JPH0746438Y2 - Tool change arm drive mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Industrial Field of the Invention The present invention relates to a drive mechanism for a tool changing arm of a machining center or the like.

Conventional technology Conventionally, the swivel axis of the tool changing arm is 90 degrees positive at its retracted end,
For example, Japanese Patent Application Laid-Open No. 58-45836 discloses a device which is rotated in the reverse direction and is rotated 180 degrees at the forward end. According to this, the forward and reverse swings of 90 degrees are performed by the groove cam that rotates integrally with the operating shaft that is parallel to the swing shaft and the cam lever that engages with the groove cam.

According to the above, according to the above, it is necessary to make a grooved cam of a special shape in order to perform 90 ° forward and backward turning of the turning axis, and there is a problem that it is extremely troublesome in design and manufacturing. There was a problem that the cost was high.

An object of this invention is to solve the above problem.

Means for Solving the Problems In order to solve the above-mentioned problems, the present invention moves a turning shaft of a tool changing arm forward and backward by a drive shaft, and
In a tool changer configured to swivel at the forward and backward ends of the swivel shaft, between the drive shaft and the swivel shaft, a swivel gear in the middle of the swivel shaft meshes at the forward end to perform 180 degree swivel. Each of the Geneva mechanisms is provided with a first Geneva mechanism that causes the reverse gear and a second Genera mechanism that has a drive gear that meshes with the turning gear at the retreat end and that makes a forward and reverse turn of 90 degrees. The mechanism includes a Geneva original vehicle and a Geneva driven vehicle. When the turning gear and each drive gear are disengaged between the second and third Geneva mechanisms, the mechanism of the second and third Geneva driven vehicles is provided. A phase holding mechanism for maintaining a rotation phase is provided, and the Geneva original vehicle of the second and third Geneva mechanisms is idle while one of the second and third Geneva mechanisms performs an indexing operation, While the Geneva mechanism of is not indexing, Characterized in that setting the Zenebapin position and detent arcuate wall shape.

Action At the retracted end of the swivel shaft, when the drive shaft is rotated, the second Geneva mechanism indexes, so that the drive gear of the second Geneva mechanism turns the swivel gear of the swivel shaft, and the tool change arm moves from the standby position to 90 °. Make a positive turn. At this time, the third Geneva mechanism for reversing rotates idly without performing indexing or positioning. Next, when the swivel shaft slides in the axial direction and the tool exchanging arm reaches the forward end (including a position just before that), the first Geneva mechanism performs indexing and swivels the tool exchanging arm by 180 degrees. After that, when the turning axis reaches the backward end, the third Geneva mechanism performs indexing and makes a 90 degree reverse turning. At this time, the second Geneva mechanism for forward rotation runs idle without indexing or positioning. While the drive gears of the second and third Geneva mechanisms and the turning gear of the turning shaft are disengaged by the forward movement of the turning axis, the phase holding mechanism operates and the second and third Geneva driven vehicles move to each other. The rotation phase of is maintained.

Embodiment In FIG. 1, a revolving shaft 2 is revolvingly supported by a main body 1 and is slidably supported in an axial direction. A turning gear 3 is key-connected to an intermediate portion of the turning shaft 2. A tool exchanging arm 4 having tool gripping portions 4a (see FIG. 8) at both ends is connected to the tip of the swivel shaft 2. A shifter 5 is connected to the rear end of the rotary shaft 2. The main body 1 has a drive shaft 6 parallel to the swivel shaft 2.
Is rotatably supported, and a drive motor 7 for unidirectional rotation is connected to one end thereof. A first Geneva mechanism 10, a second Geneva mechanism 20, a third Geneva mechanism 30, and a forward / backward moving mechanism 50 are interposed between the drive shaft 6 and the revolving shaft 2 in order from the front.

First, the first Geneva mechanism 10 has a drive shaft 6 as shown in FIG.
The first Geneva wheel 11 having a Geneva pin 11a is rotatably supported between the main body 1 and the support plate 15,
It comprises a Geneva driven wheel 12 having four Geneva grooves 12a for each degree, and the Geneva driven wheel 12 has a number of teeth of the turning gear 3 of 2
Double swivel gear 13 is formed. In the Geneva mechanism 10, while the drive shaft 6 rotates from the original position shown in FIG. 6 in the arrow direction from the time point of 135 degrees to 225 degrees, the Geneva driven vehicle is indexed by 90 degrees (1/4 rotation). Motion is performed, drive shaft 6
At the other rotation angle positions, the detent operation is performed by the engagement of the detent arc wall 11b of the Geneva original vehicle 11 and the arc notch 12b of the driven wheel 12. The swing gear 13 of the Geneva mechanism 10 is
Since the swivel gear 3 meshes with the swivel gear 3 at the forward end of the swivel shaft 2, the swivel gear 13 rotates 1/4 by the 90-degree intermittent indexing operation, and the swivel gear 3 rotates 1/2 (180 ° swivel).
Will be done.

Next, in the second Geneva mechanism 20, as shown in FIGS. 2 and 4, the drive gear 21 is keyed to the drive shaft 6. This drive gear
21 and a gear 24 integral with a second Geneva original wheel 23 rotatably supported on the support plate 15 by a shaft 22 mesh with each other. Geneva pin 23a is attached to the Geneva original car 23,
A detent arc wall 23b is formed at an opening angle of 135 degrees in the rotational direction (direction of arrow a in FIG. 2) from the symmetrical position with respect to the axis 22 of the Geneva pin 23a. The gear 24 is set to half the number of teeth of the drive gear 21. The support plate 15 further includes a shaft 25.
Thus, the second Geneva driven wheel 26 is rotatably supported.
The Geneva driven wheel 26 engages with the Geneva groove 26a at every 90 degrees that engages with the Geneva pin 23a and with the arcuate wall 23b that prevents rotation.
A circular arc notch 26b is formed for each degree, and the drive gear 27
Are integrally molded. The drive gear 27 is adapted to mesh with the turning gear 3 of the turning shaft 2 located at the backward end via an intermediate gear 28 supported by the support plate 15. The ratio between the drive gear 27 and the turning gear 3 is set to 1: 1. Therefore, in the second Geneva mechanism 20, the drive shaft 6 rotates 45 degrees in the arrow direction from the original position (shown in FIG. 2) when the turning shaft 2 is at the retracted end, and the Geneva driven wheel 26 moves 90 degrees (1/4). Rotation) indexing, whereby the tool changing arm 4 is swung 90 degrees from the standby position in the forward direction (the same as the rotation direction of the drive shaft 6) via the swivel shaft 2.

Next, the third Geneva mechanism 30 is a third Geneva original vehicle which is integrally connected to the drive gear 21 and a drive gear 31 which is integrally connected to the drive gear 21, and a shaft 32 which is supported by the main body 1 and which meshes with the drive gear 31. 33, a third Geneva driven wheel 36 supported by a shaft 35 on the main body 1, and a drive gear 37 coaxially integrated with the Geneva driven wheel 36.
It is arranged facing the Geneva mechanism 20 of. Geneva original car
The rotation-stopping arc wall 33b of 33 is formed at an opening angle of 135 degrees from the position of 45 degrees in the rotation direction a from the Geneva pin 33a.
The Geneva driven wheel 36 is identical to the Geneva driven wheel 26 and its drive gear 37
Is the same as the drive gear 27, and the drive gear 37
Meshes with the turning gear 3 at the backward end of the turning shaft 2. In the third Geneva mechanism 30, the swivel shaft 2 is at the retracted end, and the swivel shaft 2 is rotated by 45 degrees from the time when the drive shaft 6 swivels 315 degrees from the original position to the time when the drive shaft 6 returns to the original position. It will turn 90 degrees in the opposite direction to the rotation direction of 6.

Then, in these second and third Geneva mechanisms 20 and 30, at the original position of the drive shaft 6 (Figs. 2 and 3), the Geneva pin 23a of the second Geneva original wheel 23 starts to face the Geneva groove 26a, and The Geneva pins 33a of the Geneva original car 33 are assembled with the Geneva original cars 23 and 33 and the Geneva slaves 26 and 36 with a phase difference in the rotation direction of 90 degrees so that the Geneva pins 33a start to come out from the Geneva groove 36a.

Between the Geneva driven wheels 26 and 36 of the Geneva mechanisms 20 and 30, when the turning gear moves forward and the engagement between the turning gear 3 and the drive gears 27 and 37 is disengaged, these two Geneva driven vehicles A phase holding mechanism 40 for keeping the rotation phases of 26 and 36 is provided. In this phase holding mechanism 40, a support shaft 41 is attached to the main body 1 in parallel with the turning shaft 2 as shown in FIG. A clutch gear 42 is rotatably loosely fitted on the support shaft 41. The clutch gear 42 meshes with the drive gear 37. A shift clutch gear 43 is rotatably and axially slidably fitted on the support shaft 41 so as to face the clutch gear 42. The shift clutch gear 43 meshes with the drive gear 27. Clutch pawls 42a, 43a that engage and disengage from each other are formed on the opposing surfaces of the shift clutch gear 43 and the clutch gear 42. Shift clutch gear
A spring 44 is interposed between the 43 and the main body 1, and the clutch pawl 43a
Is urged in the direction in which it engages with the clutch pawl 42a. The shift groove 43b of the shift clutch gear 43 is engaged with a roller 46 at one end of a clutch lever 45 having an intermediate portion supported by the main body 1, and the roller 47 at the other end of the clutch lever 45 is a turning gear 3 for rotating.
When the turning gear 3 is at the backward end, the clutch pawls 42 and 43 are separated from each other, and when the turning gear 3 moves forward, the spring 44 engages the clutch pawls 42a and 43a with each other. Is done.

Next, as shown in FIG. 1, the forward / backward moving mechanism 50 includes a lever 51 whose one end is supported by a pin on the main body 1, rollers 52 and 53 attached to the middle and tip of the lever 51, and a cylindrical cam key-connected to the drive shaft 6. It consists of 54. A cam groove 54a with which the roller 52 is engaged is formed in the cylindrical cam 54, and the lever 51 starts to move forward when the drive shaft 6 rotates 45 degrees from its original position, and then the cam groove 54a rotates to 135 degrees. Then, it reaches the forward end and stops at the forward end until it reaches 225 degrees, retreats from the point when it rotates 225 degrees from the original position, is positioned at the backward end at 315 degrees, and remains in that state until it returns to the original position. It is formed to hold.

Next, the operation of the above configuration will be described with reference to FIG.
When the drive shaft 6 is at the original position (angle 0 degree), the pivot shaft 2 is at the retracted end, and the tool change arm 4 is at the standby position shown by the solid line in FIG. At this time, each Geneva mechanism 10 to 30
7 and FIG. 7 (a1) and (b1), the turning gear 3 is simultaneously meshed with the drive gears 27 and 37 directly or via the intermediate gear 28. While the drive shaft 6 rotates forward by 45 degrees from the original position in the direction of the arrow, the Geneva pin 23a of the second Geneva mechanism 20 and the Geneva groove 26a are engaged with each other, and the Geneva slave wheel 26 is indexed and rotated. The state becomes (a2). This allows the swivel axis 2
Is rotated 90 degrees from the standby position, and the tool changing arm 4 grips the tool T1 and the tool T2 of the spindle at a predetermined indexing position of the tool magazine. During this time, the third gear is turned through the turning gear 3.
Although the Geneva driven wheel 36 rotates in the direction opposite to the drive shaft 6, the Geneva pin 33a of the Geneva original wheel 33 rotates in the direction of coming out of the Geneva groove 36a and does not engage with the rotation stopping arc wall 33b. 36 idles and reaches the state of FIG. 7 (b2). Next, while the drive shaft 6 rotates 90 degrees, the forward-backward movement mechanism 50 acts, the turning gear 3 disengages from the two drive gears 27 and 37, and reaches the forward end from the backward end to mesh with the first Geneva mechanism 10. . When the turning gear 3 moves forward, the clutch pawls 42a, 43a separated by the clutch lever 45 mesh with each other by the spring force of the spring 44, and the second and third Geneva driven wheels 27, 37 shift with the clutch gear 42. Mutual rotation phases are maintained via the clutch gear 43. Then, until the turning gear 3 reaches the forward end, for example, in the states of FIGS. 7 (a3) and 7 (b3), the detent arc wall 23 of the second and third Geneva raw wheels 23, 33.
The b and 33b engage with the arcuate notches 26b and 36b of the corresponding Geneva driven wheels 26 and 36, and the Geneva mechanisms 20 and 30 perform detent operation without performing indexing operation. Then, when reaching the forward end, the first Geneva mechanism 10 performs an indexing operation by the subsequent rotation of the drive shaft 6 by 90 degrees, and the tool exchanging arm 4 grips the tools T1 and T2 and turns 180 degrees. The states of the second and third Geneva mechanisms 20 and 30 during the 180-degree turning are shown in FIGS. 7 (a4), (b4) to (a6),
(B6). The third part from Fig. 7 (b4) to (b5)
The Geneva slave wheel 36 of the Geneva mechanism 30 is indexed, and at this time, the Geneva slave wheel 26 is also rotated via the clutch gear 42 and the shift clutch gear 43. Since it is out of the circular arc notch 26b (Fig. 7 (a
4, a5)) After all, the Geneva original car 23 runs idle. Then, the second Geneva driven wheel 26 is indexed between (a5) and (b6) of FIG. 7, and the Geneva driven wheel 36 idles in the same manner as described above. Further, while the rotary drive shaft 6 rotates 90 degrees, the reciprocating mechanism 50 causes the turning shaft 2 to retreat from the forward end to the backward end. Until reaching the retracted end, for example, as shown in FIGS. 7 (a7) and (b7), the detent operation is performed without performing the indexing operation. When reaching the backward end, the old and new tools T1 and T2 are exchanged, and the turning gear 3 becomes the drive gear 2
7 and 37 (FIGS. 7 (a8) and (b8)), the third Geneva mechanism 30 performs an indexing operation during the subsequent 45-degree rotation of the rotary drive shaft 6, which causes the rotary shaft 2 to rotate. Is rotated 90 degrees in the opposite direction to return the tool changing arm 4 to the standby position. During this time, the second Geneva driven wheel 26 is not indexed or stopped by the Geneva original wheel 23, and idles in the direction opposite to the drive shaft 6. In this way, one cycle of tool exchange is completed by one rotation of the rotary drive shaft 6. During this operation, the swiveling operation of the tool exchanging arm 4 is performed by the three 4-indexing Geneva mechanisms 10, 20, 30. Therefore, the impact at the start and stop of each swivel is small, and the tool exchanging operation is smooth. Will be done.

In addition, when neither of the Geneva mechanisms 20 and 30 is performing the indexing operation, in the present embodiment, both of the detent operation are performed, but if the detent operation is performed on at least one of the Geneva mechanisms,
Since the phases 26 and 36 rotate with each other by the phase holding mechanism, the rotation phase of the Geneva driven wheels 26 and 36 is maintained.

Effect of the Invention As described above, according to the drive device of the present invention, the three Geneva mechanisms perform the forward and reverse 90-degree rotations at the backward end of the turning axis of the tool changing arm and the 180-degree turn near the forward end. Therefore, the impact at the time of starting and stopping each turning operation can be reduced, and the turning operation can be performed smoothly. Moreover, since the structure does not use a special cam, there is an advantage that it can be implemented at low cost.

[Brief description of drawings]

1 is a longitudinal sectional view of the present invention, FIG. 2 is a II-II sectional view of FIG. 1, FIG. 3 is a III-III sectional view of FIG. 1, and FIG.
FIG. 5 is an enlarged cross-sectional view showing the IVa-IVa cross section of the drawing and the IVb-IVb cross section of FIG. 3 at the same time, FIG. 5 is the VV cross sectional view of FIG. 3, and FIG. 6 is the VI-VI cross section of FIG. FIG. 7 is an operation explanatory view of the second and third Geneva mechanisms, and FIG. 8 is an operation explanatory view of the tool changing arm. 2 ... Swivel axis, 3 ... Swivel gear, 4 ... Tool change arm, 6 ... Drive shaft, 10 ... First Geneva mechanism, 20 ... Second Geneva mechanism, 23,33 ... Geneva Original vehicle, 23a, 33a ...... Geneva pin, 23b, 33b ...... Non-rotating arc wall, 26, 36 ...... Geneva driven vehicle, 27, 37 ...... Drive gear, 40 ...... Phase holding mechanism

Claims (1)

[Scope of utility model registration request] 1. A tool exchanging device in which a swivel shaft of a tool exchanging arm is moved back and forth in the axial direction by a drive shaft, and swivels at a forward end and a backward end of the swivel shaft. Has a first Geneva mechanism that meshes with a swivel gear in the middle of the swivel shaft at the forward end to make a 180-degree swivel, and a drive gear that meshes with the swivel gear at the backward end. Second and third Geneva mechanisms for performing forward and reverse rotations of degrees, each Geneva mechanism includes a Geneva original vehicle and a Geneva slave vehicle, and between the second and third Geneva mechanisms, A phase holding mechanism for maintaining the rotational phase of the second and third Geneva driven vehicles when the turning gear and each drive gear are disengaged is provided, and the Geneva original vehicle of the second and third Geneva mechanisms is the second vehicle. , While one of the third Geneva mechanisms performs the indexing operation, the other spins idle and the other Geneva machine But while not performing the indexing operation, at least one to perform a detent operation, Geneva original car Zenebapin position and detent arcuate wall shape tool changing arm drive mechanism, characterized in that setting the.