JP3088990B2 - Driving device for rotating object - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fixed frame, a drive motor, a planetary differential gear reducer mounted on the fixed frame for reducing the rotation of the drive motor, and an output of the planetary differential gear reducer. The present invention relates to a driving device for a driven body including a driven body attached to a rotating wheel, and in particular, a drive sprocket as a driven body is rotated by a drive motor via a planetary differential gear reducer to change tools. It is effective for the driving device of the tool changer that has been used.

[0002]

2. Description of the Related Art In a driving device of an automatic tool changing device such as a tool storage box of a machining center or the like, a large number of tool receiving pots are connected at equal intervals by an endless chain, and the endless chain is driven by a driving sprocket. The drive sprocket is rotated and driven by a drive motor via a speed reduction mechanism to change tools.

[0003]

Conventionally, in such a device for driving a rotating body, a speed reducer and a drive motor are arranged on both sides of a fixed frame, so that the space near the fixed frame is reduced. It could not be used effectively for work. Further, there may be a fixed frame that is obstructive in a direction outside the radiation direction of the rotating body, and therefore, the rotating body may not be able to rotate more than one rotation. Therefore, in the conventional device, there is a problem that workability in the vicinity of the driving device is impaired.

Further, in the conventional apparatus, no special consideration is given to the method of attaching the rotating body and the reduction gear to the fixed frame. Therefore, when the drive motor is attached / detached for maintenance, the attaching / detaching operation is not necessary. It is necessary to attach and detach the driven body and / or the reduction gear, and there is a problem that maintenance of the drive motor is not easy.

Further, in the conventional apparatus, there is a problem that the rigidity of the planetary differential gear reducer is not sufficiently high, and therefore, the positioning accuracy cannot be sufficiently improved.

[0006]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems associated with the conventional apparatus, and makes it possible to effectively use the space near the fixed frame, at least the space at one end of the fixed frame, for work. There is no fixed frame that obstructs the outside of the radiating body of the rotating body, so that the rotated body can be rotated more than one rotation, and the workability near the drive unit is good, and the drive is performed with the rotating body and the reduction gear attached to the fixed frame. The motor can be mounted, removed and replaced only, making maintenance and adjustment work of the drive motor easy.In addition, the rigidity of the planetary differential gear reducer is increased, so that the drive motor can be mounted on the non-fixed frame side and positioning accuracy It is an object of the present invention to provide a driven device for a rotating body having a high speed.

[0007]

According to the present invention, there is provided a fixed frame, a drive motor, a planetary differential gear reducer mounted on the fixed frame for reducing the rotation of the drive motor, and a planetary differential gear reducer. A driven body comprising: a driven body attached to an output rotating wheel of the machine; wherein the planetary differential gear reducer includes a cam shaft that has a crank portion and rotates by receiving rotation of the drive motor; An external tooth is formed on the outer periphery, a pin hole and a through hole are formed inside, and the pin hole is fitted to the crank portion of the camshaft and eccentrically moves, and the number of external teeth of the pinion is smaller than the number of teeth. A large number of internal teeth are formed on the inner peripheral surface, and the internal teeth are arranged on both sides of the hub as an output rotating wheel that meshes with the external teeth, on both sides of the pinion, and both ends of the camshaft are supported. Inserted into pinion through hole And a pair of support disks integrally connected by a set columnar portion, one end surface of one of the pair of support disks is attached to the fixed frame, and the other of the pair of support disks The above object is achieved by a driving device for a driven body, wherein the driving motor is mounted on one end surface of the driven body, and the driven body is mounted on an outer periphery of a hub of the planetary differential gear reducer. I do.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the accompanying drawings showing embodiments of the present invention. FIG. 5 is a schematic perspective view of a case where the driving device for a rotated member according to the present invention is applied to an automatic tool changing device. 5, in a tool storage box B such as a machining center, a large number of tool receiving pots P are connected at equal intervals by an endless chain C, and the endless chain C is connected to the drive sprocket 7 (see FIG. 6; The driven sprocket 7 is rotated and driven by the driving motor 3 via the planetary differential gear reducer 5 to change tools.

Referring to FIG. 6, according to the present invention, a planetary differential speed reducer 5 is mounted on one end surface of the fixed frame 1 and a drive motor 3 is disposed on the side of the planetary differential speed reducer 5 opposite to the fixed frame 1. ing. The planetary differential gear reducer 5 reduces the rotation of a drive motor 3 of a known type such as a servomotor. It should be noted that a hydraulic motor or a pneumatic motor may be employed as the drive motor 3 instead of the servo motor 3 described above.

First, the structure of the planetary differential gear reducer 5 used in the driving device for a driven member according to the present invention will be described. Since the structure of the planetary differential gear reducer 5 shown in FIG. 6 is similar to that shown in FIGS. 3 and 4 described later, FIGS. 3 and 4 are appropriately referred to. As shown in FIG. 6, the planetary differential gear reducer 5 includes a cam shaft (crank pin 31) having crank portions 31a and 31c and rotating by receiving rotation of the drive motor 3, as shown in FIG. External teeth 33a are formed on the outer periphery, and a plurality of pin holes 33b and the pin holes 33 are formed therein.
b, a through hole 33c is formed between the crankshafts 31a, 3c of the camshaft (crankpin 31).
1c, an eccentrically-moving pinion 33, and an inner tooth slightly larger in number than the number of the outer teeth 33a of the pinion 33 are formed on the inner peripheral surface, and the inner teeth mesh with the outer teeth. A hub 37 serving as a rotating wheel is arranged on both sides of the pinion 33, and is integrally connected to the cam shaft (crank pin 31) by the columnar portion 21 which supports both ends of the camshaft (crank pin 31) and is inserted into a through hole 33c of the pinion. And a pair of supporting disks (a disk-shaped portion 17 and an end disk 25). The casing 13 of the drive motor 3 forms a support block for the speed reducer 5, and is hereinafter referred to as a support block.

As shown in FIG. 6, the main body of the support block 13 comprises a disc-shaped portion 17 and a protruding portion 19 protruding from the disc-shaped portion 17. As shown in FIG. 4, the convex portion 19 has three columnar portions 21 which are equally arranged in the circumferential direction. As shown in FIG. 6, a bearing mounting hole 17 b having a predetermined depth is formed between adjacent columnar portions 21 on the surface of the disk-shaped portion 17. An end disk 25 forming a part of the support block 13 is integrally connected to the columnar portion 21 of the support block by a bolt 24.

In FIG. 6, the end disk 25 has a disk-shaped portion 1.
7 corresponds to the bearing mounting hole 17b formed in the bearing mounting hole 17b.
5d is formed. Roller bearings 27 and 29 are mounted in the bearing mounting holes 17b and 25d, respectively.
Both ends of the crank pin 31 are rotatably supported between the nine pins. The crank pin 31 has two crank portions 31a, 31c eccentrically arranged at a predetermined distance from the rotation axis thereof, and a pinion 33 is fitted to the crank portions 31a, 31c.

As shown in FIG. 4, the pinion 33 has external teeth in the form of teeth having an equidistant curve to a pericycloid curve on the outer peripheral surface, and has a pin hole 33b inside. The pin hole 33b is engaged with the crank portion 31a or 31c of the crank pin 31. Further, the pinion 33 is formed with a groove 33 c (through hole) having a size slightly larger than the convex portion 19 formed on the support block 13.

Ball bearings 36a and 36b are mounted on the outer peripheral portions of the disk-shaped portion 17 and the end disk 25 of the support block 13, and rotatably support the hub 37. The hub 37 drives the drive sprocket 7 (the object to be rotated), and has, on its inner peripheral surface, a small number of small diameters slightly larger than the number of external teeth 33a formed on the outer periphery of the pinion 33 as shown in FIG. Pin 3
9 is formed with an internal tooth made of a pin gear fixed equally. Thus, the groove 33c (through hole) of the pinion 33 is loosely fitted into the convex portion 19 formed by the columnar portion 21 of the support block 13, and the center axes of the crank portions 31a and 31c of the crank pin 31 are aligned with the crank pin. The two pinions 33 revolve with respect to the rotation axis 31.
Are eccentrically revolved, and the external teeth 33 a engage with the pin gear of the hub 37. Here, the outermost periphery of the columnar portion 21 of the support block 13 is located radially outward with respect to the rotation center of the crankpin 31.

In the present invention, the planetary differential gear reducer 5
One end face of one of the pair of support discs (disc-like portion 17, end disc 25) is attached to the fixed frame 1, and
The drive motor 3 is attached to the other end surface of the pair of support disks (the disk-shaped portion 17 and the end disk 25), and the planetary differential gear reducer 3
The rotating body is attached to the hub 37 of the present invention. In the embodiment shown in FIG. 6, one end face of the disk-shaped portion 17 of the pair of support disks composed of the disk-shaped portion 17 and the end disk 25 of the planetary differential gear reducer 5 is attached to the fixed frame 1. The drive motor 3 is mounted on one end surface of the other end disk 25 so that the case of the drive motor 3 is positioned on the same side of the planetary differential gear reducer 5 as the side where the tool is attached to and detached from the tool receiving pot P. ing.

In FIG. 6, a first external gear 41 is integrally fixed to the right end of the input rotary shaft 11, and the right end of the crank pin 31 supported at both ends is provided with teeth of the first external gear 41. The second external gear 43 having the number of teeth larger than the number is fastened,
Both teeth 41 and 43 are engaged.

In the planetary differential speed reducer 5 described above, the number of the crank pins 31 is three, the support block 13 having the convex portion 19 having the three columnar portions 21 and the corresponding groove 33c (through hole). (A hole). The planetary differential speed reducer used in the present invention may be a speed reducer having a number of crank pins 31 other than three. When the number of crank pins 31 is large, the columnar portion 21 is provided between all adjacent crank pins 31. May be provided, for example, every other columnar portion 21 may be provided. In addition, as long as the free rotation of the pinion 33 can be restricted, the crankpin 31
Alternatively, a straight pin may be used.

The operation will be described below. The rotation of the output shaft of the drive motor 3, that is, the input rotary shaft 11 of the speed reducer, passes through the first external gear 41 fixed to the input rotary shaft 11 and the second external gear 43 meshed with the first external gear 41. It is transmitted at a reduced speed according to the ratio. Due to the rotation of the second external gear 43, the crank portion 31 a of the crank pin 31 rotatably supported at both ends by the support block 13 revolves, causing the pinion 3 to rotate.
3 has a pin hole 33b through a bearing 35 and a crank portion 31a.
Are eccentrically revolved by the revolving motion of the crank portion 31a. Due to the eccentric revolving motion of the pinion 33, the external teeth 33a formed on the outer circumference of the pinion 33 engage with the pin gear formed on the inner circumference of the hub 37 to rotate the hub 37 at a reduced speed. Thus, the automatic tool changer is driven by the sprocket 7 attached to the hub 37.

In this embodiment, since the drive motor 3 does not project from the back of the fixed frame 1, the distance from the front surface of the tool receiving pot P of the present invention to the rear end surface of the automatic tool changer can be reduced. The tool receiving pot P of the changer can be closer to the machine such as a machining center. Therefore, when the automatic tool changer and the machine are arranged in front and rear in parallel, or when the automatic tool changer is arranged perpendicular to the side of the machine as shown in FIG. 7, the installation space can be reduced. preferable.

Furthermore, in this embodiment, since the drive motor 3 is located on the side where the tool is attached to and detached from the tool receiving pot P (on the side of the operator's operation surface), the installation, removal and adjustment of the drive motor 3 can be easily performed. .

FIG. 1 shows another planetary differential gear reducer 5 which can be used in the driving device for a rotating body according to the present invention.
The planetary differential gear reducer 5 reduces the rotation of a drive motor 3 of a known type such as a servo motor, and an output shaft 11 of the drive motor 3 is integrally provided with an input camshaft 12 (a camshaft having a crank portion). Is mounted. The camshaft 12 is 18
It has crank portions 12a and 12b out of phase by 0 ° and is rotatably supported by a pair of bearings 15 and 16 in a casing 13 of the drive motor 3. The casing 13 of the drive motor 3 forms a support block for the speed reducer 5, and is referred to as a support block as in the above-described embodiment.

In the planetary differential gear reducer 5 shown in FIG. 1, the support block 13 has a disk-shaped portion 17 and the disk-shaped portion, similarly to the planetary differential gear reducer 5 shown in FIG. 17 comprises a convex portion 19 protruding therefrom. Convex part 19
Has three columnar portions 21 equally arranged in the circumferential direction. A bearing mounting hole 17 b having a predetermined depth is formed between adjacent columnar portions 21 on the surface of the disk-shaped portion 17. The end disk 25 forming a part of the support block 13 is a columnar portion 2 of the support block.
1 are integrally connected by bolts 24.

In FIG. 1, the end disk 25 has a
7 corresponds to the bearing mounting hole 17b formed in the bearing mounting hole 17b.
5d is formed. Roller bearings 27 and 29 are mounted in the bearing mounting holes 17b and 25d, respectively.
Both ends of the crank pin 31 are rotatably supported between the nine pins. The crank pin 31 has two crank portions 31a, 31c eccentrically arranged at a predetermined distance from the rotation axis thereof, and a pinion 33 is fitted to the crank portions 31a, 31c.

As shown in FIG. 2, the pinion 33 has external teeth of a tooth shape formed by an equidistant curve to a pericycloid curve on the outer peripheral surface, and has a pin hole 33b inside. The pin holes 33b are formed in the crank portions 12a, 1
2b via a bearing 32, and also engages with a crank portion 31a or 31c (FIG. 1) of the crankpin 31 via a bearing. Further, the pinion 33 is formed with a groove 33 c (through hole) having a size slightly larger than the convex portion 19 formed on the support block 13.

Referring again to FIG. 1, ball bearings 36 are provided on the outer peripheral portions of the disk-shaped portion 17 of the support block 13 and the end disk 25.
a, 36b are mounted, and the hub 37 is rotatably supported. The hub 37 drives the driving sprocket 7 (the object to be rotated), and has a small number of small-diameter pins 39 on the inner peripheral surface thereof slightly larger than the number of external teeth 33 a formed on the outer periphery of the pinion 33.
Are formed to form an internal tooth made of a pin gear fixedly and evenly. Thus, as shown in FIG.
c (through hole) is loosely fitted to the convex portion 19 formed by the columnar portion 21 of the support block 13, and the input camshaft 12
The center axes of the crank portions 12a and 12b and the crank portions 31a and 31c of the crank pin 31 revolve with respect to the rotation axis of the crank pin 31 due to the rotational motion of the two pinions 33. 33a is engaged with the pin gear of the hub 37. Here, the outermost periphery of the columnar portion 21 of the support block 13 is
It is located radially outward with respect to one rotation center.

FIG. 3 shows still another planetary differential gear reducer 5 which can be used in the driving device for a driven body according to the present invention. In FIG. 3, as in FIG. A first external gear 41 is integrally fixed to the right end of the input rotary shaft 11, and a second external gear having a larger number of teeth than the first external gear 41 is provided at the right end of the crank pin 31 supported at both ends. The gear 43 is fixed, and both teeth 41 and 43 are meshed.
Note that the planetary differential gear reducer shown in FIG. 3 is very similar to the planetary differential gear reducer shown in FIG. 6 shown as an embodiment of the present invention, and the same or similar parts are denoted by the same reference numerals. The description will be omitted, and differences will be described.

In the embodiment of the present invention shown in FIG. 6, the cover is removed and the outer surface of the support block 13 (the outer surface of the end disk 25).
In addition, the flange 13a of the drive motor 3 is fastened and fixed by bolts 13b. On the other hand, in FIGS. 1 and 3, the drive motor 3 is oriented in the opposite direction to that of FIG.
The surface of the planetary differential gear reducer 5 on the side where the tool is attached to and detached from the tool receiving pot P (on the operation surface side of the operator) is covered with a cover.
That is, in FIGS. 1 and 3, the case of the drive motor 3 is connected to the planetary differential gear reducer 5 by the tool receiving pot P.
It is mounted on the fixed frame 1 on the side opposite to the side where the tool is attached and detached. However, in the present invention, the planetary differential gear reducer 5
One end surface of one of the pair of support disks (disc portion 17, end disk 25) is attached to the fixed frame 1, and the pair of support disks (disc portion 17, end disk 25) The drive motor 3 is mounted on the other end surface of (3), and the rotating body is mounted on the hub 37 of the planetary differential gear reducer 5.
Therefore, when the planetary differential gear reducer 5 shown in FIGS. 1 and 3 is used in the present invention, a pair of support disks (the disk-shaped portion 17 and the end disk 25) of the planetary differential gear reducer 5 are used. Is mounted on the fixed frame 1 and the drive motor 3 is mounted on the other end of the pair of support disks (the disk-shaped portion 17 and the end disk 25) to reduce the planetary differential gear. Hub 3 of machine 5
Attach the rotating object to 7.

The output shaft 11 of the drive motor 3 according to the embodiment of the present invention shown in FIG. 6 has a columnar shape and passes through the planetary differential gear reducer 5. The output shaft 11 may have a crank shape as in the case of the planetary differential gear reducer 5 shown in FIG.

[0029]

As described above, in the present invention, a planetary differential gear reducer having a special structure, that is, a camshaft having a crank portion and rotating by receiving rotation of the drive motor,
An external tooth is formed on the outer periphery, a pin hole and a through hole are formed inside, and the pin hole is fitted to the crank portion of the camshaft and eccentrically moves, and the number of external teeth of the pinion is smaller than the number of teeth. A large number of internal teeth are formed on the inner peripheral surface, and the internal teeth are arranged on both sides of the hub as an output rotating wheel that meshes with the external teeth, on both sides of the pinion, and both ends of the camshaft are supported. It uses a planetary differential gear reducer consisting of a pair of support disks integrally connected by a columnar part inserted into the pinion through hole, and almost all of the external teeth formed on the outer periphery of the pinion are used. It always meshes with the internal teeth provided on the inner periphery of the hub, thereby preventing backlash as in the conventional device. Moreover, in the present invention, a pair of support disks (a disk-shaped portion and an end disk) are disposed on both sides of the pinion, and the pair of support disks (the disk-shaped portion and the end disk) are loosely inserted into through holes of the pinion. (The disc-shaped part and the end disc) are integrally connected, and thereby the disc-shaped part, the column-shaped part and the end disc have a rigid structure, so that the rigidity of the planetary differential gear reducer is remarkably increased. ,
Positioning accuracy is further enhanced. Therefore, according to the rotating device driving device of the present invention, there is no or reduced play between the driving motor and the rotating object, the positioning accuracy is high,
It is not necessary to provide a position detection device or a positioning device outside the drive motor, and even if a preliminary position detection device or a positioning device is provided, the cost can be reduced. Further, since the rigidity of the planetary differential gear reducer is remarkably increased, according to the driving apparatus for a driven body of the present invention, a generally heavy drive motor is mounted on the side of the supporting disk opposite to the fixed frame. And the mounting and dismounting of the drive motor can be easily performed.

According to the present invention, one end surface of one of the pair of support disks (a disk-shaped portion or an end disk) is attached to the fixed frame, and the other of the pair of support disks (and the end circle) is provided. The drive motor is attached to one end surface of a plate or a disc-shaped portion). That is, in the present invention, the planetary differential reducer 5, the drive motor 3, and the rotating body, which are the main components as the rotary drive device, are arranged on one end surface side of the fixed frame 1, so that the fixed frame 1 These components do not exist on the other end side of the, and the space can be used effectively.

Further, according to the driving device for a driven body of the present invention, the driving motor 3 which is generally heavy can be mounted on the side of the supporting disk opposite to the fixed frame 1. Therefore, in the present invention, only the drive motor 3 can be mounted, removed or replaced while the rotating body and the planetary differential reducer 5 are mounted on the fixed frame 1, and maintenance and adjustment work of the drive motor can be easily performed. .

Further, according to the present invention, as described above, the planetary differential reducer 5, the drive motor 3, and the rotating body, which are the main components as the rotary driving device, are provided on one end surface side of the fixed frame 1. Since it is arranged, there is no fixed frame 1 obstructing in the direction outside the radiation of the rotating object, so that the rotating object can be rotated one rotation (360 °) or more. That is, in the case of a driving device of a tool changing device, for example, a machine tool, a rotary table on which a workpiece is mounted, a tool changing arm, or the like is brought close to the space on the other end surface to a position immediately near the other end surface of the fixed frame 1. The space on the other end surface side can be effectively used for work. More specifically, since the drive motor 3 does not protrude to the rear surface (the other end surface side) of the fixed frame 1, the distance from the front surface of the tool receiving pot P to the rear end surface of the automatic tool changer can be reduced. The tool receiving pot P of the tool changer can be closer to the machine such as a machining center. Therefore, when the automatic tool changer and the machine are arranged in front and rear in parallel, or when the automatic tool changer is arranged perpendicular to the side of the machine as shown in FIG. 7, the installation space can be reduced. preferable.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view of an example of a planetary differential speed reducer that can be used in a driving device for a driven member according to the present invention.

FIG. 2 is a cross-sectional view taken along the line II-II of FIG. 1, in which sprockets, mounting bolts and the like are omitted.

FIG. 3 is a cross-sectional view of another example of the planetary differential speed reducer that can be employed in the driving device of the driven body according to the present invention.

4 is a sectional view taken along line IV-IV in FIG. 3, in which sprockets, mounting bolts and the like are omitted.

FIG. 5 is a schematic perspective view of a case where a driving device for a rotated member according to the present invention is applied to an automatic tool changer.

FIG. 6 is a cross-sectional view of an embodiment of a driving device for a driven body according to the present invention.

FIG. 7 is a plan view showing an arrangement example of the embodiment in FIG. 6;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Fixed frame 3 Drive motor 5 Planetary differential gear reducer 7 Sprocket (rotated body) 12 Camshaft 13 Support block 17 Disk-shaped part (supported disk) 21 Column-shaped part 25 End disk (supported disk) 31 Crank Pin (cam shaft) 33 Pinion 33b Pin hole 33c Groove (through hole) 37 Hub

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B23Q 3/157 F16H 1/32

Claims (1)

(57) [Claims] 1. A fixed frame (1), a drive motor (3), a planetary differential gear reducer (5) mounted on the fixed frame (1) and reducing the rotation of the drive motor (3), In a driving device for a driven body, comprising a driven body attached to an output rotating wheel (37) of the planetary differential gear reducer (5), the planetary differential gear reducer (5) has a crank portion. The camshaft (1) which rotates by receiving the rotation of the drive motor (3)
2, 31), external teeth (33a) are formed on the outer periphery, pin holes (33b) and through holes (33c) are formed inside, and the pin holes (33b) are formed on the cam shafts (12, 31). Eccentric pinion (33) fitted to the crank
The number of internal teeth slightly larger than the number of external teeth (33a) of the pinion (33) is formed on the inner peripheral surface, and the internal teeth mesh with the external teeth (33a). Hub (37)
And a columnar portion (2) which is arranged on both sides of the pinion (33), supports both ends of the cam shaft (12, 31), and is inserted through a through hole (33c) of the pinion (33).
1) a pair of support disks (17,
25), one end surface of the pair of support disks (17, 25) is attached to the fixed frame (1), and the other end of the pair of support disks (17, 25). The drive motor (3) is mounted on one end surface, and the driven body is mounted on the outer periphery of a hub (37) of the planetary differential gear reducer (5). apparatus.