JPH0341905Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a shift device that moves a holder on which a machining device or the like is attached to a predetermined position to perform a desired machining or the like.

(Prior Art) Conventionally, when a machining device or the like is attached to a holder and the holder is moved three-dimensionally to perform machining or the like, a device as shown in FIG. 3 has been used. That is, a support arm 3 is pivotally supported by a rotation shaft 2 from a base 1 via a bracket 1a and a stay 1b. The support arm 3 rotates by a certain angle in the BB' direction around the rotating shaft 2 as the piston rod 4a of the cylinder 4 expands and contracts. In addition, a second
A holder 7 of the machine tool is pivotally supported by a rotation shaft 6 . The holder 7 is connected to the second cylinder 8
By expanding and contracting the piston rod 8a,
It is designed to rotate around a second rotation axis 6 by a certain angle. A machining device 9 is attached to the holder 7. When operating the machine device 9,
When the piston rod 4a and the second piston rod 8a are extended, the machining device 9 is moved in three dimensions. The work is carried out at that location, and when the work is completed, the piston rods 4a, 8a contract and return to their original positions.

(Problem that the invention seeks to solve) However, in such a device, the cylinders are
Each of them requires a control device, which makes the device complex and the control relationships complicated, leading to high production and maintenance costs.
The present invention has been made in order to obtain a shift device that can move a holder on which a machining device or the like is attached to a predetermined position with an extremely simple configuration.

(Means for Solving the Problems) The present invention provides a support arm rotatably supported on a base and whose rotation angle is suppressed by a stopper, as a means for solving the above problems. The support arm has a second
a holder rotatably supported by a rotation shaft and having a rotation angle suppressed by a second stopper;
The cylinder body is rotatably supported in a direction orthogonal to the rotational direction of a first knuckle rotatably mounted on the base, and the tip of the piston rod is pivoted in a direction perpendicular to the rotational direction of a second knuckle rotatably mounted on the holder. The cylinder device is rotatable in orthogonal directions and is pivotally supported by the hinge pin of the second knuckle.

(Function) With this configuration, when the piston rod of the cylinder device extends or shortens, the support arm and the holder rotate at the same time, or after one rotates through a suppressed full stroke, the other starts. Then, they both rotate a full stroke and then stop. In this way, by setting the extended position or shortened position of the cylinder device as the preparation position or working position of the machine tool etc. to be attached to the holder, the holder can be can be moved to a predetermined position. Further, the position can be adjusted by changing the mounting position of the stopper by adjusting the thickness of the stopper itself, and an appropriate position can be obtained.

(Example) An example of the present invention will be described below with reference to the drawings. In FIGS. 1 and 2, two stays 12, 12a are fixedly erected on a bracket 11 fixed to a base 10, and are integrated with the base 10. A support arm 13 is supported at the upper end of one of the stays 12 via a bracket 14 on a rotation shaft 15 so as to be rotatable in the BB' direction. Since the upper end of the stay 12 is integral with the base 10, the support arm 13 is pivotally supported by the base 10. A bracket 16 is fixed to the upper part of the other stay 12a, and a stopper 17a is fixed to a bracket 17 on the opposite side of the rotation shaft 15 of the support arm 13.
Bracket 1 fixed to the top of stay 12a
6 and suppresses rotation of the support arm 13 in the direction B'. Further, a link plate 18 is rotatably supported on the bracket 16, and a long hole 18a is formed in the link plate 18.
A stopper pin 19 attached to the support arm 13 is fitted into the elongated hole 18a, and a stopper pin 19, which is screwed onto the link put 18, is fitted into the top of the elongated hole 18a.
An adjustment screw 18b is attached which abuts on the stopper pin 19 that fits into the hole a. This suppresses rotation of the support arm 13 in the B direction. Therefore, in the support arm 13, the stopper 17a is connected to the stay 12.
It comes into contact with the bracket 16 on a, and the stopper pin 1
9 comes into contact with the adjustment screw 18b of the link plate 18, and the rotation angle in the BB' direction is suppressed.

The support arm 13 is supported by a rotation shaft 15 on the base 10 (the upper end of the stay 12). Therefore, the holder 21 is pivotally supported. The second pivot shaft 20 is supported by a bracket 22 fixed on the support arm 13. Further, a side holder 23 extending laterally is fixed to the holder 21, and a working device 24 (for example, a welding gun) is placed and fixed on the holder 21 and the side holder 23. A stopper 25 is attached to the left side of the holder 21 and comes into contact with a stopper 26 on the bracket 22, so that the holder 21
A stopper 27 is provided below the side holder 23 that is integrated with the holder 21.
is attached to the bracket 1 on the support arm 13.
The holder 21 comes into contact with a stopper 28 attached to the stopper 7 to suppress rotation of the holder 21 in the A direction. Therefore, the stoppers 25 and 27 of the holder 21 come into contact with the stoppers 26 and 28 on the support arm 13, so that the rotation angle in the AA' direction is suppressed. Note that in this embodiment, the rotation axis 15 of the support arm 13 and the second rotation axis 20 of the holder 21 are perpendicular to each other, but it is sufficient that they intersect at any angle and are not parallel; It is not limited only to cases.

The bracket 16, which is fixed to the base 10 via the bracket 11 and the stay 12a, is in contact with the stopper 17a of the support arm 13, and also has a cylinder that supports the cylinder body 31 of the cylinder device 30 that moves the machine tool, etc. The holder 32 is fixed. A first knuckle 33 is rotatably attached to the cylinder holder 32 through a bearing 34 in a hole bored in the cylinder holder 32. A hinge pin 35 is provided, and the cylinder body 31 is pivotally supported by the hinge pin 35. On the other hand, a second knuckle 36 is rotatably attached to the side holder 23 that is integrated with the holder 21 through a bearing 37 in a hole bored in the side holder 23.
A hinge pin 38 is provided in a direction perpendicular to the direction of rotation of the knuckle. and cylinder device 3
The third piston rod 39 provided at the tip of the piston rod 39 of
The hinge pin 38 is adapted to fit into the nutcle 40 of the holder.

Regarding the operation of the shift device, initially, as shown in FIGS. 1 and 2, the piston rod 39 of the cylinder device 30 is shortened, and the support arm 13 is shortened.
In the horizontal position, the stopper 17a abuts against the bracket 16 fixed to the base 10. Holder 21
The stoppers 27 and 28 are in contact with each other in the inclined position. When the piston rod 39 of the cylinder device 30 extends, the second knuckle 36 attached to the side holder 23 and the hinge pin 38 fitted in the third knuckle 40 at the tip of the piston rod 39 rotate, and the holder 21 rotates for the second rotation. Centered around the moving axis 20
The stopper 25 rotates in the A' direction and is fixed to the holder 21, and the stopper 25 is fixed to the support arm 13.
6. At this time, the cylinder body 31 swings due to the pivoting motion of the hinge pin 38, but the piston rod 39 extends smoothly because the hinge pin 35 pivots. When the stoppers 25 and 26 come into contact, the holder 21 stops rotating, but the piston rod 39 continues to expand. As a result, the support arm 13 rotates in the direction B about the rotation axis 15, and the stopper pin 19 moves to the link plate 18.
It stops when it comes into contact with the adjusting screw 18b.
At this time, as the piston rod 39 expands, the support arm 13 tilts, and the side holder 23 of the holder 21 also tilts. So the second Natsukuru 3
6 is attached to the side holder 23 via the bearing 37.
The support arm 13 is rotated smoothly with respect to the support arm 13. Further, the second knuckle 36 at the tip of the piston rod pivots around the rotating shaft 15, and the cylinder body 31 also swings to some extent along with this. In contrast, the hinge pin 35 that pivotally supports the cylinder body 31 is attached to the first knuckle 33, and the first knuckle 33 is attached to the bearing 3.
4, the cylinder body 31 is rotatable relative to the cylinder holder 32 through
Since it is swingable, it can move smoothly. In this way, the position of the machining device 24 (for example, a welding gun) placed on the holder 21 is shifted three-dimensionally and can be moved to a predetermined position. After the desired work has been carried out, if the piston rod 39 of the cylinder device 30 is shortened, the holder 21 returns to its original position by following the process reverse to that described above, and is therefore placed on it. The machining device 24 also returns to its original position.

In the above operation, it has been explained that the holder 21 first rotates around the second rotation axis 20 and then the support arm 13 rotates around the rotation axis 15 due to the extension of the piston rod. The order may be reversed depending on the weight distribution of the machine tools etc. placed on the holder 21, the rotational resistance of the rotating shafts 15 and 20, and other conditions, or the order may be reversed, or the holder 21 may be
and the rotation of the support arm 13 may occur at the same time. Further, the final position of the machine tool 24 can be determined by adjusting the adjustment screw 18b of the link plate 18,
Adjustment can be made by changing the positions and shapes of the second stoppers 25, 26, etc., and can be adjusted so that it can be stopped at a predetermined position.

(Effect of the invention) Since the invention has the above-mentioned configuration and operation, it is possible to three-dimensionally shift the work equipment placed on the holder by simply operating one cylinder device. It can be moved into a predetermined position and its position can be adjusted by means of a simple adjustment device. This makes it possible to reduce the manufacturing and maintenance costs of the three-dimensional shift device.

[Brief explanation of the drawing]

FIG. 1 is a side view of a shift device of the present invention, FIG. 2 is a front view, and FIG. 3 is a side view schematically showing a conventional shift device. 10...Base, 30...Cylinder device, 13...
...Support arm, 31...Cylinder body, 15...
Rotation shaft, 33...First knuckle, 17a...Stopper, 34...Bearing, 19...Stopper pin, 36...Second knuckle, 20...Second rotation axis, 37...Bearing, 21... ...Holder, 3
8... Second knuckle hinge pin, 25... Second stopper, 39... Piston rod, 26... Second stopper.

Claims (1)

[Scope of utility model registration request] A support arm rotatably supported on a base and whose rotation angle is suppressed by a stopper, and a second rotation axis intersecting the rotation axis of the support arm, the support arm being rotatable by a second rotation axis that intersects with the rotation axis of the support arm. a holder which is pivotally supported by a second stopper and whose rotation angle is suppressed by a second stopper; and a cylinder body which is rotatably supported rotatably in a direction perpendicular to the rotational direction of a first knuckle which is rotatably mounted on the base. and a cylinder device in which the tip of the piston rod is pivotally supported on a hinge pin of a second knuckle rotatable in a direction perpendicular to the rotational direction of the second knuckle rotatably mounted on the holder. Shift device.