JPH07112658B2 - Linear motion mechanism and article table changing device using the linear motion mechanism - Google Patents

Description

Description: INDUSTRIAL APPLICABILITY The present invention relates to replacement of an attachment stand of a machining center,
The present invention relates to an exchanging device that can be used for exchanging pallets or other general article stands, and a linear movement mechanism used for this device.

2. Description of the Related Art For example, as shown in FIGS. 5 and 6, a device for moving a mounting table 1 on which an attachment is mounted to a replacement position and a standby position below a spindle is fixed to a mounting table lower base 2 and extends from the replacement position to the standby position.
The table 1 is provided on the guide rail 3 of the book so as to slidably accommodate one or a plurality of attachments. Then, one end of the rod 4 is fixed to the platform lower table 2, and the protrusion 1a on the lower surface of the platform 1 is engaged or fixed to the hydraulic cylinder 5 side to supply pressure oil to the hydraulic cylinder 5 so that the platform 1 is fixed. It was transferred to the position of the virtual line.

Alternatively, the ball screw or the chain is rotated by the rotation of a motor driven by electricity or hydraulic pressure to transfer the placing table to the imaginary line position in linear motion.

SUMMARY OF THE INVENTION Problems to be Solved by the Invention In a drive device using a hydraulic cylinder, the hydraulic cylinder becomes long to obtain a necessary stroke, and the space in the stroke direction becomes large, resulting in a problem of space saving.

Also, when using an electric or hydraulic motor, it is necessary to convert it into a linear motion, so a linear motion stroke longer than the stroke of the mounting table is required, which complicates the structure, increases the space, increases the cost, and increases the need for maintenance and inspection. There's a problem.

Further, both of them require an engaging / disengaging mechanism between the drive unit and the mounting table in order to selectively replace a plurality of mounting tables, which further complicates the structure.

The present invention has been made in view of the above problems of the prior art. The object of the present invention is to reduce the size of the transfer mechanism to reduce the space, reduce the cost, and easily perform the maintenance and inspection. Another object of the present invention is to provide a linear movement mechanism that can be used for this.

Means for Solving the Problems In order to achieve the above object, the present invention provides a fluid pressure cylinder device having one end of a cylinder pivotally supported, and a piston rod having one end pivotally supported at a tip of a piston rod of the fluid pressure cylinder device. Of the V-shaped lever that is pivotally supported at the center so that the other end of the fluid-pressure cylinder device is pivoted at the other end of the fluid pressure cylinder device. A new member that is provided in parallel with the bisector and linearly guides one end of the linear link, and the unconstrained end of the linear link is swung by the expansion and contraction of the piston rod of the hydraulic cylinder device. The linear movement is performed in the direction perpendicular to the angle bisector, and the arm lengths of the lever and the link are equal, and the restricting member is provided in a position parallel to the fluid pressure cylinder and including the pivot center of the V-shaped lever. 2 of the linear distance of the movement end of the pivot between the square-shaped lever and the linear link
It is to make a double length linear motion.

Also, at least one first linear guide surface (17A or 17B)
A first article table (17) having an upper surface and the first linear guide surface (17A, 17A) provided side by side with the first article table (17).
Or a second position which is on the same plane as 17B) and on the extension line thereof
2nd article stand under stand (1 with a straight guide surface (12A or 12B)
2) and the first linear guide surface (17A, 17A,
Or 17B) and the second linear guide surface (12A, or 12B) on the second undercarriage table (12) so that they can be transferred to the second undercarriage table (12). 1 On the lower surface of the end near the article table, the engaging surface (16A, 16A,
Or 16B) is provided with an article table (13A, 13B ...), and the fluid cylinder cylinder (20A or 20B) of the linear motion mechanism according to claim 1 is swung on the first article table (17). The engaging member (24Aa, 24Aa, provided on the non-restraining end of the linear link of the linear motion mechanism according to claim 1, wherein angular bisectors are provided so as to be perpendicular to the first and second linear guide surfaces. Or 24Ba) is engaged with the engagement surface (16A or 16B), and the article table (13A, 13B) is moved to the first article table lower table (17) by the operation of the fluid pressure cylinder (20A or 20B). And the second article table (12).

According to the first aspect of the present invention, the piston rod of the fluid pressure cylinder device is expanded and contracted to pivot the V-shaped lever and thereby pivot the linear link. However, the linear link has a regulating member at one end in the fluid pressure cylinder direction. Since it is guided linearly, the unconstrained end of the linear link moves linearly in the direction perpendicular to the cylinder.

According to the second aspect of the present invention, the engagement member at the non-restraining end of the linear link engages with the engagement surface of the article table, and the article table is transported between the article table and the apparatus table by the operation of the fluid pressure cylinder. By positioning the device table in front of the article table, the article table is selectively transferred.

EXAMPLE An example of an attachment table exchanging device of a machining center will be described below with reference to FIGS. 1 to 3 as an example of the present embodiment.

The device base 11 is a horizontal guide surface with two rows parallel to the upper surface in the longitudinal direction.
11a is formed, and the attachment table lower table 12 is attached in parallel with the horizontal guide surface. The attachment table lower base 12 has a horizontal guide surface 11a and horizontal guide surfaces 12A and 12B perpendicular to the horizontal guide surface 11a formed on the upper surface thereof, and in the figure, two attachment table below are shown. This horizontal guide surface 12A (12B is also the same, so description thereof is omitted) is made up of three pieces, and the first piece 12A ₁ is the top surface and the right side surface in FIG.
The second approaching 12A ₂ is a straight guide surface on the left and a third away
The top surface of the main body 12A ₃ is a straight guide surface. The attachment bases 13A, 13B for mounting the attachments guided by the horizontal guide surfaces 12A, 12B have two roller supports 13A ₁ , 13A ₂ (roller support for 13B, which are parallel to the horizontal guide surfaces 12A, 12B on the bottom surface, The roller is omitted). The roller supports 13A ₁ and 13A ₂ are provided with a plurality of rollers 14A supported on their side surfaces by a horizontal shaft. The first one 12A ₁ and the third one
A plurality of rollers 15A supported on the upper surface of 12A ₃ and supported on the lower surface of the roller support 13A ₁ by a vertical shaft are provided in two rows. The first guide 12A ₁ and the second guide 12A ₂ of the horizontal guide surface are provided. It is guided so that there are no gaps in the planes of the opposite side surfaces.

Further, on the lower surface of the attachment table 13A, 13B, an engaging groove plate 16A parallel to the horizontal guide surface 11a is provided at the end of the device table 11 which is the horizontal guide surface 11a side when placed on the attachment table 12 below. , 16B is installed.

A carriage 17 is placed on a horizontal guide surface 11a on the upper surface of the device base 11 and a roller 18 supported by a horizontal shaft on the lower surface thereof is guided,
It is designed to be moved and positioned by an NC device (not shown), a motor, and a feed screw. On the upper surface of the carriage 17, two attachment mounting bases can be mounted, and horizontal guide surfaces 12A, 12B (three for the mounting base mounting base 12) 12A ₁ and 12A (the same description for 12B is omitted). _A horizontal guide surface having the same guide surface is provided on the extension of ₂ , 12A _{3 in} a direction perpendicular to the horizontal guide surface 11a. In Figure 2, the three 12A ₁ , 1,
Guide surface 17A of _three 17A ₁ , 17A ₂ and 17A ₃ corresponding to 2A ₂ and 12A ₃
Only the guide surface 17B is omitted.

The carriage 17 has a built-in transfer mechanism using the linear motion mechanism, which is a feature of the present invention. That is, fluid pressure cylinders 20A and 20B are arranged at positions symmetrical to the center line of the moving direction of the carriage 17, one end of each of which is pivotably supported in a horizontal plane and the two cylinders are provided so as to be parallel to each other in opposite directions. ing. Between the fluid pressure cylinders 20A and 20B, between the two fluid pressure cylinders, the V-shaped levers 22A and 22B that are pivotable about the vertical axis are located near the tips of the piston rods 21A and 21B, and are on the center line of the pivot angle. It is pivotally supported on the central line of. One end 22Aa of the V-shaped lever 22A is pivotally connected to the end of the piston rod 21A, and one arm 22Ba of the V-shaped lever 22B is pivotally connected to the end of the piston rod 21B. Further, a linear link 23A is provided at the other arm 22Ab end of the V-shaped lever 22A, and the other arm 22A of the V-shaped lever 22B is provided.
The straight links 23B are pivotally supported at their centers at the ends of Bb. Fluid cylinder 20A on the centerline of the swivel angle,
A regulating plate 25 having a guide groove is provided in parallel on the center line between the 20B, that is, on the line connecting the pivot axes of the V-shaped levers 22A and 22B, and a roller provided at one arm 23Ab end of the linear link 23A. 24Ab and a roller 24Bb provided at one end of the arm 23Bb of the linear link 23B are fitted in the guide grooves of the regulation plate 25, respectively. Further, the roller 24Aa pivotally supported at the end of the other arm 23Aa of the linear link 23A is the engaging groove plate 1 of the attachment table 13A.
The roller 24Ba pivotally supported on the groove of 6A or the end of the other arm 23Ba of the linear link 23B is engaged with the groove of the engaging groove plate 16B of the attachment table 13B. Since the grooves of the engagement groove plates 16A and 16B are parallel to the horizontal guide surface 11a, when the attachment table is on the attachment table lower table 12, the movement of the carriage 17 causes engagement and disengagement with the rollers 24Aa and 24Ba. And the arm length of the V-shaped lever and each arm length of the linear link are all made equal.

Next, explanation will be given on the basis of FIG. 4 in which this exchanging device is arranged in the machining sensor which requires the attachment exchanging.

A column 33 is established next to a bed 31 on which a table 32 is movably mounted, and is formed in a gate shape by a top beam (not shown). A cross rail (not shown) is provided on the vertical guide surface in front of the column so as to be vertically movable and positionable. The saddle 34 is suspended on the cross rail so that the saddle 34 can be horizontally moved and positioned. A spindle ram 35 that supports the spindle is vertically provided on the saddle 34. Next to the column 33 is a bed 31 of an attachment stand 19 of the attachment exchange device and an equipment stand 11 of a length extending to the attachment stand 12 at the attachment storage position.
The carriage 17 is placed in parallel with the parallel horizontal guide surface 11a on the upper surface of which two carriages 17 capable of mounting two attachment mounts are movably mounted and rotated by the servo motor 36 controlled by the NC unit. The screw 37 is moved and positioned to the attachment changer and storage position. At the attachment stand-by position, the horizontal guide surfaces 17A ₁ and 17A of the carriage 17 are parallel to the device lower stand 11.
₂ , 17A ₃ etc. and the horizontal guide surface 12 on the attachment stand base 12
A ₁ , 12A ₂ , 12A ₃ ; 12B ₁ , 12B ₂ , 12B ₃ ... are provided so as to be connected, and a plurality of attachment stands 13A, 13B,
13C ... is placed so that it can be taken in and out of the carriage 17.

The operation of the present invention thus configured will be described.

When the attachment table 13A with an empty pot is placed on the horizontal guide surface 17A in accordance with the attachment replacement command, the cart 17 is stored horizontally on the attachment table 13B in which the attachment A is put in the pot by the servomotor 36 and the feed screw 37. It is assumed that the other horizontal guide surface 17B is positioned so as to be connected to the front surface of the guide surface 12B. The piston rod 21A of the fluid pressure cylinder 20A is contracted and the roller 24 of the linear link 23A is
Aa is in engagement with the engagement groove plate 16A of the attachment table 13A. On the other hand, the piston rod 21B of the fluid pressure cylinder 20B is extended. Therefore, the linear link 23B, the arm 23Ba, the roller 2
Since 4Ba is projected outward from the carriage 17, the roller 24Ba is attached to the attachment table 13B immediately before positioning.
Is engaged with the groove of the engaging groove plate 16B. When the pressure fluid supply of the fluid pressure cylinder 20B is switched and the piston rod 21B is contracted, the arm 22Ba of the V-shaped lever 22B is pulled and swung, and the V-shaped lever 22B comes to the position of the imaginary line. At this time, the arm 22B is pivotally supported at the end of the arm 22Bb. The linear link 23B that has been turned is also turned, but the arm 23B
Since the roller 24Bb of b is fitted in the linear guide groove of the regulation plate 25, it moves in the groove. This movement causes the straight link 23
B rotates and revolves, and the roller 24Ba at the end of the arm 23Ba follows the trajectory of the straight line a to the position of 24Ba '. L-shaped lever
This is because the arm length of 22B and the arm length of the linear link 23B are all equal, and the center of the regulation plate 25 is located on the line connecting the L-shaped levers 23A, 23B, and the pivot point of the end of the L-shaped lever arm 23Bb. Roller 24Ba at the end of linear link 23Ba for turning end distance
The center moving distance of is doubled.

Therefore, the attachment table 13B is guided by the rollers 14B and 15B to the horizontal guide surface 12B, and the horizontal guide surface 17B on the carriage 17 is guided.
It is transferred on the (guide surface corresponding to 12B).

In this way, when the attachment table 13B containing the attachment A is transferred onto the carriage 17, the servo motor 36,
The rotation of the feed screw 37 causes the carriage 17 to position the attachment table 13A with an empty pot at the position for exchanging with the spindle.

Switching the fluid pressure of the fluid pressure cylinder 20A Piston rod 2
When 1A is reduced, the linear link 23A revolves and rotates by the same operation, the roller 24Aa at the end of the arm 23Aa linearly moves in the direction perpendicular to the horizontal guide surface 11a, and the attachment table 13A on the pedestal 19 directly below the main shaft corresponds. It is transferred so that the center of the spindle and the center of the pot coincide with each other on the horizontal guide surface. Then, the spindle ram 35 descends to insert the spindle attachment into the pot of the attachment stand 13A. Then, the reverse operation of the fluid pressure cylinder 20A causes the attachment stand 13A to be returned to the top of the carriage 17 again so that the attachment stand 13B and the receiving stand 19 correspond to each other.
Move and position. By operating the fluid pressure cylinder 20B, the attachment table 13B is transferred onto the horizontal guide surface of the cradle 19 just below the spindle so that the center of the spindle and the center of the attachment are aligned, and the attachment in which the spindle ram 35 is lowered is mounted. .

EFFECTS OF THE INVENTION Since the present invention is configured as described above, the present invention has the following effects.

The linear motion mechanism of claim 1 can obtain a large linear motion range with a small stroke of the hydraulic cylinder. And maintenance of the drive unit is easy.

In addition to the effects of claims 1 and 2, the exchanging device of the article stand according to claim 2 can be manufactured at a low cost because the entire exchanging unit is downsized, the configuration is rationalized. The trolley for carrying articles such as attachments and pallets can be downsized, and the trolley movement space can be reduced.

[Brief description of drawings]

FIG. 1 is an explanatory plan view showing a replacement mechanism of an attachment table, FIG. 2 is an explanatory front view of the same with a part omitted, FIG. 3 is an omitted side view of the same with a part omitted, and FIG. FIG. 5 is an explanatory side view showing a conventional exchange mechanism, and FIG. 6 is a plan view of the same. 11 …… Device stand 12A, 12B …… Horizontal guide surface 14,15 …… Roller 16A, 16B …… Engagement groove plate, 17 …… Truck 20A, 20B …… Fluid pressure cylinder 22A, 22B …… V-shaped Lever 23A, 23B …… Linear link 24Aa, 24Ab, 24Ba, 24Bb …… Roller 25 …… Regulation plate

Claims (2)

[Claims] 1. A fluid pressure cylinder device in which one end of a cylinder is pivotally supported, and one end is pivotally supported by the tip of a piston rod of the fluid pressure cylinder device, and the other end is pivoted by expansion and contraction of the piston rod at the center. A supported V-shaped lever, a linear link pivotally supported at the other end of the V-shaped lever, and one end of the linear link provided parallel to the bisector of the turning angle of the fluid pressure cylinder device. And a restricting member that linearly guides the fluid pressure cylinder device, and the unconstrained end of the linear link is linearly moved in a direction perpendicular to the bisector of the turning angle of the fluid pressure cylinder device by expansion and contraction of the piston rod of the fluid pressure cylinder device. A linear motion mechanism characterized by that. 2. A first article under stand (17) having at least one first linear guide surface (17A, or 17B) on its upper surface, and the first article under stand (17) provided side by side. A second article platform table (12) having a second straight guide surface (12A or 12B) which is on the same plane as the first straight guide surface (17A or 17B) and on the extension thereof, and the first article A second article which is movably guided by a first linear guide surface (17A or 17B) on the understand table and a second linear guide surface (12A or 12B) on the second article understand (12). Article stand (13A) having an engaging surface (16A or 16B) in a direction perpendicular to the first and second linear guide surfaces on the lower surface of the end of the first article bottom table near the understand table (12) , 13B ...) are provided, and the bisector of the turning angle of the fluid pressure cylinder device (20A or 20B) of the linear motion mechanism according to claim 1 is provided on the first article table (17). 1, perpendicular to the second straight guide surface The engaging member (24Aa or 24Ba) provided on the non-restraining end of the linear link of the linear motion mechanism according to claim 1 is engaged with the engaging surface (16A, or 16B). , A straight line characterized by moving an article table (13A, 13B) between a first article table (17) and a second article table (12) by the operation of a fluid pressure cylinder (20A or 20B) An exchange device for an article table that uses a motion mechanism.