JP2022145234A - Solid cam mechanism manufacturing method, end mill and solid cam mechanism - Google Patents

Abstract

To provide a solid cam mechanism having a dimensional shape with high accuracy.SOLUTION: A solid cam mechanism 1 comprises: a solid cam 2; a follower 3 contacting the solid cam 2; a shaft member 4 connected to the follower 3; and a support member 5 for supporting the shaft member 4. The solid cam mechanism 1 is so configured as to convert rotational movement of the solid cam 2 into oscillatory movement of the follower 3 around the shaft member 4. A processing process for processing a work-piece and forming the support member 5 includes: a process in which an end mill is caused to approach the work-piece from one side, and a reference surface 56 is formed on the work-piece; and a process in which the end mill is caused to approach the work-piece from one side, and a holding groove 53, in which the shaft member 4 is fitted, is formed in the work-piece.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a method for manufacturing a stereoscopic cam mechanism, an end mill, and a stereoscopic cam mechanism.

A stereoscopic cam mechanism comprising a stereoscopic cam having a three-dimensional cam surface, a follower having a contact surface contacting the cam surface, a shaft member connected to the follower, and a support member supporting the shaft member is conventionally known. (See, for example, Patent Document 1, etc.).

The solid cam mechanism described above is configured to convert the rotary motion of the solid cam into the oscillating motion of the follower about the shaft member.

JP 2008-298165 A

In order to manufacture the above-described conventional three-dimensional cam mechanism, a through hole is formed in the member to be processed, which is the base of the support member, and the shaft member is inserted through the through hole.

However, for example, in a machining center, in order to perform an operation of forming a through hole in a workpiece and an operation of forming a reference plane in the workpiece, it is necessary to change grips of the workpiece between the two operations. Due to this re-gripping work, there is a risk that errors will occur in the dimensions and shape of the support member, and in turn, errors in the dimensions and shape of the three-dimensional cam mechanism.

An object of the present disclosure is to provide a three-dimensional cam mechanism having highly accurate dimensions and shape.

A method of manufacturing a stereoscopic cam mechanism according to an aspect of the present disclosure is a method of manufacturing a stereoscopic cam mechanism described below. The three-dimensional cam mechanism includes a three-dimensional cam surface configured to rotate around a central axis, a follower having a contact surface that contacts the cam surface, and a shaft member connected to the follower. and a support member that supports the shaft member. The solid cam mechanism is a mechanism configured to convert rotational motion of the solid cam into oscillating motion of the follower about the shaft member. A manufacturing method of a three-dimensional cam mechanism according to an aspect of the present disclosure includes a processing step of processing a member to be processed to form the support member. The processing step includes a reference surface forming step and a holding groove forming step. In the reference surface forming step, an end mill is brought close to the member to be processed from one side to form a reference surface corresponding to another member on the member to be processed. In the holding groove forming step, an end mill is brought close to the member to be processed from the one side to form a holding groove into which the shaft member is fitted in the member to be processed.

An end mill according to an aspect of the present disclosure is used in both the reference surface forming step and the holding groove forming step. The step of forming a reference plane includes forming a first reference plane and forming a second reference plane facing in a direction different from that of the first reference plane. The end mill includes a first blade portion for forming the first reference surface, a second blade portion for forming the second reference surface, a third blade portion for forming the holding groove, separately.

A solid cam mechanism according to an aspect of the present disclosure includes a solid cam having a three-dimensional cam surface and configured to rotate around a central axis, a follower having a contact surface that contacts the cam surface, and the follower. and a support member that supports the shaft member. The solid cam mechanism is configured to convert rotational motion of the solid cam into swinging motion of the follower about the shaft member. Here, the direction in which the solid cam is positioned with respect to the support member is defined as a first direction, and the direction opposite to the first direction is defined as a second direction. The support member has a reference surface provided so as to contact another member positioned in the first direction with respect to the support member, and a depression in the second direction so that the shaft member is fitted therein. and a retaining groove.

The present disclosure has the effect of being able to provide a three-dimensional cam mechanism having highly accurate dimensions and shapes.

FIG. 1 is a front view of a three-dimensional cam mechanism according to one embodiment. FIG. 2 is a cross-sectional view taken along line AA of FIG. FIG. 3 is a view of the main part of the three-dimensional cam mechanism as seen from the back side. FIG. 4 is a diagram schematically showing the process of forming a supporting member that constitutes the main part of the same. FIG. 5 is a cross-sectional view showing the shape of a holding groove provided in the same support member. FIG. 6 is a view of the support member as seen from the back side. FIG. 7 is a diagram schematically showing a main part of a dedicated end mill used for forming the same support member. FIG. 8 is a diagram schematically showing the process of forming a support member with the same dedicated end mill. FIG. 9 is a cross-sectional view showing a shape of a modification of the holding groove of the same. FIG. 10 is a diagram schematically showing a main part of a dedicated end mill used to form a modification of the holding grooves of the same. FIG. 11 is a cross-sectional view showing a comparative example of the same support member.

(embodiment)
1 and 2 show a three-dimensional cam mechanism 1 of one embodiment. The three-dimensional cam mechanism 1 is a mechanism configured to rotate the three-dimensional cam 2 by a rotational force supplied from a drive source (not shown) and swing the follower 3 in conjunction with this rotation. , a plurality of followers 3 are connected to one solid cam 2 . The drive source is a motor installed outside.

In one embodiment, the three-dimensional cam mechanism 1 is configured such that a plurality of followers 3 respectively swing in conjunction with rotation of one three-dimensional cam 2 around a rotation axis. The plurality of followers 3 are three followers 3 positioned at regular intervals in the circumferential direction. The circumferential direction in this text is the circumferential direction with the rotating shaft of the three-dimensional cam 2 as a reference.

(Overall Structure of Stereoscopic Cam Mechanism)
A solid cam mechanism 1 of one embodiment includes a solid cam 2 , a follower 3 , a shaft member 4 , a support member 5 , a pressing member 6 , a drive shaft 71 , a casing 72 and bearings 73 . The three-dimensional cam mechanism 1 includes three followers 3 and three shaft members 4 connected thereto.

(3D cam)
The solid cam 2 has a disc-shaped base 21 and a ridge 23 protruding from one surface 210 of the base 21 . The surface of the tip portion of the projection 23 constitutes a three-dimensional cam surface 25. - 特許庁When one surface 210 of the base 21 is viewed from the front, the ridge 23 has an arcuate outer shape, and the cam surface 25 has an arcuate outer shape. The profile of the ridge 23 (and the cam surface 25) is provided so that the first longitudinal end is closest to the central axis and the second longitudinal end is the furthest from the central axis. there is

In one embodiment, the three-dimensional cam 2 has three ridges 23 . The three ridges 23 are located on one surface 210 of the base 21 at intervals in the circumferential direction.

(Follower)
The follower 3 is a rod-shaped member configured to interlock with the rotation of the solid cam 2 . A contact surface 32 is formed at one end of the follower 3 . The contact surface 32 contacts one of the three cam surfaces 25 of the three-dimensional cam 2 and slides on the one cam surface 25 as the three-dimensional cam 2 rotates. there is A through hole 34 is provided at one end of the follower 3 .

In one embodiment, the three followers 3 of the three-dimensional cam mechanism 1 are in one-to-one contact with the three cam surfaces 25 of the three-dimensional cam 2 .

(shaft member)
The shaft member 4 is a cylindrical member inserted through the hole 34 of the follower 3 . The shaft member 4 is provided so that both sides in the axial direction largely protrude from one end portion of the follower 3 in a state where the shaft member 4 is inserted through the hole 34 of the follower 3 . In this state, the follower 3 can swing around the shaft member 4 .

In one embodiment, the three-dimensional cam mechanism 1 has three shaft members 4 . The three shaft members 4 are inserted into the holes 34 of the three followers 3 of the three-dimensional cam mechanism 1 in one-to-one correspondence.

(support member)
The support member 5 is a bottomed cylindrical member provided to support the shaft member 4 . The support member 5 has a disk-shaped main wall 51 and a peripheral wall 52 extending from the peripheral portion of the main wall 51 .

In the three-dimensional cam mechanism 1 , the support member 5 is provided so as to cover the three-dimensional cam 2 and rotatably support the follower 3 via the shaft member 4 . Hereinafter, the direction in which the solid cam 2 is positioned with respect to the support member 5 is defined as a first direction D1, and the opposite direction is defined as a second direction D2.

The first direction D1 is, in other words, the direction in which the solid cam 2 is positioned with respect to the main wall 51 of the support member 5 . The second direction D2 is the direction in which the support member 5 is positioned with respect to the three-dimensional cam 2 , in other words, the direction in which the main wall 51 of the support member 5 is positioned with respect to the three-dimensional cam 2 .

The main wall 51 has a guide groove 54 for allowing the follower 3 to swing, and a holding groove 53 for holding the shaft member 4 . The guide groove 54 is a linear groove extending in the radial direction of the disk-shaped main wall 51 and is open in both the first direction D1 and the second direction D2. In addition, the guide groove 54 is open both radially inward and outward.

The holding groove 53 is a linear groove that intersects with the guide groove 54 (see FIG. 6, etc.). The holding groove 53 is open in the first direction D1 and not open in the second direction D2. The holding groove 53 is a bottomed groove recessed in the second direction D2. The orientation of the surface 512 of the main wall 51 on which the holding groove 53 is provided is the first orientation D1.

The guide groove 54 and the holding groove 53 are perpendicular to each other in a cross shape. In one embodiment, the holding groove 53 is divided into a first groove 531 and a second groove 532 at the intersection with the guide groove 54 . Both the first groove 531 and the second groove 532 are bottomed grooves recessed in the second direction D2.

As shown in FIG. 5, the holding groove 53 is a groove with a V-shaped cross section. The holding groove 53 having a V-shaped cross section has two flat inclined surfaces 534 and 535 which are inclined so as to approach each other closer to the second direction D2, and the shaft member 4 contacts both inclined surfaces 534 and 535 is configured to Although the angle formed by the two inclined surfaces 534 and 535 is 90°, it is not limited to this, and can be set appropriately within the range of 60° to 150°, for example.

As shown in FIG. 6 and the like, the guide groove 54 includes guide surfaces 541 and 542 that guide the follower 3 to swing. The guide surfaces 541 and 542 are a pair of flat surfaces spaced apart in the longitudinal direction of the holding groove 53 and positioned parallel to each other. The longitudinal direction of the holding groove 53 is, in other words, the axial direction of the shaft member 4 held in the holding groove 53 . The pair of guide surfaces 541 and 542 are configured to come into sliding contact with the follower 3 as the follower 3 swings.

The width of the guide groove 54 in the longitudinal direction of the holding groove 53 is the narrowest at the portions where the guide surfaces 541 and 542 are located. The width of the portion of the guide groove 54 other than the guide surfaces 541 and 542 in the longitudinal direction of the holding groove 53 is set wider than the width between the guide surfaces 541 and 542 .

In addition, the support member 5 has a reference surface 56 provided so as to come into contact with a casing 72 which will be described later. In the three-dimensional cam mechanism 1 of one embodiment, the casing 72 constitutes another member 75 positioned in the first direction D1 with respect to the support member 5 .

The reference plane 56 includes a first reference plane 561 and a second reference plane 562 provided at the tip portion of the peripheral wall 52 . The first reference surface 561 and the second reference surface 562 are provided at different locations on the tip portion of the peripheral wall 52 . The first reference plane 561 and the second reference plane 562 are planes orthogonal to each other.

The first reference surface 561 is an annular (ring-shaped) flat surface provided around the central axis of the support member 5 and orthogonal to the second direction D2. In the three-dimensional cam mechanism 1 of one embodiment, the central axis of the support member 5 coincides with the central axis of the three-dimensional cam 2 . The first reference surface 561 is a tip surface of the cylindrical peripheral wall 52 and is provided at a portion of the peripheral wall 52 farthest in the first direction D1.

The second reference surface 562 is an annular (ring-shaped) concave curved surface provided around the central axis of the support member 5 and parallel to the second direction D2. The second reference surface 562 is the inner peripheral surface of the distal end portion of the cylindrical peripheral wall 52 , is located inside the first reference surface 561 in the radial direction of the support member 5 and is located further than the first reference surface 561 . It is located apart in the second direction D2. The first reference surface 561 and the second reference surface 562 are continuous via a right-angled corner portion on the radially inner side of the tip portion of the peripheral wall 52 .

In one embodiment, the support member 5 has three holding grooves 53 , and the three shaft members 4 are fitted into the three holding grooves 53 in a one-to-one relationship.

In one embodiment, the support member 5 is provided with three guide grooves 54, and the three followers 3 are positioned in the three guide grooves 54 so as to be able to swing one-to-one. In one embodiment, the support member 5 is provided with three sets of holding grooves 53 and guide grooves 54 that intersect in a cross shape and are spaced apart in the circumferential direction of the support member 5 .

(Pressing member)
The pressing member 6 is a member attached to the surface 512 of the supporting member 5 so as to cover the opening of the holding groove 53 . In one embodiment, the pressing member 6 is composed of a plurality of mutually independent members 61, 62, 63 (see FIG. 3), but may be composed of a single member. The plurality of members 61, 62, 63 are three members 61, 62, 63, which are attached to the surface 512 of the support member 5 via screws 615, 625, 635, respectively.

The means for attaching the pressing member 6 to the surface 512 of the support member 5 is not limited to the screws 615, 625, 635, and other means can be used. When the pressing member 6 is attached to the surface 512 of the supporting member 5, a slight gap is formed between the pressing member 6 and the surface 512, but even if the pressing member 6 and the surface 512 are in close contact, good.

The opening of the holding groove 53 covered with the pressing member 6 is an opening opened in the first direction D1. The pressing member 6 has a function of covering the openings of the three holding grooves 53 and preventing the three shaft members 4 from falling off.

More specifically, the pressing member 6 is placed on the surface of the support member 5 so as to cover the openings of the first grooves 531 and the second grooves 532 of the three holding grooves 53, which are opened in the first direction D1. 512 attached. The three members 61, 62, 63 each have a fan-shaped outer shape. The three members 61, 62, 63 are configured to cover the opening of the first groove 531 included in one holding groove 53 and the opening of the second groove 532 included in another holding groove 53. there is

(drive shaft)
The drive shaft 71 is a cylindrical shaft member that rotates the solid cam 2 . As shown in FIG. 2, the drive shaft 71 extends from the solid cam 2 in the first direction D1. The three-dimensional cam 2 is positioned between the support member 5 and the drive shaft 71 .

A central axis of the drive shaft 71 coincides with a central axis of the three-dimensional cam 2 . The three-dimensional cam 2 is driven to rotate about the central axis by rotating the drive shaft 71 about the central axis by the motor.

(casing)
The casing 72 is a cylindrical member that accommodates at least a portion of the drive shaft 71 . The casing 72 is positioned in the first direction D1 with respect to the support member 5 and fixed to the peripheral wall 52 via screws (not shown) while being positioned against the reference surface 56 of the peripheral wall 52 of the support member 5 . It is

The casing 72 has a surface 721 that contacts the first reference surface 561 of the support member 5 and a surface 722 that contacts the second reference surface 562 . The surfaces 721 and 722 are provided at different locations on the tip portion of the casing 72 in the second direction D2. The surface 721 and the surface 722 are surfaces perpendicular to each other.

The surface 721 is a ring-shaped flat surface provided around the central axis of the casing 72 . The orientation of the surface 721 is the second orientation D2. In the three-dimensional cam mechanism 1 of one embodiment, the central axis of the casing 72 coincides with the central axes of the three-dimensional cam 2 and the drive shaft 71 .

The surface 722 is a ring-shaped convex curved surface provided around the central axis of the casing 72 . The surface 722 is an outer peripheral surface of the tip portion of the casing 72, is located inside the surface 721 in the radial direction of the casing 72, and is located away from the surface 721 in the second direction D2. The surfaces 721 and 722 are continuous at the tip portion of the casing 72 via a right-angled reentrant portion.

(bearing)
Bearing 73 includes two bearings 731 and 732 housed inside casing 72 . The two bearings 731 and 732 are two angular bearings arranged side by side in the axial direction of the casing 72 .

The bearing 73 is configured to support the drive shaft 71 and the solid cam 2 in radial and axial directions. The drive shaft 71 and the solid cam 2 are rotatable around the central axis via bearings 73 . By accurately supporting the solid cam 2 in both the radial direction and the axial direction via the bearing 73 , the force received by the solid cam 2 from the follower 3 is received by the bearing 73 and is not transmitted to the drive shaft 71 . can do.

It is also possible to construct the bearing 73 using a type of bearing other than the angular bearing described above. For example, one or more radial bearings and one or more thrust bearings can be arranged alternately in the axial direction to form the bearing 73, or a four-point contact bearing or a cross roller bearing. 73 can also be configured, and it is also possible to configure the bearing 73 by using a single tapered roller bearing or by combining a plurality of tapered roller bearings.

(Operation of solid cam mechanism)
As described above, the three-dimensional cam mechanism 1 of one embodiment includes the three-dimensional cam 2 having three cam surfaces 25, the three followers 3 in contact with the three cam surfaces 25, and the three followers 3 connected to each other. three shaft members 4, a support member 5 that rotatably supports the three followers 3 via the three shaft members 4, and three shaft members 4 to prevent the three shaft members 4 from falling off the support member 5. A holding member 6 attached to the support member 5 , a drive shaft 71 that rotates the solid cam 2 , a casing 72 (another member 75 ) coupled to the support member 5 , and between the casing 72 and the drive shaft 71 . and a bearing 73 interposed in the

In the three-dimensional cam mechanism 1 of one embodiment, when the drive shaft 71 and the three-dimensional cam 2 are integrally rotated in one direction around the center axis by the motor, the three followers 3 move in a direction in which the tip portions approach each other, thereby moving the three followers 3 toward each other. An object can be grasped, and when the drive shaft 71 and the three-dimensional cam 2 are integrally rotated in opposite directions around the central axis by the motor, the three followers 3 move in the direction in which the tip portions of the three followers 3 move away from each other, thereby grasping the object. The grip can be released. Moreover, according to the three-dimensional cam mechanism 1 of one embodiment, the three followers 3 can hold a cylindrical object from the inside by operating in a direction in which the tip portions of the three followers 3 move away from each other. In this manner, the three-dimensional cam mechanism 1 of one embodiment constitutes a gripper operated by a motor.

(Manufacturing method of solid cam mechanism)
Next, a method of manufacturing the three-dimensional cam mechanism 1 of one embodiment (hereinafter simply referred to as "manufacturing method of one embodiment") will be described with reference to the accompanying drawings.

The manufacturing method of one embodiment includes a processing step of forming the support member 5 using an end mill 9 in, for example, a machining center, and an attachment step of attaching the pressing member 6 to the support member 5 formed in the processing step.

(Processing process)
In the machining process, as schematically shown in FIG. 4, the end mill 9 is brought close to the workpiece 50, which is the base of the support member 5, from one side (for example, the upper side in FIG. 56 (specifically, the first reference surface 561 and the second reference surface 562) are formed, and the end mill 9 is brought close to the workpiece 50 from one side to form the holding groove 53 in the workpiece 50. As shown in FIG. Here, one side is the side on which the casing 72 (in other words, another member 75) is positioned with respect to the support member 5 when the three-dimensional cam mechanism 1 is assembled, and the holding groove 53 is open. on the side. The end mill 9 used in the reference surface forming step is the end mill 9a, and the end mill 9 used in the holding groove forming step is the end mill 9b different from the end mill 9a.

That is, the machining process includes a reference surface forming step of forming the reference surface 56 in the workpiece 50 using the end mill 9a and a holding groove forming step of forming the holding groove 53 in the workpiece 50 using the end mill 9b. include. Either the reference surface forming process or the holding groove forming process may be performed first.

The reference surface forming step includes a first step of forming a first reference surface 561 and a second step of forming a second reference surface 562 facing in a direction different from that of the first reference surface 561 . Either the first step or the second step may be performed first.

In the first step, the first blade portion 951 of the end mill 9 a approached from one side is pressed against the workpiece 50 to form the first reference surface 561 . In the second step, the same end mill 9 a as in the first step is used, and the second blade portion 952 of the end mill 9 a is pressed against the workpiece 50 to form the second reference surface 562 . The first blade portion 951 and the second blade portion 952 are provided at mutually different locations on the end mill 9a.

In the holding groove forming step, the end mill 9 b is brought close to the workpiece 50 from one side, and the third blade portion 953 of the end mill 9 b is pressed against the workpiece 50 to form the holding groove 53 . The third blade portion 953 is a tapered blade portion for V-grooving.

Further, the processing step includes a guide surface forming step of forming a pair of guide surfaces 541 and 542 (see FIG. 6, etc.) in the guide groove 54 of the workpiece 50 . In the guide surface forming step, the second cutting edge portion 952, which is the outer peripheral edge of the end mill 9a, is pressed against the workpiece 50 to form the guide surfaces 541 and 542. As shown in FIG. The reference surface forming process, the holding groove forming process, and the guide surface forming process may be performed in any order.

As described above, in the manufacturing method of one embodiment, by bringing the end mill 9 closer to the workpiece 50 from the same side, the first reference surface 561, the second reference surface 562, the guide surfaces 541 and 542, and the holding surface All of the grooves 53 can be formed. Therefore, it is not necessary to regrind the workpiece 50, and the processing becomes efficient, and the occurrence of errors in the dimensions and shape of the support member 5 due to the regripping of the workpiece 50 is suppressed. .

That is, according to the manufacturing method of one embodiment, the machining accuracy of the first reference surface 561, the second reference surface 562, the guide surfaces 541 and 542, and the holding groove 53 of the support member 5 only depends on the accuracy of the machining center. , and the support member 5 can be formed with high processing accuracy.

On the other hand, for example, in a support member 5' of a comparative example shown in FIG. 11, a through hole 59 for inserting the shaft member 4 is formed in a direction orthogonal to the first direction D1. Therefore, for example, in order to perform the work of forming the through hole 59 of the support member 5' and the work of forming the reference surface 56 of the support member 5 in a machining center, the member to be processed, which is the base of the support member 5', must be re-gripped. Due to this re-gripping, there is a possibility that an error may occur in the dimensional shape of the support member 5'. Therefore, it is difficult to form the support member 5 with high processing accuracy.

(Installation process)
In the mounting process, in a state in which the shaft members 4 are respectively fitted in the three holding grooves 53 of the support member 5 formed through the machining process, the pressing member is attached to the support member 5 so as to cover the openings of the three holding grooves 53. Install 6.

Specifically, three fan-shaped members 61, 62, 63 are attached to the surface 512 of the support member 5 via screws 615, 625, 635, respectively. Thereby, the first grooves 531 and the second grooves 532 of the three holding grooves 53 provided on the surface 512 are covered with the three members 61 , 62 , 63 .

Through the mounting process, the three shaft members 4 are prevented from falling off from the support member 5 . In addition, since each shaft member 4 is supported against the pressing member 6, when a large load is applied to the follower 3 connected to each shaft member 4 toward the three-dimensional cam 2, part of the load is is supported by the pressing member 6, and the load applied to the three-dimensional cam 2 can be reduced.

(Modification)
As described above, the present disclosure has been described based on one embodiment, but the present disclosure is not limited to one embodiment. Appropriate design changes can be made within the intended scope of the present disclosure, such as various modifications described below.

In the description of the modified example below, the same reference numerals are given to the same configurations as those described in the one embodiment, and detailed description thereof will be omitted.

As shown in FIGS. 7 and 8, it is also possible to use the same end mill 9 to form both the retaining groove 53 and the reference surface 56. FIG. In this case, the end mill 9 used in both the holding groove forming process and the reference surface forming process has a first blade portion 951 for forming the first reference surface 561 and a second blade portion 951 for forming the second reference surface 562. The end mill 9 c includes a blade portion 952 and a third blade portion 953 for forming the holding groove 53 .

The first blade portion 951, the second blade portion 952, and the third blade portion 953 are provided at separate locations on the end mill 9c. The first cutting edge portion 951 is composed of the bottom cutting edge of the end mill 9c, and the second cutting edge portion 952 is composed of the outer cutting edge of the end mill 9c. The third blade portion 953 is a tapered blade portion provided between the first blade portion 951 and the second blade portion 952 of the end mill 9 .

By using the end mill 9c, the support member 5 can be efficiently formed. In addition, since there is no need to regrind the end mill 9c, it is possible to prevent the machining accuracy of the support member 5 from deteriorating due to the regripping of the end mill 9c.

Furthermore, the second blade portion 952 of the end mill 9c may be used to form the guide surfaces 541 and 542 (that is, the same end mill 9c may be used in the holding groove forming process, the reference surface forming process, and the guide surface forming process). It is possible.

Further, as shown in FIG. 9, the holding groove 53 may be formed to have an arch-shaped cross section instead of having a V-shaped cross section. The cross-sectional shape of the holding groove 53 shown in FIG. 9 is an arch-like (so-called Gothic arch-like) cross-sectional shape provided so that the radius of curvature gradually decreases toward the bottom of the groove.

An end mill 9d shown in FIG. 10 is an end mill 9 used in both the holding groove forming process and the reference surface forming process, and has a first blade portion 951 for forming a first reference surface 561 and a second reference surface 562. A second blade portion 952 for forming and a third blade portion 953 for forming a retention groove 53 having an arcuate cross-section are included. The third blade portion 953 of the end mill 9d has an arch shape (so-called Gothic arch shape) provided so that the radius of curvature gradually decreases toward the tip of the end mill 9 when viewed from the side. The radius of curvature of the third blade portion 953 is preferably set to 50% or more of the shaft diameter of the shaft member 4 . The radius of curvature of the third blade portion 953 in side view can be set, for example, within a range of 50.5% to 54% of the shaft diameter of the shaft member 4 .

Moreover, although the three-dimensional cam mechanism 1 of one embodiment has three followers 3, the number of followers 3 is not limited to this, and the three-dimensional cam mechanism 1 has one, two, or four or more followers 3. is also possible. Although the three-dimensional cam mechanism 1 of one embodiment constitutes a gripper, it is also possible to constitute a mechanism other than the gripper, such as a joint mechanism of a robot arm.

Further, in the solid cam mechanism 1 of one embodiment, the separate member 75 coupled to the support member 5 is composed of the casing 72, but the separate member 75 is composed of a member other than the casing 72. good too.

In addition, in the three-dimensional cam mechanism 1 of one embodiment, the second reference surface 562 is located inside the first reference surface 561, and the second reference surface 562 is formed of a ring-shaped concave curved surface. The positional relationship between the first reference surface 561 and the second reference surface 562 and the shape of the first reference surface 561 and the second reference surface 562 are not limited to this. For example, the second reference surface 562 may be located outside the first reference surface 561 in the radial direction of the support member 5, or the second reference surface 562 may be an annular (ring-shaped) convex curved surface. good.

As an example, the second reference surface 562 may be an annular (ring-shaped) concave curved surface located outside the first reference surface 561 . In this case, the first reference surface 561 and the second reference surface 562 are continuous so as to form an internal corner, and the second reference surface 562 is positioned in the first direction D1 (toward the support member 5) relative to the first reference surface 561. It is at a position away in the direction in which the three-dimensional cam 2 is positioned.

It is also possible that the second reference surface 562 is an annular (ring-shaped) convex curved surface located outside the first reference surface 561 . In this case, the first reference surface 561 and the second reference surface 562 are continuous so as to form an external corner, and the second reference surface 562 is positioned in the second direction D2 (toward the three-dimensional cam 2) rather than the first reference surface 561. It is located away in the direction in which the support member 5 is positioned.

It is also possible that the second reference surface 562 is an annular (ring-shaped) convex curved surface located inside the first reference surface 561 . In this case, the first reference surface 561 and the second reference surface 562 are continuous so as to form an internal corner, and the second reference surface 562 is positioned away from the first reference surface 561 in the second direction D2. be.

Further, in the solid cam mechanism 1 of one embodiment, the reference surface 56 includes both the first reference surface 561 and the second reference surface 562, but one of the first reference surface 561 and the second reference surface 562 It is possible to include only the reference plane, or it is possible to include further reference planes.

In the solid cam mechanism 1 of one embodiment, the follower 3 and the shaft member 4 are configured separately, but the follower 3 and the shaft member 4 may be configured integrally.

In addition, in the three-dimensional cam mechanism 1 of one embodiment, the drive source is a motor installed outside, but the drive source is not limited to this. It is also possible to prepare

(Mode)
As described above based on one embodiment and various modifications, the method for manufacturing a stereoscopic cam mechanism according to the first aspect of the present disclosure is a method for manufacturing a stereoscopic cam mechanism (1). The cam mechanism (1) has a three-dimensional cam surface (25), a three-dimensional cam (2) configured to rotate around a central axis, and a contact surface (32) that contacts the cam surface (25). a follower (3), a shaft member (4) connected to the follower (3), and a support member (5) supporting the shaft member (4). A three-dimensional cam mechanism (1) is a mechanism configured to convert rotational motion of a three-dimensional cam (2) into swinging motion of a follower (3) about a shaft member (4). A method of manufacturing a three-dimensional cam mechanism according to a first aspect includes a processing step of processing a workpiece (50) to form a support member (5). The machining step is a reference surface forming step in which the end mill (9) is brought close to the workpiece (50) from one side and a reference surface (56) corresponding to another member (75) is formed on the workpiece (50). and a holding groove forming step of bringing an end mill (9) close to the workpiece (50) from one side to form a holding groove (53) into which the shaft member (4) is fitted in the workpiece (50). including.

According to the method for manufacturing a three-dimensional cam mechanism according to the first aspect, the operation of forming the holding groove (53) of the support member (5) and the operation of forming the reference surface (56) of the support member (5) are performed. , from the same side of the workpiece (50), without the need to regrind the workpiece (50) in, for example, a machining center. Therefore, it is possible to suppress the occurrence of machining errors due to re-gripping of the workpiece (50). Therefore, according to the method for manufacturing a three-dimensional cam mechanism according to the first aspect, it is possible to provide a three-dimensional cam mechanism (1) having highly accurate dimensions and shape.

A method for manufacturing a three-dimensional cam mechanism according to a second aspect of the present disclosure further includes the following configuration in the first aspect. In the method of manufacturing a three-dimensional cam mechanism according to the second aspect, the reference surface forming step includes a first step of forming a first reference surface (561) and a second reference surface (561) facing in a direction different from that of the first reference surface (561). and a second step of forming the surface (562).

Therefore, according to the method of manufacturing a three-dimensional cam mechanism according to the second aspect, the operation of forming the holding groove (53) of the support member (5) and the formation of the first reference surface (561) of the support member (5) are performed. and the operation of forming the second reference surface (562) of the support member (5) can be performed from the same side of the workpiece (50). Since there is no need to re-grasp the workpiece (50), it is possible to suppress the occurrence of machining errors due to re-grasping of the workpiece (50).

A method for manufacturing a three-dimensional cam mechanism according to a third aspect of the present disclosure, in the first aspect or the second aspect, further includes the following configuration. In the method of manufacturing a three-dimensional cam mechanism according to the third aspect, the machining step includes bringing the end mill (9) closer to the workpiece (50) from one side, and 541, 542) is further included.

Therefore, according to the method of manufacturing a three-dimensional cam mechanism according to the third aspect, the operation of forming the holding groove (53) of the support member (5) and the operation of forming the reference surface (56) of the support member (5) are performed. and the operation of forming the guide surfaces (541, 542) of the support member (5) can be performed from the same side of the workpiece (50). Since there is no need to replace the workpiece (50), it is possible to suppress the occurrence of machining errors due to the replacement of gripping of the workpiece (50).

A method for manufacturing a three-dimensional cam mechanism according to a fourth aspect of the present disclosure, in any one of the first to third aspects, further includes the following configuration. In the method for manufacturing a three-dimensional cam mechanism according to the fourth aspect, the holding groove (53) is a groove with a V-shaped cross section.

Therefore, according to the method for manufacturing a three-dimensional cam mechanism according to the fourth aspect, the shaft member (4) can be stably held in the holding groove (53) having a V-shaped cross section.

A method of manufacturing a three-dimensional cam mechanism according to a fifth aspect of the present disclosure further includes the following configuration in any one of the first to third aspects. In the method of manufacturing a three-dimensional cam mechanism according to the fifth aspect, the holding groove (53) is a groove with an arch-shaped cross section.

Therefore, according to the method for manufacturing a solid cam mechanism according to the fifth aspect, the shaft member (4) can be stably held in the holding groove (53) having an arch-shaped cross section. Also, if the cross section of the holding groove (53) is arch-shaped, the shaft member (4) can receive a large load, and for example, when the three-dimensional cam mechanism (1) constitutes a gripper, it exerts a large gripping force. becomes possible.

A method of manufacturing a three-dimensional cam mechanism according to a sixth aspect of the present disclosure, in any one of the first to fifth aspects, further includes the following configuration. The method of manufacturing a solid cam mechanism according to the sixth aspect further comprises an attaching step of attaching the pressing member (6) to the supporting member (5) so as to cover the opening of the holding groove (53).

Therefore, according to the method for manufacturing a three-dimensional cam mechanism according to the sixth aspect, the pressing member (6) can effectively prevent the shaft member (4) from falling out of the holding groove (53). Further, in the manufactured three-dimensional cam mechanism (1), when a large load is applied to the follower (3) connected to the shaft member (4), part of the load is supported by the pressing member (6), It is also possible to reduce the load on the solid cam (2).

A method for manufacturing a three-dimensional cam mechanism according to a seventh aspect of the present disclosure, in any one of the first to sixth aspects, further includes the following configuration. In the method for manufacturing a solid cam mechanism according to the seventh aspect, the solid cam mechanism (1) includes a drive shaft (71) that rotates the solid cam (2) and a casing that houses at least part of the drive shaft (71). (72). Another member (75) is the casing (72).

Therefore, according to the method of manufacturing a solid cam mechanism according to the seventh aspect, the operation of forming the reference surface (56) of the support member (5) that contacts the casing (72) is replaced by the holding groove (5) of the support member (5). 53) can be done from the same side.

A method of manufacturing a three-dimensional cam mechanism according to an eighth aspect of the present disclosure, in any one of the first to seventh aspects, further includes the following configuration. In the method of manufacturing a three-dimensional cam mechanism according to the eighth aspect, the end mill (9) used in the holding groove forming step and the end mill (9) used in the reference surface forming step are the same.

Therefore, according to the method of manufacturing a three-dimensional cam mechanism according to the eighth aspect, the support member (5) having the holding groove (53) and the reference surface (56) can be efficiently formed using the same end mill (9). can be formed into

An end mill (9) according to a ninth aspect of the present disclosure is an end mill (9) used in both the reference surface forming step and the holding groove forming step of the method for manufacturing a three-dimensional cam mechanism according to the second aspect, A first blade (951) for forming a reference plane (561), a second blade (952) for forming a second reference plane (562), and a holding groove (53) for forming and the third blade (953) separately.

Therefore, according to the end mill (9) according to the ninth aspect, the support member (5) having the holding groove (53), the first reference surface (561) and the second reference surface (562) is mounted on the same end mill (9) can be used for efficient formation.

A three-dimensional cam mechanism (1) according to a tenth aspect of the present disclosure has a three-dimensional cam surface (25) and is configured to rotate around a central axis (2); It comprises a follower (3) having a contact surface (32) against (25), a shaft member (4) connected to the follower (3), and a support member (5) supporting the shaft member (4). A solid cam mechanism (1) is configured to convert rotational motion of a solid cam (2) into swinging motion of a follower (3) about a shaft member (4). The direction in which the solid cam (2) is positioned with respect to the support member (5) is defined as the first direction (D1), and the direction opposite to the first direction (D1) is defined as the second direction (D2). When the support member (5) is placed against a reference surface (56) provided to abut another member (75) located in a first orientation (D1) with respect to the support member (5) and a second orientation (D2) is recessed and has a holding groove (53) provided so that the shaft member (4) is fitted therein.

Therefore, according to the solid cam mechanism (1) according to the tenth aspect, the operation of forming the holding groove (53) of the support member (5) and the operation of forming the reference surface (56) of the support member (5) and can be performed from the same side of the workpiece (50) on which the support member (5) is based. Therefore, for example, there is no need to regrind the workpiece (50) in a machining center, and machining errors caused by regripping can be suppressed. Therefore, according to the three-dimensional cam mechanism (1) according to the tenth aspect, it is possible to provide the three-dimensional cam mechanism (1) having highly accurate dimensions and shape.

A three-dimensional cam mechanism (1) according to the eleventh aspect of the present disclosure, in the tenth aspect, further includes the following configuration. In the solid cam mechanism (1) according to the eleventh aspect, the reference plane (56) includes a first reference plane (561) orthogonal to the second direction (D2) and a plane parallel to the second direction (D2). At least one of the second reference surfaces (562).

Therefore, according to the solid cam mechanism (1) according to the eleventh aspect, the operation of forming the holding groove (53) of the support member (5), the first reference surface (561) of the support member (5) and the first reference surface (561) of the support member (5) The work of forming at least one of the two reference surfaces (562) can be performed from the same side of the workpiece (50), for example, there is no need to re-grasp the workpiece (50) in the machining center, Machining errors caused by re-gripping can be suppressed.

A three-dimensional cam mechanism (1) according to a twelfth aspect of the present disclosure, in the eleventh aspect, further includes the following configuration. In the solid cam mechanism (1) according to the twelfth aspect, the reference surface (56) includes both the first reference surface (561) and the second reference surface (562).

Therefore, according to the solid cam mechanism (1) according to the twelfth aspect, the work of forming the holding groove (53) of the support member (5) and the formation of the first reference surface (561) of the support member (5) and the operation of forming the second reference surface (562) of the support member (5) can be performed from the same side of the workpiece (50). There is no need to re-grip, and machining errors due to re-grip can be suppressed.

A three-dimensional cam mechanism (1) according to a thirteenth aspect of the present disclosure, in any one of the tenth to twelfth aspects, further includes the following configuration. In the three-dimensional cam mechanism (1) according to the thirteenth aspect, the holding groove (53) is a groove with a V-shaped cross section.

Therefore, according to the solid cam mechanism (1) according to the thirteenth aspect, the shaft member (4) can be stably held in the holding groove (53) having a V-shaped cross section.

A three-dimensional cam mechanism (1) according to a fourteenth aspect of the present disclosure, in any one of the tenth to twelfth aspects, further includes the following configuration. In the three-dimensional cam mechanism (1) according to the fourteenth aspect, the holding groove (53) is an arch-shaped groove in cross section.

Therefore, according to the solid cam mechanism (1) according to the fourteenth aspect, the shaft member (4) can be stably held in the holding groove (53) having an arch-shaped cross section. Also, if the cross section of the holding groove (53) is arch-shaped, the shaft member (4) can receive a large load, and for example, when the three-dimensional cam mechanism (1) constitutes a gripper, it exerts a large gripping force. becomes possible.

A three-dimensional cam mechanism (1) according to a fifteenth aspect of the present disclosure, in any one of the tenth to fourteenth aspects, further includes the following configuration. A solid cam mechanism (1) according to a fifteenth aspect further comprises a pressing member (6) attached to the supporting member (5) so as to cover the opening of the holding groove (53).

Therefore, according to the solid cam mechanism (1) according to the fifteenth aspect, the pressing member (6) can effectively prevent the shaft member (4) from falling out of the holding groove (53). Further, when a large load is applied to the follower (3) connected to the shaft member (4), part of the load is supported by the pressing member (6) to reduce the load applied to the three-dimensional cam (2). is also possible.

A three-dimensional cam mechanism (1) according to a sixteenth aspect of the present disclosure, in any one of the tenth to fifteenth aspects, further includes the following configuration. A solid cam mechanism (1) according to a sixteenth aspect further comprises a drive shaft (71) that rotates the solid cam (2), and a casing (72) that houses at least part of the drive shaft (71). Another member (75) is the casing (72).

Therefore, according to the solid cam mechanism (1) according to the sixteenth aspect, the operation of forming the reference surface (56) of the support member (5) that contacts the casing (72) is performed by the holding groove (53) of the support member (5). ) can be done from the same side as the operation to form the .

1 solid cam mechanism 2 solid cam 25 cam surface 3 follower 32 contact surface 4 shaft member 5 support member 50 workpiece 53 holding groove 54 guide groove 541 guide surface 542 guide surface 56 reference surface 561 first reference surface 562 second reference surface 6 pressing member 71 drive shaft 72 casing 75 another member 9 end mill

Claims (16)

A method for manufacturing a stereoscopic cam mechanism, comprising:
The three-dimensional cam mechanism is
a three-dimensional cam having a three-dimensional cam surface and configured to rotate around a central axis;
a follower having a contact surface that contacts the cam surface;
a shaft member connected to the follower;
a support member that supports the shaft member;
A mechanism configured to convert the rotary motion of the solid cam into a swinging motion of the follower about the shaft member,
A processing step of processing a member to be processed to form the support member,
The processing step includes
a reference surface forming step of bringing an end mill closer to the member to be processed from one side to form a reference surface on the member to be processed so as to correspond to another member;
a holding groove forming step of forming a holding groove into which the shaft member is fitted in the member to be processed by bringing an end mill closer to the member to be processed from the one side;
A method for manufacturing a three-dimensional cam mechanism. The reference plane forming step includes:
a first step of forming a first reference surface;
a second step of forming a second reference surface facing in a different direction from the first reference surface;
2. The method of manufacturing the three-dimensional cam mechanism according to claim 1. The processing step includes
further comprising a guide surface forming step of bringing an end mill closer to the workpiece from the one side to form a guide surface for guiding swinging of the follower;
3. The method of manufacturing the three-dimensional cam mechanism according to claim 1 or 2. The holding groove is a groove with a V-shaped cross section,
4. The method of manufacturing a three-dimensional cam mechanism according to any one of claims 1 to 3. The holding groove is a groove with an arch-shaped cross section,
4. The method of manufacturing a three-dimensional cam mechanism according to any one of claims 1 to 3. further comprising an attaching step of attaching a pressing member to the supporting member so as to cover the opening of the holding groove;
6. The method of manufacturing a three-dimensional cam mechanism according to any one of claims 1 to 5. The three-dimensional cam mechanism is
a drive shaft that rotates the solid cam;
a casing that houses at least part of the drive shaft;
The another member is the casing,
7. The method of manufacturing the three-dimensional cam mechanism according to any one of claims 1 to 6. The end mill used in the holding groove forming step and the end mill used in the reference surface forming step are the same.
A method for manufacturing a three-dimensional cam mechanism according to any one of claims 1 to 7. The end mill used in both the reference surface forming step and the holding groove forming step of the method for manufacturing a three-dimensional cam mechanism according to claim 2,
a first blade portion for forming the first reference surface;
a second blade for forming the second reference surface;
separately having a third blade for forming the holding groove,
end mill. a three-dimensional cam having a three-dimensional cam surface and configured to rotate around a central axis;
a follower having a contact surface that contacts the cam surface;
a shaft member connected to the follower;
a support member that supports the shaft member;
A solid cam mechanism configured to convert rotational motion of the solid cam into swinging motion of the follower about the shaft member,
The direction in which the three-dimensional cam is positioned with respect to the support member is defined as a first direction,
When the direction opposite to the first direction is the second direction,
The support member is
a reference surface provided to contact another member positioned in the first direction with respect to the support member;
a holding groove recessed in the second direction and provided so that the shaft member is fitted therein;
Three-dimensional cam mechanism. The reference plane includes at least one of a first reference plane orthogonal to the second orientation and a second reference plane parallel to the second orientation,
A three-dimensional cam mechanism according to claim 10. The reference plane includes both the first reference plane and the second reference plane,
A three-dimensional cam mechanism according to claim 11. The holding groove is a groove with a V-shaped cross section,
A three-dimensional cam mechanism according to any one of claims 10 to 12. The holding groove is a groove with an arch-shaped cross section,
A three-dimensional cam mechanism according to any one of claims 10 to 12. further comprising a holding member attached to the support member so as to cover the opening of the holding groove;
A three-dimensional cam mechanism according to any one of claims 10 to 14. a drive shaft that rotates the solid cam;
a casing that houses at least part of the drive shaft;
The another member is the casing,
A three-dimensional cam mechanism according to any one of claims 10 to 15.

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