JPH0239713Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The present invention relates to a device for moving workpieces and tools in automatic machines. This is characterized in that it is performed by a combination of operating rod rotations.

[Conventional technology]

Conventionally, as this type of device, the present applicant has
The invention related to Publication No. 59-232778 was provided.

In the above-mentioned conventional invention, a movable block equipped with workpieces and tools is moved to any position by a rotatably provided cross-shaped screw, but the screw must be provided above in a cross-shape. Therefore, it could not be installed if the upper space could not be used for some reason.

[Problem that the invention attempts to solve]

The present invention has a structure that can be used even when there are other devices above, and it is compact and allows workpieces and tools to be moved to a predetermined position laterally and rotated at a predetermined position. The aim is to provide a noiseless device.

[Means for solving problems]

In order to solve the above problems, the present invention provides a reciprocally movable slider with a forward/reverse rotating motor with a rotating shaft protruding in the sliding direction, and a concentric speed reducer connected to the tip of the motor rotating shaft. The operating rod is arranged in a straight line.

[Effect]

According to the present invention, a chuck device or a mounting portion for a workpiece or a tool is constructed at the tip of the operating rod that protrudes from the closed box-shaped frame. They may also have cylinders or rotary actuators or the like.

In the present invention, advancing the operating lever to a predetermined position is performed by sliding a slider provided with the operating lever using a timing belt.

Further, an operating rod is rotated by a motor provided on the slider at a predetermined position, so that a workpiece or tool can be moved to a predetermined position.

〔Example〕

Guide rods 2 and 3 are provided in parallel within the box-shaped frame 1, and a slider 4 is fitted into the guide rods 2 and 3.

Next, the guide rods 2 and 3 and the slider 4
A timing belt 5 is stretched under the timing belt 5, and the slider 4 is fixed to the timing belt 5 with a stopper 6.

Further, the timing belt 5 can be reciprocated by a forward and reverse rotation motor 7, and can be operated to reduce speed.

In the case of the embodiment shown in the drawings, the deceleration is performed by gears 8 to 9 provided on the rotating shaft 7a of the forward/reverse rotating motor 7, the shaft 10,
Timing pulley 13 via gears 11 and 12
This is done by rotating the shaft 14 of.

In the figure, 13a is the other timing pulley,
It is provided in the tension frame 15.

Next, the slider 4 is provided with a forward/reverse rotating motor 16 with a rotating shaft 16a protruding in the sliding direction, and an operating rod 18 is linearly connected to the tip of the rotating shaft 16a of the motor 16 via a reducer 17. provided.

In the present invention, in order to make the operating rod 18 rotatable, a concentric rotation speed reducer called Harmonic Drive (registered trademark) is used.

The principle of operation is shown in FIGS. 3 and 4.

In FIG. 3, 20 is what is called a wave generator, and the rotating shaft 16 of the motor 16 is
a, and consists of an elliptical cam 21 and a ball bearing fitted on its outer periphery.The inner ring of the ball bearing is fixed to the cam 21, and the outer ring 2
2 is configured to be elastically deformed via a ball 23.

Further, reference numeral 24 is a so-called flexspline, which is a thin cup-shaped metal elastic body having teeth 26 notched on the outer periphery of the opening.

Furthermore, 27 is what is called a circular spline, which is fixed to the frame 1 side, has a rigid ring shape, and has teeth 28 of the same pitch as the flex spline 24 mentioned above on the inner periphery. has two more sheets than the flex spline 24 described above.

When the wave generator 20, flexspline 24, and circular spline 27 are combined, the flexspline 24 is bent into an elliptical shape by the wave generator 20, and the teeth mesh with the circular spline 27 at the long axis of the ellipse. , the teeth are completely separated on the short axis.

In the above combination, as shown in Fig. 4 a, b, c, d, the circular spline 27 is fixed,
When the wave generator 20 is rotated, the flexspline 24 is elastically deformed, and the engagement position with the circular spline 27 is sequentially moved.

When the wave generator 20 rotates once, the flexspline 24 rotates in the circular direction.
Since it has two fewer teeth than the spline, it will move (rotate) in the opposite direction to the rotation direction of the wave generator 20 by that amount (difference in the number of teeth by two teeth), and that movement will be used as the output as described above. This is transmitted to the operating rod 18. Further, in the present invention, the box-shaped frame 1 is sealed by making the operating rod 18 protrude to the outside.

In the present invention having the above structure, the operating rod 18 is advanced to a predetermined position by sliding the slider 4 via the timing belt 5 by the forward/reverse rotation motor 7.

Once advanced to a predetermined position, the forward/reverse rotation motor 16 is then rotated at a predetermined number of rotations to rotate the operating rod 18 by a predetermined angle, allowing the workpiece or tools to be moved to a predetermined position.

To move the above-mentioned workpieces and tools, first use the operating rod 18.
It is also possible to rotate the operating rod 18, then advance the operating rod 18 to a predetermined position, and rotate the operating rod 18 again at that advanced position.

[Effect of idea]

According to the present invention, the workpiece is placed at a predetermined position in the lateral direction.
It allows tools to be moved and then rotated at a predetermined position, and instead of being driven by gears, a slider fitted to a guide rod is reciprocated by a timing belt, and a box-shaped frame is used. Since it has a sealed structure, it can completely prevent the generation of noise and the intrusion of dust.Furthermore, since it uses a concentric rotation speed reducer, the entire structure can be made compact, and it can be used in various automatic machines. .

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a partially sectional front view, FIG. 2 is a partially sectional plan view, FIG. 3 is an exploded view of the reducer, and FIGS. 4 a, b, c and d are diagrams of the operating principle of the reducer. 1... Frame, 2, 3... Guide rod, 4...
Slider, 5...Timing belt, 7...Forward/reverse rotation motor, 16...Forward/reverse rotation motor, 17...
...Reducer, 18...Operating rod.

Claims (1)

[Scope of utility model registration request] A slider is fitted into a guide rod provided in a predetermined direction within the box-shaped frame, and the slider is fixed to a timing belt which is stretched in the same direction as the guide rod and is movable in reciprocation and operates to reduce speed. The slider is equipped with a forward/reverse rotating motor with a rotating shaft protruding in the sliding direction, and an operating rod is provided linearly at the tip of the motor's rotating shaft via a concentric rotation type reducer. A device for moving workpieces and tools in an automatic machine, characterized by a box-shaped frame that protrudes from the top and is sealed.