JP2505044Y2 - Three-dimensional direction copying device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a three-dimensional direction copying apparatus suitable for use in a machine tool, particularly an automatic welding apparatus.

[Prior Art] Conventionally, in a machine tool, when positioning and machining a tool in a three-dimensional direction, it is common to use three cylinders that are independently driven in the three-dimensional direction.
An example of applying this conventional three-dimensional direction positioning device to an automatic spot welding device is shown in FIG. The work W in this case is shown in FIG. 6, and spot welding points P ₁ to
Since the point P _n is slightly displaced in the y and z directions that are perpendicular to the longitudinal displacement in the x direction,
It is necessary to position the spot gun in three dimensions.

In this automatic spot welding device, a long guide rail 22 in the X direction is installed on a machine base 21, and a slide base 23 sliding along the X direction along the guide rail 22 is driven by a cylinder 24 fixed to the machine base 21, A support base 26 is installed on the slide base 23 by a cylinder 25 fixed to the slide base 23 so as to be movable in the Z direction, and a spot welding gun 20 is attached to the support base 26 by a cylinder 27 so as to be movable in the Y direction. .

Further, in Japanese Utility Model Laid-Open No. 60-89973, when a welding torch is moved along the periphery of an oblong-shaped work to perform continuous welding, a cam and a rack are arranged according to the shape of the work,
An automatic welding machine has been proposed which moves following a cam by a pinion having a moving table with a welding torch fixed to an output shaft of a drive motor and the rack.

Further, Japanese Patent Publication No. 43-28293 discloses only a vertical movement table which is supported by caster rollers on a horizontal base and which is driven by a chain to move in a two-dimensional direction in the horizontal plane along a copying die. A copying apparatus in an automatic welding machine in which a movable supporting arm is installed and a welding torch is attached to the supporting arm is described.

[Problems to be solved by the device]

In the conventional device shown in FIG. 5, the spot gun 20 is moved to X, Y, Z
Since it requires three cylinders that are independently driven and controlled in the three-dimensional direction, the device becomes expensive, and
Since the driving directions of the three cylinders intersect each other, the equipment becomes large and it cannot be installed in a narrow space.

What is described in the above-mentioned publication is to move the welding torch along the cam on the elliptical circumference, and it is only to disclose a two-dimensional directional copying device, and the movement of the welding torch is continuous. However, nothing is disclosed about stopping at an arbitrary point.

Further, in the one disclosed in Japanese Patent Publication No. 43-28293, the moving table is configured to move in a two-dimensional direction on a base forming a horizontal plane, so that the driving mechanism becomes complicated,
Installation space becomes large.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned conventional problems and to provide a three-dimensional direction copying apparatus capable of automatically positioning in three-dimensional directions with one driving device and having a simple structure and a small installation space. To do.

[Means and Actions for Solving the Problems]

According to the present invention, a single movable table driven and stopped at a predetermined horizontal position along the longitudinal direction of a rodless cylinder with a brake installed in a horizontal direction is guided to a first copying rail. Installed in such a manner that the sliding table is slidably mounted in the vertical direction which is perpendicular to the above direction, and the sliding table is slidably mounted on the moving table, and the sliding table is formed at a right angle to the driving and driven directions of the moving table. A three-dimensional direction copying apparatus, which is elastically contacted with a second copying rail which guides the formed horizontal direction.

When a tool or the like is attached to the slide table and the rodless cylinder is operated, the moving table supporting the slide table is driven in the longitudinal direction, and when it moves horizontally for a predetermined distance, the brake operates and stops the moving table. . At this time, the movable table is guided by the first copying rail and is driven in the vertical direction perpendicular to the horizontal direction, and the sliding table supported by the movable table is guided by the second copying rail and is moved by the second copying rail. It also moves in the horizontal direction and the horizontal direction at right angles to the vertical direction, and the slide base is positioned at a predetermined position. After performing the predetermined processing with the tool attached to the slide,
The rodless cylinder is operated, and the slide base is similarly controlled in the three-dimensional direction to position it at the next predetermined position.

〔Example〕

 An embodiment of the present invention will be described with reference to the drawings.

1 to 3 show an embodiment in which the present invention is applied to a spot gun automatic welding machine. FIG. 1 is a front view with a part in section, FIG. 2 is a side view, and FIG. FIG. 4 is a plan view showing a state in which a spot gun is removed.

A rodless cylinder 3 is supported by supporting arms 2, 2 in the longitudinal direction of the machine base 1, and a floating cam 5 is rotatably supported around a shaft 4 driven by the rodless cylinder 3, and the floating cam 5 is supported by the floating cam 5. Install the brake unit 6. A known rodless cylinder with a brake can be used. The brake unit 6
Attach the LS sensor 12 and operate the brake unit 6 at an arbitrary position facing the scale 11 to move the floating cam 5
To stop.

Along the both sides of the rodless cylinder 3 in the longitudinal direction of the machine base 1, a pair of copying rails 7 and 7 each having a cam surface 7a on the upper surface are supported by supporting arms 8 and 8, respectively, and a roller 10 of the moving table 9 is supported.
Is placed on the copying rails 7, 7 and the movable table 9 is engaged with the floating cam 5 so as to be movable in the left-right direction (X direction) in FIG. A sliding base 13 is installed on the moving base 9 so as to be movable in the vertical direction (Y direction) on the paper surface of FIG. 1, and a spring 14 is interposed between the moving base 9 and the sliding base 13 to slide the sliding base 13. Drive base 13 second
It is suppressed to the left in the figure.

On the other hand, the second copying rail 1 having the Y-direction cam surface 16a
6 is installed in the longitudinal direction of the machine base 1 by an abutment 17, and the roller 15 mounted on the slide base 13 is copied by a spring 14 to the cam surface 16a of the rail 16.
The slide base 13 is provided with a mounting base 18 for the spot welding gun 20, and the base 18 can be moved in the Y direction (right side in FIG. 2) by the cylinder 19 mounted on the slide base 13. Install.

Next, the positioning operation of this spot gun automatic welding machine will be described.

First, the cylinder 19 is operated to retract the pedestal 18 to which the spot welding gun 20 is attached (to the right in FIG. 2), set the work so as not to interfere with the work, and set the spot welding gun 20 to the working position with the cylinder 19. To move forward.

When the tip of the spot welding gun 20 is located at the point P _o in FIG. 4, when the rodless cylinder 3 is operated, the floating cam 5 is driven in the X direction, and the floating cam 5 moves the movable table 9 in place. Accordingly, the movable table 9 is displaced in the Z direction along the cam surface 7a on the copying rail 7, and at the same time, the roller 15 of the sliding table 13 causes the cam surface 16a of the copying rail 16 to move.
Since the spring 14 elastically contacts the sliding base 13, the sliding base 13 is displaced in the Y direction, and the LS sensor 12 of the brake unit 6 detects a predetermined position in the X direction and controls the brake unit 6 to move the movable base 9. When stopped, the tip of the spot welding gun 20 is number 4
Move to welding point P ₁ in the figure. Similarly, the tip of the spot welding gun 20 is sequentially moved to the next welding point in FIG. 4, and the final welding point P _n is controlled while the position is controlled in the three-dimensional direction.
Weld up to.

The spot welding gun 20 is driven by one rodless cylinder in the X direction in the range shown by the solid line and the alternate long and short dash line in FIG. 1, and its stop position can be set arbitrarily and Z and Z at each stop position can be set. The position in the Y direction is the first and second
Other coordinate points can be set by changing the shape of the cam surface of the copy rail.

In the above embodiment, the position in the X direction is detected by using the LS sensor, but the brake unit may be operated at a predetermined position by using a magnescale, and the spot welding gun may be used as a tertiary unit. Although the one in which the positioning control is performed in the original direction is shown, the present invention is not limited to this and can be used for positioning a tool such as another machine tool in the three-dimensional direction.

[Effect of device]

Since the present invention enables automatic positioning in three dimensions using one rodless cylinder as a drive device, control is simplified and the installation space can be reduced with a simple configuration.

[Brief description of drawings]

1 to 3 show an embodiment of the present invention.
1 is a front view with a partial cross section, FIG. 2 is a side view, FIG. 3 is a plan view with a spot gun removed, FIG. 4 is an explanatory view of positioning, and FIG. A perspective view and FIGS. 6 (A), (B), and (C) are a plan view, a front view, and a side view, respectively, of the work. 1: Machine stand, 2: Support arm 3: Rodless cylinder, 4: Axis 5: Floating cam, 6: Brake unit 7: Copy rail, 8: Support arm 9: Moving stand, 10: Roller 11: Scale, 12: LS sensor 13: Sliding base, 14: Spring 15: Roller, 16: Copy rail 17: Abutment, 18: Pedestal 20: Spot welding gun

Claims (1)

(57) [Scope of utility model registration request] 1. A single movable table, which is driven and stopped at a predetermined horizontal position along a longitudinal direction of the rodless cylinder by a rodless cylinder with a brake installed in the horizontal direction, is used as a first copying rail. It is installed so as to be driven in an up-and-down direction perpendicular to the above direction, and a slide table is slidably installed on the moving table, and the sliding table is perpendicular to the driving and driven directions of the moving table. A three-dimensional directional copying device, which is elastically contacted with a second copying rail that guides in a horizontal direction.