elongated plate shape. In this example, the work transfer section 4a is formed on the back surface of the loader member 4 and serves as a portion that supports the work W in a fitted state. The cutout recess 4aa formed in the loader member 4 and the bottom surface of the cutout recess 4aa. And a support pin 4ab protruding from the center of the front end of the head.
The notch recess 4aa is open to the tip end surface and both side surfaces of the loader member 4. The work transport unit 4a is formed such that the work W is retracted from the surface of the rotating member 3 while supporting the work W. In the work transport section 4a, a work corresponding window 16 is provided penetrating through the loader member 4 on both sides. The work W is a circular ring-shaped part, for example, an outer ring of a rolling bearing.

As shown in FIG. 4, the regulating means 15 comprises a pair of parallel guide members 15a fixed to the rotating member 3 and extending in the radial direction. The two guide members 15a allow the loader member 4 to fit between them so as to be able to advance and retreat.
Of the loader member 4 and the lifting of the loader member 4 with respect to the rotating member 3 by covering the edge of the surface of the loader member 4. The pair of guide members 15a also serves as a work guide that guides the work W between the members so as to be movable in the radial direction of the rotating member 3. That is, the guide member 15a has a function of regulating the position in the width direction of the work W supported by the work transport unit 4a of the loader member 4.

The eccentric connecting portion 17 is provided on the planetary gear 8 eccentrically with respect to the rotation center P, and is connected to the rotating member 3 and the loader member 4. As shown in FIG. 1, the eccentric connecting portion 17 includes an eccentric pin mounting disk 19 mounted on the planetary gear 8 and an eccentric pin 17a mounted on the eccentric pin mounting disk 19. The eccentric pin 17a
It penetrates a guide slit 20 provided in the plate-shaped rotating member 3 and is relatively rotatably connected at a pin connecting point 21 by a pin fitting hole provided in the loader member 4. The guide slit 20 is provided in a radial direction of the rotating member 3.

As shown in FIG. 4, the loading destination position Q of the loading device is set at the workpiece receiving portion 2 of the main machine.
5 is set. The main machine is a processing machine, an assembly machine, an inspection machine, or the like. The work receiving portion 25 is a portion that receives the work W of the main body machine.
The position for supporting the workpiece W is, for example, a processing position, an assembly position, or an inspection position. In this example, as shown in FIG.
a and the back support 25b. Shoe 25a
Are configured to receive the lower part and the rear surface of the work W in the horizontal position. The main body machine of this example is composed of a grinding machine, which is a type of processing machine, and as shown in FIG.
Is the processing position.

The discharge position R and the carry-in position S are arranged at equal angular intervals in the circumferential direction around the revolving center O of the loading device with respect to the loading destination position Q. The discharge position R is a position where the work W is discharged from the loading device.
Are provided correspondingly. The carry-in position S is a position at which the work W is supplied to the loading device, and a ejection supply device 27 corresponding to a plurality of works W supplied side by side is provided correspondingly.

The operation of the above configuration will be described. The motor which is the driving means 5 performs index rotation every 120 °. The rotation of the driving means 5 is transmitted to the driving shaft 9 via the coupling 13, and the carrier 7 fixed integrally with the driving shaft 9 rotates 120 °. When the carrier 7 rotates, the respective planetary gears 8 installed on the carrier 7 revolve. Since the planetary gears 8 mesh with the internal gear 6, the planetary gears 8 rotate with the above-described revolving motion. The eccentric pin 1 provided at the eccentric position of the planetary gear 8 by the planetary motion consisting of the revolution and the rotation of the planetary gear 8
7a moves while drawing a locus of a cycloid curve a as shown by plotting in FIG. This cycloid curve a
Is the motion of the planetary gear 8 along the internal gear 6, resulting in an internal cycloid curve. In addition, since the diameter ratio of the internal gear 6 to the planetary gear 8 is three times, the cycloid curve a has three path portions that generate turning points a1 to a3 at three places in the circumferential direction around the revolution center O. It becomes a divided curve.

The eccentric pin 17a has the above-mentioned cycloid curve a.
Is performed, the rotating member 3 rotatable around the revolving center O rotates because it is engaged with the eccentric pin 17a by the guide slit 20. The eccentric pin 17a is movable in the guide slit 20 in the diametric direction of the rotating member 3, and only the movement around the revolution center O is transmitted to the rotating member 3. With the rotation of the rotating member 3, the loader member 4 connected to the eccentric pin 17a at the pin connecting point 21 is moved to the eccentric pin 1a.
By the movement of 7a within the guide slit 20, the guide member 15a guides the member 7a to enter and exit the rotating member in the radial direction.

As described above, the loader member 4 moves in and out in the radial direction while turning with the rotating member 3. In this case, since the cycloid curve a is used for the rotation of the rotating member 3 and the radial movement of the loader member 4, as shown in FIG. While away, it is retracted inward in the radial direction, and projects outward in the radial direction when the phase angle approaches the loading destination position Q.

FIG. 6 shows how the loader member 4 moves. A curve “c” in FIG. 3 indicates the locus of the center point of the work transfer section 4 a of the loader member 4. From the state where the loader member 4 is at the loading destination position Q ((A) in the figure), the drive shaft 9
When the is rotated, the loader member 4 pivots while rapidly retracting inward in the radial direction as shown in FIG. 4B, thereby avoiding interference between the loader member 4 and the work W with an interfering object such as the shoe 25a. When the drive shaft 9 further rotates and the loader member 4 is at a phase angle away from the shoe 25a or the like, the loader member 4 maintains the position retracted inward in the radial direction (FIGS. (C) and (D)). ). Thereafter, when the drive shaft 9 further rotates, the next loader member 4 approaches the loading destination position Q. The operation when the loader member 4 approaches the loading destination position Q is a path that is symmetrical to those in FIGS. 6A and 6B.

The loader member 4 of this embodiment is
Although the work W is merely supported in a fitted state without being gripped, the work receiving portion 25 of the main body machine is provided while the loader member 4 is projected radially outward from the rotating member 3.
The back surface of the work W is guided by the back support member 25b. In addition, while the loader member 4 is retracted radially inward from the rotating member 3, the workpiece W is guided by the surface of the rotating member 3 and the guide members 15a on both sides.

Thus, even if there is an interfering object such as a shoe near the loading destination position Q, the workpiece W can be loaded without causing interference. Since the operation of the cycloid curve a is obtained by the planetary gear device 2, the rotational movement and the radial movement can be performed by one driving means 5, and the configuration of the loading device can be simplified. In this loading device, three planetary gears 8 are equally arranged, and a loader member 4 is provided for each planetary gear 8.
As shown in FIG. 8, when one loader member 4 is at the loading destination position Q, the other loader members 4 are located at the loading position S and the discharging position R. Therefore, the loading and unloading of the work W can be performed in one operation. Therefore, the loading time can be reduced, and the cycle time can be reduced. Since the planetary gear device 2 forms the inner cycloid curve a, the turning points a1 to a
3 is the loading position Q, the loading position S, and the discharging position R
, It is possible to move the loader member 4 while avoiding the interference around the positions Q, R, and S.
Therefore, the connection point between the eccentric pin 17a and the loader member 4 can be arranged at a position closer to the loading position Q, the loading position S, and the discharging position R than the revolving center O. Therefore, the loader members 4 provided for the respective planetary gears 8 can be arranged without interfering with each other.

According to the loading device of this embodiment, the following effects can be expected. i) The simplification of the device for loading while avoiding an interference object such as the shoe 25a is realized, and the manufacturing cost of the equipment can be reduced. ii) By shortening the cycle time, it is possible to reduce the manufacturing cost of products manufactured using this loading device. iii) The driving of this loading device can be realized by one driving means 5, and the control becomes easy. iv) Supply of the work W to three places can be realized by one operation, and space can be saved without combining a plurality of work transfer devices. v) By changing the mounting method of the device, the combination with various devices can be freely supported. vi) By changing the loader member 4, it is possible to supply a wide variety of workpieces. vii) By integrating a plurality of work transfer operations, the number of units can be reduced and weight reduction can be realized.

In the above embodiment, the planetary gear 8 is driven by driving the carrier 7. However, the carrier 7 is rotatable, and as shown in FIGS.
The planetary gear 8 may be driven by the rotation of the sun gear 28. The sun gear 28 is fixed to the drive shaft 9 in FIG. 1 and meshes with each planetary gear 8. Thus, even when driven by the sun gear 28, the same operation of the planetary gear 8 as when driven by the carrier 7 can be obtained.

In each of the above embodiments, the loader member 4
Supports the work W in the fitted state, but the loader member 4 is, as shown in FIG.
a may be constituted by a chuck that can be opened and closed. The work transfer section 4Aa shown in FIG.
And a chuck opening / closing drive source 30 for opening / closing the chuck 9. The chuck opening / closing drive source 30 includes a fluid pressure cylinder.

FIGS. 12 to 14 show another embodiment of the present invention. This embodiment is similar to the first embodiment shown in FIGS.
In this embodiment, instead of providing the internal gear 6, a fixed sun gear 31 meshing with each planetary gear 8 is installed in the loading device body 1 (FIG. 1). Each planetary gear 8 is mounted on the carrier 7 as in the first embodiment, and the carrier 7 is fixed to the drive shaft 9 and is driven to rotate by the driving means 5. The loader member 4B is mounted on the rotating member 3 (FIG. 1) movably in the radial direction under the guidance of the restricting means 15, as in the first embodiment. Further, the eccentric pin 17a of the eccentric connecting portion 17B provided on the planetary gear 8 is engaged with the slit 20 of the rotating member 3 and the loader member 4B. However,
The loader member 4B is connected to the workpiece transfer unit 4Ba and the eccentric connection unit 1
The length of the loader member 4B passing through the revolving center O is such that the connecting portion 7B is located on the opposite side of the revolving center O in the diameter direction. Therefore, the three loader members 4B provided intersect each other at the revolving center O when viewed from the front.

In the case of this configuration, the cycloid curve drawn by the eccentric pin 17a of the eccentric connecting portion 17B is an outer cycloid curve b having a curved shape protruding toward the outer diameter with respect to the orbit of the planetary gear 8. In the case of such an outer cycloid curve b, the curve turning points b1 to b3 are arranged on the side opposite to the loading destination position Q, that is, at a position 180 ° out of phase. Accordingly, when the connection point of the eccentric connection portion 17B enters the inside, the loader member 4B exits outside, so that the loader member 4B can be moved near the loading destination position Q while avoiding peripheral interference objects. Become. In addition, in the case of the planetary gear device 2B having this configuration, since the internal gear is not required and the sun gear 31 having external teeth may be provided, the planetary gear device 2B can be simplified. Other configurations and effects in this embodiment are the same as those in the first embodiment.

FIGS. 15 and 16 show still another embodiment of the present invention. This embodiment corresponds to the second invention. This embodiment is different from the first embodiment in that the rotating member 3 is provided and the loader member 4 and the regulating member 15 are provided on the rotating member 3, but the eccentric loader portion 4 C is provided on the planetary gear 8. It is. The eccentric loader unit 4C
The work W is supported at an eccentric position with respect to the rotation center P of the planetary gear 8. The eccentric loader unit 4C includes a planetary gear 8
The work supporting eccentric pin 33 is provided on the eccentric loader part mounting disk 32 fixed to the eccentric loader. Work W is
The work supporting eccentric pin 33 is supported in an externally fitted state. The work W in this case is ring-shaped, and is composed of, for example, an inner ring in a rolling bearing. Other configurations in this embodiment are the same as those in the first embodiment.

In the case of this configuration, the eccentric loader section 4C produces an inner cycloid curve similarly to the eccentric pin 17a of the first embodiment by the planetary gear 8 performing the planetary motion. The work W supported by the eccentric loader unit 4C moves along the cycloid curve as it is.
Therefore, while the phase angle of the revolution of the planetary gear 8 is away from the loading destination position Q, the work W is retracted inward in the radial direction, and when the phase angle approaches the loading destination position Q, the work W moves in the radial direction. Protrude outward. Therefore, even in the case of this configuration, even when there is an interfering object such as a shoe near the loading destination position Q, the work W can be loaded without causing interference. In addition, in the case of this configuration, since the rotating member 3 and the restricting means 15 in the first embodiment are unnecessary, the configuration is further simplified.

[0032]

According to the first aspect of the present invention, there is provided a loading device having a planetary gear capable of freely moving in a planetary motion, a driving means for applying a driving force of the planetary motion to the planetary gear, and a driving device for the planetary gear. A rotating member that is rotatably provided concentrically with the orbital center, a loader member that is installed on this rotating member so as to be able to advance and retreat in a substantially radial direction from the guide of the restricting means, and that can support a work; An eccentric connection portion provided eccentrically with respect to the rotating member and the loader member, and the eccentric connection portion generated by performing the planetary motion of the planetary gear along the cycloid curve causes the rotation. Since the rotation of the member and the radial movement of the loader member are performed, even if there is an interfering object such as a shoe near the loading destination position, interference is prevented. Jill can loading work without, moreover requires a simple configuration. The planetary gear set,
When at least one planetary gear is provided and the loader member is provided for each planetary gear using three or more planetary gears, loading and unloading of the work can be performed in one operation,
The loading time is reduced, and the cycle time can be reduced. When the planetary gear device is formed by meshing an internal gear with a planetary gear, an internal cycloid curve is obtained. Therefore, when a plurality of loader members are provided, interference between the loader members can be easily avoided. In the case where the planetary gear is formed by meshing a fixed sun gear with a planetary gear, an internal gear is not required, and the configuration of the planetary gear is simplified. A loading device according to a second aspect of the present invention includes a planetary gear device having a planetary gear capable of freely moving in a planetary motion, a driving means for applying a driving force of the planetary motion to the planetary gear, and a planetary gear provided on the planetary gear. An eccentric loader section that supports the work at an eccentric position with respect to the rotation center of the gear, and moves the work along a cycloid curve of the eccentric loader section generated by the planetary gear performing the planetary motion, so that the operation is further simplified. With this configuration, it is possible to carry in without causing interference regardless of an interference object near the loading destination position.

[Brief description of the drawings]

FIG. 1 is a sectional view of a loading device according to a first embodiment of the present invention.

FIG. 2 is a front view of the planetary gear device.

FIG. 3 is an explanatory diagram of a locus of an eccentric connecting portion provided on a planetary gear of the planetary gear device.

FIG. 4 is a front view of the loading device.

FIG. 5A is a front view of a work receiving portion and a work guide portion in a main body machine to which the loading device is assembled;
(B) is a perspective view of the work receiving portion.

FIG. 6 is an operation explanatory diagram of the loading device.

FIG. 7 is an explanatory diagram showing the relationship between the cycloid curve and the operation of the loader member.

FIG. 8 is an explanatory diagram showing a relationship between the loading device and processing, discharging, and unloading positions arranged around the loading device.

FIG. 9 is a front view of a planetary gear device according to another embodiment of the present invention.

FIG. 10 is an explanatory diagram of a locus of an eccentric connecting portion provided on a planetary gear of the planetary gear device.

FIG. 11 is a front view of a loading device according to still another embodiment of the present invention.

FIG. 12 is a front view of a planetary gear device in a loading device according to still another embodiment of the present invention.

FIG. 13 is an explanatory diagram of a locus of an eccentric connecting portion in the planetary gear device.

FIG. 14 is an explanatory diagram showing a relationship between a cycloid curve and a loader member of the loading device.

FIG. 15 is a partial sectional view of still another embodiment of the present invention.

FIG. 16 is a front view of the planetary gear device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Loading device main body 2 ... Planetary gear device 3 ... Rotating member 4 ... Loader member 5 ... Drive means 6 ... Internal gear 7 ... Carrier 8 ... Planetary gear 9 ... Drive shaft 15 ... Restriction means 15a ... Guide member 17 ... Eccentric connection part 17a ... eccentric pin 20 ... guide slit 25 ... work receiving part 25a ... shoe 26 ... work guide part a ... inner cycloid curve b ... outer cycloid curve O ... revolving center P ... rotation center Q ... loading destination position W ... work

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3C030 AA08 AA15 BC04 BC09 3C033 BB01 HH03 3J027 FA19 FA36 FB31 GA01 GB05 GC13 GC22 GD04 GD08 GD12 GE29 3J062 AA22 AB06 AC07 BA11 BA12 BA35 CA01 CA34

Claims (7)

[Claims] 1. A planetary gear device having a planetary gear capable of planetary movement, a driving means for applying a driving force of planetary movement to the planetary gear, and a rotation provided rotatably concentrically with the orbital center of the planetary gear. A loader member, which is installed on the rotating member so as to be able to advance and retreat in a substantially radial direction from the guide of the restricting means to support the work, and the planetary gear is provided eccentrically with respect to the rotation center, An eccentric connecting portion connected to a loader member, wherein the planetary gear performs a planetary motion and moves along the cycloid curve of the eccentric connecting portion, whereby rotation of the rotating member and radial operation of the loader member are performed. A loading device. 2. The planetary gear device has an internal gear fixed to a loading device main body, and at least one planetary gear meshed with the internal gear and rotatably mounted on a common carrier. , The loader member,
The loading device according to claim 1, wherein the loading device is provided for each planetary gear. 3. The planetary gear device includes a sun gear fixed to a loading device main body, and at least one planetary gear meshed with the sun gear and rotatably mounted on a common carrier. The loading device according to claim 1, wherein the loader member is provided for each planetary gear. 4. The loading device according to claim 1, wherein said regulating means is a radially extending guide member fixed to said rotating member. 5. The rotating member comprises a rotating plate, the rotating plate being interposed between the planetary gear and the loader member,
The loading device according to any one of claims 1 to 4, wherein the eccentric connecting portion comprises an eccentric pin, and the rotary plate is provided with a radial guide slit through which the eccentric pin movably passes. 6. The carrier according to claim 1, wherein the planetary gear is rotatably supported by a carrier, and the carrier is fixed to a drive shaft connected to the drive means. Loading device. 7. A planetary gear device having a planetary gear capable of freely moving planetary gears, driving means for applying a driving force of planetary movement to the planetary gears, and an eccentric position of the planetary gears with respect to the rotation center provided on the planetary gears. And an eccentric loader section for supporting the workpiece by the eccentric loader section, wherein the workpiece is moved along a cycloid curve of the eccentric loader section caused by the planetary gear performing a planetary motion.