JPH08141947A - Intermittent dividing device with mechanical hand - Google Patents

Abstract

PURPOSE: To provide an intermittent dividing device with a mechanical hand for integrating a plurality of mechanical hands which is actuated corresponding to intermittent dividing movement and handling a plurality of work at one effort. CONSTITUTION: An intermittent dividing device with a mechanical hand has an output shaft 40 by which composite movement causing rotational movement and axial reciprocating movement independently is transmitted from a cam structure 32 and a cylinder member 47 mounted in the output shaft 40 and a disc 48 relatively rotatable about the cylinder member 47. The device is provided with a clutch device 46 interrupted according to rotation load caused between these cylinder member 47 and the disc 48 and a stopper 38 intermittently actuating the clutch device 46 by engagably engaging an engaging member 39 of a dividing frame 55 fit to the disc of the clutch device 46 moving according to the axial reciprocating movement of the output shaft 40 and a mechanical hand 74 to which relative rotational movement of the output shaft 40 about the dividing frame 55 engaged with the stopper is transmitted and performs clamp movement.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an intermittent indexing device equipped with a mechanical hand, and in particular, by using a cam mechanism and a clutch means, an intermittent indexing motion can be obtained from a rotary motion with a rational structure. The intermittent indexing motion thus obtained is used for the transfer operation including the loading and unloading of the work, and a large number of mechanical hands that operate in response to the intermittent indexing motion are incorporated to handle a large number of works at once. The present invention relates to an intermittent indexing device equipped with a mechanical hand that can be used.

[0002]

2. Description of the Related Art The applicant of the present application has already proposed a device in which a mechanical hand is incorporated in a pick and place unit (Japanese Utility Model Publication No. 5-26282). In this proposal, a single mechanical hand is attached to an output shaft that performs a combined motion that combines an oscillating rotary motion and an axial reciprocating linear motion. Reciprocating motion in the direction, and by this motion, from the carry-in end, which is one of the limits of the turning angle range,
The mechanical hand is used to transfer the work to the unloading end, which is the other turning limit. Also, at this time, the mechanical hand is stopped at the carry-in end position to clamp the work, and then is swung while the work is clamped.
The work is stopped again at the carry-out end position to unclamp and discharge the work. In the above proposal, in particular, the pick-and-place operation and the clamping and unclamping operation of the mechanical hand can be achieved by the motion output from a single output shaft, and a complicated motion can be obtained with an extremely simple structure. I am allowed to do so.

[0003]

By the way, in the proposed apparatus and the general idea of the pick-and-place unit, a single work is taken in by a single mechanical hand from a preset single loading end. , Which also discharges to a single unloading end that is preset,
It was able to perform only extremely limited movements in operation. That is, the pick-and-place unit generally conveys a single work with a single mechanical hand within a set swing rotation angle range. It is supposed to be done only by the route.

The applicant of the present application intends to deviate from the concept of the conventional pick-and-place unit, and provides a large number of mechanical hands on the conveyance path of the work following the rotation locus around the output shaft and conveys the work. By setting a large number of stop positions in the path, turning a large number of mechanical hands at once and operating them at a time in a large number of stop positions, a large number of workpieces of a single type are received from a large number of positions, and It is possible to discharge at multiple positions, it is possible to convey and process a large number of works at once with one device, and to accept various works at once.
Even for various kinds of work such as discharging it at the target carry-out position, it is possible to carry out the transfer process all at once while keeping the flow of the transfer in one device, and also have these functions. In this way, we have succeeded in the development of a new device with a single configuration that can meet the demands of the three directions of being able to handle and convey a plurality of various types of work at once.

The present invention was conceived in view of the above-mentioned conventional problems, and an object thereof is to use a cam mechanism and a clutch means to provide a rational structure for intermittent indexing motion from rotary motion. The intermittent indexing motion obtained in this way is utilized for the transfer operation including loading and unloading of the work, and a large number of mechanical hands that operate in response to this intermittent indexing motion are incorporated to provide a large number of (EN) An intermittent indexing device equipped with a mechanical hand capable of handling workpieces all at once.

[0006]

SUMMARY OF THE INVENTION An intermittent indexing device having a mechanical hand according to the present invention comprises an output shaft to which a composite motion independently producing a rotary motion and an axial reciprocating motion is transmitted from a cam mechanism, Clutch means having an input member provided on the output shaft and an output member rotatable relative to the input member, the clutch means being disengaged according to a rotational load generated between the input and output members; Clutch actuating means for engaging and disengaging the output member of the clutch means that moves with the axial reciprocating motion to intermittently actuate the clutch means, and the output member engaged with the clutch actuating means. A mechanical hand that performs a clamping operation by transmitting relative rotational movement of the output shaft with respect to.

Further, the rotary motion is an intermittent oscillating motion having a dwell period, and the axial reciprocating motion is alternated with respect to the dwell period sequentially generated intermittently. It is characterized in that the output member is caused to undergo either one of an advancing motion to be engaged with the clutch actuating means and a retreating motion to be disengaged.

Further, the mechanical hand has a driving means for clamping the mechanical hand, and the driving means is driven by a driving cam provided on the output shaft.

[0009]

The operation of the invention according to claim 1 will be described. The output shaft is moved so as to independently and independently perform the rotational movement transmitted from the cam mechanism and the reciprocating movement along the axial direction thereof. Specifically, the output shaft is rotated at a certain rotation angle by the rotational movement transmitted from the cam mechanism,
Intermittent rotational movement is repeated, in which the motor is stopped for a certain period of time, then rotated at a certain rotation angle, and then stopped for another certain period of time. On the other hand, the output shaft is further stopped for a certain period after performing an axial reciprocating motion advancing in at least one direction in any one of the stationary periods in such intermittent rotary motion, and then any one of the stationary periods thereafter. In, the reciprocating motion is repeated, in which the axial reciprocating motion receding at least in the opposite direction is performed and then the motion is stopped for a certain period of time. That is, the output shaft rotates, and during any stationary period in the meantime, performs reciprocating motion that advances or retracts in at least one direction.

The output shaft which performs such a movement is provided with clutch means which is controlled to be intermittent. The clutch means includes an input member provided on the output shaft and an output member that is rotatable relative to the input member. The clutch means rotates in accordance with the rotational load generated between the input and output members. When the load is small, connect the input and output members together,
On the other hand, when the rotational load is large, the two are separated to allow relative rotation of the output member with respect to the input member. Therefore, this clutch means causes both the input member and the output member to rotate in accordance with the rotation of the output shaft when the rotational load is small, and on the other hand, when the rotational load is large, outputs the output member to the input member that rotates in accordance with the output shaft. It is designed to be intermittent so as to rotate relatively.

The clutch actuating means controls the rotational load between the input and output members so that the clutch means actuated in this way can perform the intermittent operation. That is, during the stationary period of the rotary motion, the clutch means is also moved as the output shaft reciprocates in the axial direction, and the output member is engaged with the clutch actuating means by the movement of the clutch means. Or it is supposed to be separated. Specifically, the output member is engaged with the clutch actuating means by the reciprocating motion in one direction of the output shaft for advancing the output member toward the clutch actuating means during one stop period of the rotational movement and the stop thereof. While the output member is trying to rotate together with the output shaft by restarting the rotational motion of the output shaft, the rotational motion is stopped by the clutch operating means. Due to this restraining action, a large rotational load can be generated between the input member and the output member, and the clutch means is disengaged. Due to the disconnection of the clutch means, the input member rotates together with the output shaft, while the output member is allowed to rotate relative to the input member and remains stopped. On the other hand, in the case where the output member is disengaged from the clutch actuating means due to reciprocating motion in the opposite direction of the output shaft for retracting the output member from the clutch actuating means and its stop during any one of the subsequent rotational motion stop periods. No rotational load is generated by the clutch actuating means between the output member and the input member, so that the clutch means is in the connected state. In the connected state of the clutch means, the restart of the rotational movement of the output shaft causes the output member to rotate at the rotation angle of the output shaft together with the input member.

Thus, while the output shaft continues the rotational movement transmitted from the cam mechanism, the output member is controlled by the clutch actuating means to control the on / off of the clutch means based on the reciprocal movement of the output shaft by the cam mechanism. The stopping operation and the rotating operation are repeated, which causes the intermittent rotating motion. Then, the position indexing during the intermittent rotation motion is properly ensured by the cam curve of the cam mechanism and the clutch actuating means for engaging and stopping the output member of the vertically moving clutch means, This makes it possible to obtain a positive intermittent indexing motion.

That is, the intermittent indexing device of the present invention is basically capable of creating a reliable stop state by the dwell and easily and reliably obtaining a positive motion of the entire motion, high speed motion stability and high stability. It is configured by using a mechanical element called a reliable cam mechanism, and from the rotational movement obtained by this cam mechanism, the intermittent rotational movement is generated by the on / off of the clutch means controlled by the clutch actuating means along with the reciprocating movement of the output shaft. The indexing position is taken out and the indexing position is held by the engaging operation of the clutch actuating means with the output member in this intermittent rotation motion, so that the positive indexing indexing motion can be reasonably highly accurately obtained. Particularly, in the present invention, while applying the operation principle of the existing pick-and-place unit, an intermittent indexing motion which requires a completely different motion is rationalized by using the cam mechanism and the clutch means. Can be obtained in configurations.

The position indexing accuracy of the output member is essentially ensured with a high accuracy by the cam curve provided in the cam mechanism, and the unnecessary rotation of the output member indexed by the cam mechanism causes the clutch operation. It can be completely blocked by means.

Then, as described above, the output shaft always performs the rotational movement according to the movement transmitted from the cam mechanism,
At the same time, the output member performs intermittent rotary motion in accordance with the intermittent control of the clutch means, and these two types of motion are output coaxially from a single output shaft.
Then, in such two types of motion systems, the output shaft is caused to relatively rotate with respect to the output member stopped at the indexing position, and the output of this relative rotary motion is transmitted to the mechanical hand so that the output power at the indexing position is increased. It can be used for clamping operation. As a result, the mechanical hand can perform clamping and unclamping operations at the indexing position of the intermittent indexing motion where the output member is stopped. A large number of indexing positions in the intermittent indexing motion can be set around the output shaft, and a large number of mechanical hands can be provided in correspondence with all or one of these indexing positions, enabling operation at multiple indexing positions. A large number of mechanical hands can be arranged. As a result, a large number of mechanical hands are provided in the transfer path of the work that follows the rotation trajectory around the output axis, and a large number of stop positions are set in this transfer path to swivel and stop the mechanical hands at once. It can be activated all at once. Therefore, it is possible to receive a large number of works of a single type from a large number of positions, and also to discharge at a large number of positions, and it is possible to convey and process a large number of works at once with a single device, and to receive various works at once. Even for various kinds of work such as discharging it at the target carry-out position, it is possible to carry out the transfer process all at once while keeping the flow of the transfer in one device, and also have these functions. Thus, it is possible to obtain an apparatus having a single structure, which is capable of handling and transporting a plurality of various kinds of works all at once.

In short, by using the cam mechanism and the clutch means, the intermittent indexing motion can be obtained from the rotary motion with a rational configuration, and the intermittent indexing motion thus obtained can be transferred to the carrying operation including loading and unloading of the work. A large number of mechanical hands that can be used and that operate in response to this intermittent indexing movement can be incorporated to handle a large number of workpieces at once.

The operation of the invention according to claim 2 will be described. On the assumption of the composite motion of the output shaft in the invention according to claim 1, the rotational motion of the output shaft is performed by the axial reciprocating motion. In the axial reciprocating motion of the output shaft, one of the advancing and retreating motions of the output member of the clutch means with respect to the clutch actuating means is sequentially generated intermittently. Against each other. In short, in contrast to the oscillating motion of rotating in one direction and returning, the output shaft always advances the output member of the clutch means toward the clutch actuating means during the stop period after the forward movement and stops after the returning movement. Perform a reciprocating exercise that always retracts during the period.

Specifically, the output shaft first rotates in one direction. At this time, the clutch means is connected,
The output member is rotated with the input member by the output shaft. After that, it stops for a certain period of time. During this stop period,
The output shaft moves in one direction so as to advance the output member of the clutch means toward the clutch actuating means to engage the output member with the clutch actuating means, and stop in that state for a certain period. In this engaged state, the output shaft will then undergo a rotational movement that returns in the next opposite direction. At the time of this return rotation, the clutch means is disengaged due to the generation of a rotational load by the clutch actuating means, and the input member rotates back together with the output shaft, while the output member is stopped. During the stationary period after the subsequent return rotation, the output shaft moves in the opposite direction so as to retract the output member from the clutch actuating means, contrary to the previous time, and the output member is disengaged from the clutch actuating means. Stop for a certain period. As a result, the clutch means is brought into the connected state, and the output member rotates together with the output shaft during the subsequent rotational movement of the output shaft in one direction.
And this exercise will be repeated repeatedly.

That is, during the rotational movement of the output shaft in one direction, the output member rotates integrally with the output shaft at a constant swing rotation angle due to the connection of the clutch means, and during the other period, the output shaft is rotated. Intermittent rotary motion in one direction, which is stopped by the dwell period of the rotary motion and disconnection of the clutch means, is performed, whereby the intermittent indexing motion is obtained. At this time, the output shaft is rotationally moved according to the oscillating motion from the cam mechanism, separately from the motion of the output member.

According to the present invention, even in such an exercise configuration,
Similarly to the invention of claim 1, by transmitting the output of the relative rotational movement of the output shaft with respect to the output member to the mechanical hand, the mechanical hand clamps the unclamping operation at the indexing position of the intermittent indexing movement where the output member is stopped. Therefore, the same effect as that of claim 1 can be achieved.

With respect to the oscillating motion, there is no limitation on the swinging rotation angle range of the oscillating motion obtained by the cam curve in the cam mechanism, and therefore, the oscillating motion in the angular range of 180 ° or more can be created.

The operation of the invention according to claim 3 will be further described. Since the mechanical hand is configured to be clamped by the drive means driven by the drive cam provided on the output shaft moved by the cam mechanism, the mechanical hand is structured. Can be operated only by the motion transmission system of the cam structure and with the motion output from a single output shaft, without using any other power source such as pneumatic pressure, hydraulic pressure, electric drive mechanism, etc. It is possible to obtain a complicated motion with an extremely simple structure.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below in detail with reference to the accompanying drawings. 1 to 3 show an intermittent indexing device including a mechanical hand according to this embodiment. Reference numeral 30 denotes a hollow box-shaped housing, and an input rotation shaft 31 is provided in the housing 30 so as to extend horizontally from one side wall 30a to the other side wall 30b facing each other. The input rotary shaft 31 is rotatably supported by the side walls 30a and 30b of the housing 30 via bearings 71 and the like, and is rotationally driven in one direction by a drive source such as a motor.

A housing 30 is attached to the input rotary shaft 31.
A cam mechanism 32 is provided inside. The cam mechanism 32 includes a swing rotary cam 3 fixed to the input rotary shaft 31.
3 and a vertical movement cam 36 integrally provided as a composite cam 35
And a turret 34 that serves as a follower of the swing rotation cam 33 and a lift arm 37 that serves as a follower of the vertical movement cam 36.

First, the turret 34 serving as a follower and its mounting support structure will be described.
Is formed in the shape of a hollow cylinder whose lower end bulges outward in the radial direction and is arranged along the vertical direction of the housing 30. On the other hand, the ceiling surface 30c of the housing 30
An opening 30d is formed at the bottom of the opening 30d, and a ring-shaped flange 30e is formed at the lower edge of the opening 30d so as to project radially inward along the circumferential direction. A hollow cylindrical sleeve 41 for supporting the turret 34 is attached to the opening 30d. A flange portion 41a is formed on the outer peripheral edge of the upper end portion of the cylindrical sleeve 41 so as to project radially outward along the circumferential direction thereof, and the flange portion 41a is located above the flange portion 30e in the opening 30d. And the flange portion 41a and the flange portion 30e are fastened together with bolts 42, and the sleeve 41 is fixed to the housing 30. In the hollow cylindrical sleeve 41, a pair of ring-shaped bearings 44 is mounted between the upper end opening and the lower end flange portion at an interval in the axial direction of the sleeve 41 by a ring-shaped spacer 43. It And
The turret 34 is inserted into the sleeve 41, rotatably supported by the bearings 44, and attached. A ring-shaped seal member 45 is attached between the spacer 43 and the turret 34, which are located at the upper end opening of the sleeve 41. The hollow cylindrical turret 34 rotatably supported by the housing 30 as described above swings and rotates via a roller 34a that is disposed so as to project outward in the horizontal direction from the bulged lower end. Cam 3
The motion of 3 is transmitted, and it is rotated.

In the present embodiment, the so-called roller gear cam 3 is used as the swinging rotary cam provided in the composite cam 35.
3 has been adopted. As shown in FIG. 2, one roller rib 33a is formed on the outer peripheral surface around the input rotary shaft 31 in the roller gear cam 33 along the circumferential direction, and a pair of rib surfaces 33 is formed on both side walls of the taper rib 33a.
b is formed, and these rib surfaces 33b are configured as sliding contact surfaces of the roller 34a.

On the other hand, the roller 3 of the turret 34 described above.
4a is a roller gear cam 3 around the turret 34.
No. 3 taper rib 33a is projected toward each side. These rollers 34a are rotatably attached to the turret 34, and are slidably and slidably brought into contact with the pair of rib surfaces 33b formed on the roller gear cam 33, respectively. And these rollers 34a
Is guided while being constrained by the taper rib 33a, moved along the cam curve created on the roller gear cam 33 by the taper rib 33a, and the turret 34 is oscillated according to this movement.

Specifically, as shown in FIG. 4, the input rotary shaft 3 is attached to the roller gear cam 33 as a swing rotary cam.
The turret 34 is rotated according to the increase of the rotation angle of the turret 34 according to the rotational movement of 1 to rotate to an arbitrary rotation angle α, and then the turret 34 is stopped by the dwell for a certain period of time.
Thereafter, a cam curve is formed in which the turret 34 is further swung in the return direction and returned to the swivel angle of 0 ° in accordance with an increase in the rotation angle of the input rotation shaft 31, and then rotated again by the dwell to stop the turret 34 for a certain period. In the present embodiment, during one rotation of 360 ° of the input rotary shaft 31, the turret 34 is rotated to the turning angle α in the first 90 ° range, and then in the 180 ° range.
The turret 34 in the 270 ° range thereafter.
Back to 0 ° and then 360 °
The cam curve is set so that the operation of stopping the turret 34 in the range of ° and repeating the rotation of the input rotary shaft 31 to rotate the turret 34 to the turning angle α again is repeated. That is, the swinging rotary cam 33 is connected to the input rotary shaft 3.
It is configured to convert a rotary motion of 1 into an intermittent oscillating motion with a dwell period.

In particular, the structure of the roller gear cam 33, which comprises the taper rib 33a and the roller 34a of the present embodiment, is of a restraining type and of a preload structure, so that there is no backlash, high rigidity, and high speed driving. Suitable and
It is particularly preferable as a driving cam for the indexing device. However, the swinging rotary cam 33 is not limited to the above-mentioned roller gear cam, but other flat cams or three-dimensional cams such as plate cams, groove cams, end face cams, cylindrical rib cams,
Cylindrical groove cam, conical end face cam, conical groove cam, barrel groove cam,
Of course, any cam such as an hourglass groove cam may be applied.

On the other hand, as shown in FIGS. 1 and 2, the composite cam 35 is further provided with a vertical movement cam 36 integrally with the roller gear cam 33. In this embodiment, a so-called plane groove cam 36 is used as the vertical movement cam. The plane groove cam 36 is provided on the roller gear cam 33.
A groove 36a is formed in a predetermined cam profile along the circumference of the input rotation shaft 31 on the side wall surface of the.

The lift arm 37, which is a follower of the plane groove cam 36, is disposed substantially horizontally inside the housing 30 at a position below it, which does not interfere with the input rotary shaft 31. The lift arm 37 has a rotation center 37a at one end rotatably supported on the housing 30 by a support pin 72, and a lift end 37b at the other end engaged with a lower end of an output shaft 40, which will be described later. It is mounted so that it can be lifted within 30. Further, a roller 37c is rotatably provided at an intermediate portion of the lift arm 37 so as to project toward the groove 36a of the plane groove cam 36.
Is engaged with the groove 36a of the plane groove cam 36 so as to be slidably rotatable. The roller 37c is moved along the cam curve created in the flat grooved cam 36 while being guided by the groove 36a, and the lift arm 37 is moved up and down around its rotation center 37a in accordance with this movement. To be done.

More specifically, as shown in FIG. 4, in the plane groove cam 36 as the vertically moving cam, the lift arm 37 is first stopped by a dwell for a certain period with the rotational movement of the input rotary shaft 31. After that, the lift arm 37 is moved downward with a predetermined displacement β by the increase of the rotation angle,
After that, lift the dwelling arm 37 for a certain period by dwell
Is stopped, and then a cam curve is formed which causes the lift arm 37 to retreat upward to the position where the displacement amount is 0 as the rotation angle increases. In the present embodiment, the lift arm 37 is stopped in the first 90 ° range during one 360 ° rotation of the input rotary shaft 31, and the subsequent 90 ° to 1 °.
In the range of 80 °, the lift arm 37 is moved downward to the displacement amount β, then the lift arm 37 is stopped in the range of 270 °, and then 270 ° to 3 °.
The cam curve is set to repeat the operation of moving the lift arm 37 upward to the displacement amount 0 in the range of 60 ° and then stopping the lift arm 37 until the range of 90 ° of the next rotation.

Lift arm 3 having such a cam curve
As is clear from the cam diagram of FIG. 4, the motion of No. 7 is one of the ascending motion and the descending motion of the lift arm 37 for each dwell period of the rocking rotary cam 33 that is sequentially and intermittently generated. The movements of will occur alternately.

The vertical movement cam 36 is not limited to the above-mentioned plane groove cam, but other plane cams or three-dimensional cams,
For example, groove cam, end face cam, cylindrical rib cam, cylindrical groove cam,
Conical end face cam, conical groove cam, barrel groove cam, drum groove cam,
Of course, any cam such as a roller gear cam may be applied.

From the cam mechanism 32 thus constructed,
A description will be given of the output shaft 40 to which the composite motion that independently generates the rotational motion and the axial reciprocating motion, specifically, the intermittent oscillating motion and the axial reciprocating motion during the dwell period of the oscillating motion are transmitted. As shown in FIG. 1, the output shaft 40 extends from the inside of the housing 30 to its ceiling portion 30c.
Is formed in a shaft-like shape that extends outwardly through and has an engaging portion 40a at its lower end with which the lift end 37b of the lift arm 37 is engaged. Further, as shown in FIG. 2, the output shaft 40 is attached by spline-fitting the upper portion of the engaging portion 40a into the hollow portion of the turret 34 along the axial direction. By this spline fitting, the output shaft 40 is axially slidable with respect to the turret 34 and is integrally mounted in the rotational direction. Further, the engaging portion 40a at the lower end of the output shaft 40 is constituted by an annular guide sliding groove 40c defined around the output shaft 40 by a pair of upper and lower engaging flanges 40b. A roller 37d rotatably provided on the lift end 37b of the lift arm 37 is rotatably and slidably engaged with the guide slide groove 40c while being restrained by the engagement flanges 40b from above and below. Then, the movement of the lift arm 37 moving up and down around the rotation center 37a by the plane groove cam 36 is
It is input to the output shaft 40 via the roller 37d, whereby the output shaft 40 slides in the axial direction with respect to the turret 34, and reciprocates vertically.

In this way, the output shaft 40 rotatably and vertically reciprocally mounted on the housing 30.
A clutch device 46 is provided on the end side of the housing 30 extending outward. This clutch device 46 is shown in FIG.
As shown in FIG. 3, the output shaft 40 has a cylindrical body 47 as an input member and a disc 48 as an output member rotatable relative to the cylindrical body 47. The cylindrical body 47 and the disc 48 are provided. It is configured to be intermittent according to the rotational load generated between the and.

More specifically, as shown in FIGS. 1 and 5, the portion of the output shaft 40 extending outward of the housing 30 is formed with a reduced diameter portion having a stepwise reduced diameter. A cylindrical member 49 surrounding the output shaft 40 is integrally fixed to the portion by a key member 50. The cylindrical member 49 has a cylindrical body 4 as an input member on the outer side thereof.
7 is attached integrally. An outer flange portion 47a is formed on the upper end portion side of the cylindrical body 47 along the circumferential direction thereof so as to project outward from the outer flange portion 47a, and at the lower end portion thereof,
A ring-shaped lower retainer 52 that supports the lower end of a coil spring 51 described below is attached. On the other hand, the cylinder 4
Around the outer flange portion 47a of No. 7, it is formed in a drum shape that surrounds the lower surface side to the side surface side, and the inner flange portion 53 to which the upper end of the coil spring 51 is locked at the inner peripheral edge side thereof.
An upper retainer 53 having a is provided. The coil spring 51, which surrounds the output shaft 40 and is mounted between the retainers 52 and 53, is configured to apply a reaction force to the lower retainer 52 and always urge the upper retainer 53 upward.

On the other hand, on the upper part of the cylindrical body 47, a disc 48 which is an output member is provided so as to overlap the outer flange portion 47a from above. The disc 48 is arranged so as to be sandwiched by the cylindrical member 49 and the cylindrical body 47 from above and below,
Further, it is provided so as to surround the cylindrical member 49, and bearings 54 are respectively provided between the disk 48 and the cylindrical member 49 and the cylindrical body 47. Therefore, the disk 48 is attached so as to be rotatable relative to the output shaft 40 with respect to the cylindrical member 49 and the cylindrical body 48 which are integrally provided on the output shaft 40 and rotate together with the output shaft 40. And on the disk 48 thus configured,
A planar cross-shaped indexing frame 55 is provided so as to overlap with this, and both are fastened with bolts 56. The indexing frame 55 is formed with a hole 55a in the center thereof for allowing the output shaft 40 including the cylindrical member 49 to project therethrough.

The disk 48 thus constructed and the cylindrical body 4
7 between the outer flange portion 47a and the upper retainer 53, the outer flange portion 47a is formed with a plurality of cutout portions 47b at intervals along the circumferential direction around the output shaft 40. A cylindrical rolling element 57 is rotatably attached to each of the portions 47b. Also, this notch 4
Corresponding to 7b, a pocket 48a is formed on the lower surface of the disk 48, which is in sliding contact with the upper cylindrical surface of the rolling element 57. In particular, the pocket 48a is formed by a taper surface inclined along the relative rotation direction of the cylindrical body 47 and the disk 48 around the output shaft 40, and holds the rolling element 57 in a detachable manner. . The upper retainer 53 also includes an outer flange portion 4
A rolling groove portion 53b is formed below the cutout portion 47b of 7a in an annular shape along the relative rotation direction of the cylindrical body 47 and the disk 48. The rolling element 57 is formed to have an outer diameter dimension that can be accommodated in the pocket 48a and the cutout portion 47b. When the rolling element 57 is separated from the pocket 48a, the rolling element 57 projects downward from the cutout portion 47b to allow the upper retainer 53 to move. The rolling groove 53b is adapted to roll along the groove.

By the way, the formation positions of the notch portion 47b and the pocket 48a corresponding thereto are set so as to match the turning angle α given by the swing rotation cam 33 described above, and the output shaft 40 is generally set to 1 Rotating period (360
(°) is divided by the number of times of indexing S to set the turning angle α. In this embodiment, as shown in FIG. 5A, the turning angle α is 90 °, and therefore, the turning angle α is set at four positions at 90 ° intervals.

Explaining the operation of the clutch device 46, the connection state of the clutch device 46 is shown as a torque transmission state in FIG. 5 (B). The load generated between the cylindrical body 47 and the disk 48 is small, so that the coil spring 5
The elastic urging force of 1 brings the upper retainer 53 into contact with the lower surface of the outer flange portion 47a of the cylindrical body 47, and the rolling element 57 causes the notch portion 47b of the outer flange portion 47a and the pocket 4 of the disk 48 to move.
In the state shown in the figure, which is housed in and held by 8a, the cylindrical body 47, which is an input member, and the disk 48, which is an output member, are integrally connected via the rolling elements 57. Therefore, the clutch device 46 is in the connected state, and the disc 48 has the output shaft 4
The rotational torque of 0 is transmitted through the cylindrical body 47, and the disc 4
8, and eventually the indexing frame 55 rotates integrally with the output shaft 40.

Next, the disengaged state of the clutch device 46 is shown as a torque cut-off state in FIG. 5 (C).
When a large load is generated between the disk 48 and the cylinder 47,
For example, when a load such that the disc 48 is restrained is applied, the pocket 48 a of the disc 48 and the outer flange portion 4 of the tubular body 47.
The rolling element 57 housed between the notch portion 47b of 7a
Is pushed by the cylindrical body 47 which tries to continue the rotation by receiving the rotation torque from the output shaft 40 against the stopped disk 48, and pushes down the upper retainer 53 against the elastic biasing force of the coil spring 51. At the same time, it is separated from the pocket 48a along the tapered surface of the pocket 48a. As a result, the clutch device 46 is disengaged. And rolling element 57
Is the disk 48 due to the elastic force of the coil spring 51.
While being sandwiched between the upper retainer 53 and the upper retainer 53, the rolling groove portion 5 of the upper retainer 53 while rolling in the notch 47b.
It rolls in 3b, and as a result, the cylindrical body 47 will rotate relative to the disc 48 that is stopped. During this period, the clutch device 46 is in the disengaged state, the cylinder 47 rotates together with the output shaft 40, and the transmission of the rotational torque of the output shaft 40 to the disk 48 is interrupted.
The indexing frame 55 stops. That is, when a load exceeding the set load set in the coil spring 51 is generated between the disk 48 and the cylindrical body 47, the rolling element 57 disengages from the pocket 48 a against the biasing force of the coil spring 51, and the clutch device 46. Will be cut, and relative rotation between the cylinder body 47 and the disk 48 will occur in the turning angle α, which is the rotation angle range in which the rolling element 57 is separated.

Then, as shown in FIG. 5 (D), when the rolling element 57 fits in the next pocket 48a, it is confirmed that the load between the disk 48 and the cylinder 47 is less than the set load of the coil spring 51. The clutch device 46 is connected to the condition, the torque transmission state is obtained again, and the disk 48 and the indexing frame 55 are rotated together with the output shaft 40. In the present embodiment, as described above, the turning angle α
Is set to 90 °, the torque cutoff state (clutch disengagement state) is 9 times as shown in FIG.
It occurs in a rotation angle range of 0 °.

The clutch actuating means is an operation for controlling the rotational load between the disk 47 and the cylinder 47, which is the input / output member, so that the clutch device 46 constructed as described above can perform the intermittent operation. This is done by the stopper 38. As shown in FIGS. 1 and 3, the stopper 38 is provided on the ceiling surface 30c of the housing 30 so as to face the lower surface of the indexing frame 55 integrally attached to the disk 48, which is an output member, from below. To be The stopper 38 is an inverted T-shaped block including a base portion 38a and a vertical wall 38b provided upright from the center of the base portion 38a, and is arranged at a peripheral position of the indexing frame 55. On the lower surface of the indexing frame 55 above the stopper 38,
A plurality of engaging bodies 39 that are removably engaged with the stopper 38 are provided at intervals of a turning angle α along the circumferential direction. These engaging bodies 39 are provided rotatably by horizontally projecting from a supporting block 39a fixed to the lower surface of the indexing frame 55 with bolts 58 to the outer periphery of the indexing frame 55 from the supporting block 39a,
Insert the vertical wall 38b of the stopper 38 from both sides,
It is composed of a pair of rollers 39b which are engaged with the vertical wall 38b while being slidably and slidably engaged therewith. And the engaging body 39
In accordance with the vertical movement of the indexing frame 55 by the output shaft 40, is engaged with the stopper 38 so as to advance and retract and engage and disengage.

The stopper 38 provided in the housing 30 stops the movement of the indexing frame 55 by the output shaft 40 moving the indexing frame 55 forward by the displacement amount β and engaging the engaging body 39 thereof. As a result, the rotational load on the side of the disk 48, which is an output member, is increased to function as a clutch operating means for disengaging and operating the clutch device 46, and as a positioning means for accurately holding the position of the engaged indexing frame 55. Will be functional. This action is performed in the rotation angle range of 180 ° to 270 ° of the input rotation shaft 31 in FIG. On the other hand, the engagement body 39 is disengaged from the stopper 38 when the indexing frame 55 is moved up and down by the output shaft 40 or is maintained at the position where the displacement amount is 0, whereby the indexing frame 55, and thus the disc 4 is moved.
8, the stopper 38 does not generate any rotational load, and the clutch device 46 can be controlled in the connected state. This action is performed in the rotation angle range of 270 ° of the input rotary shaft 31 to the next 180 ° in FIG.

As shown in FIGS. 1 and 3, the shaft end portion of the output shaft 40 which is projected upward and oscillates above the indexing frame 55 which is intermittently indexed as described above with respect to the indexing frame 55. Output shaft 4
A drive cam 73 is provided which is driven to rotate by transmitting a relative rotational movement of 0. In this embodiment, a plate cam is used as the drive cam 73. Further, on the indexing frame 55, the turning angle α given by the swing rotation cam 33 described above is matched, specifically, as shown in FIG.
As described above, the mechanical hands 74 are arranged at four positions at 90 ° intervals. In the illustrated example, these mechanical hands 74 have a cross-shaped indexing frame 55.
Is provided on each of the four projecting ends so as to project outward in the horizontal direction.

As shown in FIG. 6, each of the mechanical hands 74 is provided with a pair of a clamp arm portion 75b and an input side arm portion 75c extending in opposite directions in an obtuse angle relationship with each other with a central curved concave portion 75a interposed therebetween. The clamp pieces 75 are configured like a clip such as a so-called clothespin. The inside of the curved recess 75a of these clamp pieces 75 is rotatably slidably contacted around a support pin 76 provided on the indexing frame 55, and the outside of this curved recess 75a is similarly indexed by the indexing frame 55. It is slidably contacted by a roller 77 rotatably supported above, and is rotatably sandwiched between the support pin 76 and the roller 77, and the clamp arm portion 75b and the input side arm portion 75c are opposed to each other around the support pin 76. The clamp arm portion 75b is clamped. Also, a pair of clamp pieces 75
A spring 78 is provided between the input side arm portions 75c for setting both of them to set the clamp arm portion 75b in the expanded state, that is, the opened state.
Thus, the mechanical hand 74 is configured to be in an unclamped state at normal times. Note that this setting can be configured in the opposite way.

Mechanical hand 7 constructed in this way
A drive means 79 for driving the mechanical hand 74 by being driven by the plate cam 73 is provided between the plate 4 and the plate cam 73. This drive means 79 is shown in FIGS.
As shown in FIG. 5, a slider 80 is provided on the indexing frame 55 so as to be slidable from the plate cam 73 side toward the mechanical hand 74 side, and is rotatably erected on the slider 80 and slides on the plate cam 73. A roller follower 81 that is in contact with the roller follower 81 and a pair of slide guides 8 that are fixedly mounted on the indexing frame 55 and that guide the sliding movement of the slider 80 while holding the slider 80 on the indexing frame 55.
And 2. The slider 80 has a wedge-shaped front end facing the mechanical hand 74 side and is formed in a taper shape in order, and the roller follower 8 is formed on the convex portion 80a on the rear end side.
1 is rotatably mounted, and both rear end side surfaces are fitted into the slide guide 82. Slide guide 8
Each of the two 2 is formed in an L-shape in cross section, and sandwiches both side surfaces of the rear end portion of the slider 80 from above, below, left and right, and allows the movement thereof to be held on the indexing frame 55. In the slider 80 thus configured, the tip end is inserted between the input side arm portions 75c of the clamp pieces 75, and the roller follower 81 on the rear end side is provided in the plate cam 7.
It is slidably and slidably contacted with 3. The roller follower 81 is moved along the cam curve created by the plate cam 73, and the slider 80 is moved in accordance with this movement. Slider 80 that slides
Has its tip inserted and removed between the input side arm portions 75c of the pair of clamp pieces 75 against the spring 78, and the wedge shape of the tip causes the input side arm portion 75c to be expanded and contracted in sequence. On the contrary, 75b is expanded and contracted, and the clamp and unclamp operations are performed. In this operation, the spring 78 causes the slider 80 to move.
At the time of returning, the clamp arm 75 is pushed out from the input side arm portion 75c to return the clamp piece 75, and the elastic force thereof functions to maintain the sliding contact state between the plate cam 73 and the roller follower 81. .

The specific operating state will be described by taking the mechanical hand 74 at the position (see the unclamping state in FIG. 3) as an example. First, basically, the indexing frame 5 will be described.
During the rotational movement period of 5, the mechanical hand 74 maintains the initial unclamped state and is not clamped. During this period, the indexing frame 55 and the output shaft 40 rotate integrally, and no relative rotational motion occurs between them, so the plate cam 7 of the output shaft 40 is not rotated.
3 and the mechanical hand 74 of the indexing frame 55 and the drive means 79 do not move relative to each other, so that the slider 80 of the drive means 79 does not move and the mechanical hand 74 is not operated (input rotary shaft). 31 0 ° ~
See 90 ° rotation angle range). In addition, even during the dwell period of the swinging rotary cam 33 following the dwell, the output shaft 40
Only moves up and down, the output shaft 40 and the indexing frame 55 do not rotate, and the mechanical hand 74 does not operate while maintaining the state at that time (90 ° to 180 ° of the input rotating shaft 31 and 270 ° -3
See the rotation angle range of 60 °). On the other hand, the output shaft 40
The clutch device 46 is disengaged by the stopper 38 for generating relative rotation between the output shaft 40 and the indexing frame 55, and the output shaft 40 is rotated while the indexing frame 55 is stopped (input rotating shaft). 31
180 ° to 270 ° of rotation angle range), and here, for the first time, the plate cam 73 of the output shaft 40 and the indexing frame 55.
Relative rotation with the driving means 79 of the mechanical hand 74, the roller follower 81 sequentially moves the slider 80 to the clamp piece 75 side by the plate cam 73, and the mechanical hand 74 is illustrated in a clamped state (not shown). Move to the unclamped state. This clamping operation is
When the clutch device 46 is completed in the disengaged state, the relative rotation between the output shaft 40 and the indexing frame 55 is finished thereafter, and the clutch device 46 is connected, the unclamped state is set to be a stable state. ing. In this embodiment, the four mechanical hands 74 located on the opposite side are set to perform the opposite movements. In the state shown in FIG. 3, the mechanical hand 74 in the position (the clamp state in FIG. 3) is set. (Refer to FIG. 4) is designed to perform a movement opposite to that of the mechanical hand 74 at the position. A cam curve for performing such a clamping operation is formed on the plate cam 73. In this embodiment, 180 ° in one rotation period of 360 ° of the input rotary shaft 31.
A cam curve is set for the plate cam 73 that causes the clamp operation in the range of up to 270 ° and maintains the clamp operation completion state in other rotation angle states. As is apparent from the cam diagram of FIG. The clamping operation is generated during the period in which the indexing frame 55 and the indexing frame 55 are relatively rotated.

The drive cam 73 is not limited to the above plate cam, but other flat cams or three-dimensional cams such as groove cams, end cams, cylindrical rib cams, flat groove cams, cylindrical groove cams, conical end cams, and cones. Of course, any cam such as a grooved cam, a barrel grooved cam, an hourglass grooved cam, or a roller gear cam may be applied.

The operation of the above configuration will be described with reference to the cam diagram of FIG. 4 and FIG. 7 on the assumption that the mechanical hand 74 conveys the workpiece. FIG. 7 shows an example in which the position is set as the carry-out end and the position is set as the carry-in end, and the work is conveyed from position to position by the mechanical hand 74. Therefore, in the position of the position, the clamped state of the mechanical hand 74 that conveys the work is maintained, while in the position of the position, the mechanical hand 74 is maintained in the unclamped state in which the work is not conveyed.
This work transfer state will be described focusing on the mechanical hand 74a. In the initial state of FIG. 7A, the mechanical hand 74a is in a clamped state by grasping some work at the carry-in end (position). At this time, the mechanical hand 74b is also in a state (position) of gripping some work and carrying it from the carry-in end to the carry-out end. The mechanical hand 74c is in an unclamped state in which the work is separated and discharged at the carry-out end (position). Further, the mechanical hand 74d is in a state (position) in which it is moved from the carry-out end to the carry-in end for receiving the next work.

Next, as shown in the cam diagram of FIG. 4, in one rotation of 360 ° of the rotation of the input rotary shaft 31, while the input rotary shaft 31 rotates up to 90 °, the cam mechanism 32 moves. The oscillating rotation cam 33 outputs the rotation in one direction of the turning angle α (= 90 ° indexing angle) to the output shaft 40 via the turret 34. At this time, the vertical movement cam 36 stops the lift arm 37 by the dwell, and stops the output shaft 40 at the position where the displacement amount is zero. As a result, a large rotational load is not generated in the clutch device 46. Therefore, the clutch device 46 is in the connected state and the cylinder body 47 and the disk 48 are not connected.
And are driven to rotate integrally, and as shown at the end of the indexing rotation in FIG.
With 0, it is rotated in one direction at a turning angle α. As a result, the mechanical hand 74a is moved to the position and conveys the work. At this time, the mechanical hand 74b has reached the carry-out end of the position, and the mechanical hand 74d has reached the carry-in end of the position.

Next, the input rotary shaft 31 moves from 90 ° to 180 °.
During the period of rotating up to, the swinging rotary cam 33 does not output rotation by the dwell, and the output shaft 40 enters the stationary period while maintaining the turning angle α. At this time, the indexing frame 55 also stops. At this stop position, the engaging body 39 of the indexing frame 55 is positioned above the stopper 38 according to the cam curve of the swing rotation cam 33 at the position indexing of the turning angle α, and in this state, the vertical movement cam 36 lifts. The output shaft 40 is moved downward by the displacement amount β via the arm 37, and the engagement body 39 moves to the stopper 38.
And engage with each other to fix the indexing frame 55 to the housing 30 side. Then, this engagement state is maintained because the vertical movement cam 36 then stops the lift arm 37 by the dwell, and the output shaft 40 is stopped while maintaining the displacement amount β thereof. At this time, all mechanical hands 74
Is not rotationally moved, and all the mechanical hands 74 including the mechanical hands 74b and 74d located at the carry-in end and the carry-out end are lowered by the same displacement amount.

Next, the input rotary shaft 31 moves from 180 ° to 270 °.
During the period of rotating up to 0 °, as shown in FIGS. 4 and 7C, the swinging rotary cam 33 outputs the rotation in the opposite return direction at the turning angle α, and the turning angle becomes 0 °. To do. At this time, the vertical movement cam 36 stops the output shaft 40 at the position of the displacement amount β by the dwell. As a result, a large rotational load is generated in the clutch device 46, so that the clutch device 46 is disengaged and relative rotation is generated between the cylindrical body 47 and the disk 48. That is, the output shaft 4
While 0 is returned and rotated, the indexing frame 55 is stopped at the position of the turning angle α together with the engaging action of the engaging body 39 and the stopper 38. When this relative rotational movement occurs, as shown in FIG. 7C, some mechanical hands 74b, 74 are driven by the drive cam 73 via the drive means 79.
While the d is activated, the remaining mechanical hand 74
The operation of a and 74c is not performed. That is, the mechanical hands 74b and 74d located at the carry-in end and the carry-out end are
Clamping and unclamping operations are performed in the lowered position. On the other hand, in particular, the mechanical hand 74a during the transfer of the work is not operated, and the mechanical hand 74c in the preparation state for receiving also maintains the unclamped state at the time of unloading.

Next, the input rotary shaft 31 moves from 270 ° to 360 °.
During the period of rotating up to °, the swinging rotary cam 33 does not output rotation by the dwell, and the swing angle of the output shaft 40 is 0 °.
Enter the stop period while maintaining. In this stop period,
The vertical movement cam 36 drives the lift arm 37 to drive the output shaft 4
0 is moved backward by the displacement amount β, the engaging body 39 of the indexing frame 55 is disengaged from the stopper 38, returned to the position of the displacement amount 0, and the clutch device 46 is connected. This disengaged state is then changed to the vertical movement cam 3
6 stops the lift arm 37 by the dwell, and the output shaft 40 is stopped while maintaining its displacement amount 0,
Maintained. Also during this dwell period, the swing rotation cam 3
Since 3 does not output rotation, no rotation torque is transmitted to the indexing frame 55 and the stopped state is maintained. At this time as well, all the mechanical hands 74 are not rotationally moved, and all the mechanical hands 74 including the mechanical hands 74b and 74d located at the carry-in end and the carry-out end are included.
However, it is increased by the same displacement amount. The above operation is achieved by one rotation of the input rotary shaft 31.

In the second rotation of the input rotary shaft 31, under the same operation, the mechanical hand 74a is unclamped at the position in place of the mechanical hand 74b to carry out the work, while the mechanical hand 74c is operated.
Instead of the mechanical hand 74d, the work is received by being clamped at the position. At this time, the mechanical hands 74b and 74d maintain the same state as the mechanical hands 74a and 74c.

That is, the mechanical hand 74 has 90
At the indexing interval of °, the rotation of the input rotary shaft 31 is completed by four rotations to complete a single operation.

As described above, regarding the intermittent indexing action of this embodiment, the output shaft 40 continues the oscillating motion transmitted from the swinging rotary cam 33, while the indexing frame 55 is provided with the clutch device 46 by the stopper 38.
Due to the intermittent control of No. 3, the stopping operation and the rotating operation are repeated, which causes the intermittent rotating motion. And the position index at the time of this intermittent rotation motion is
The cam curve of the oscillating rotary cam 33 and the stopper 38 that engages with and stops the engaging body 39 of the indexing frame 55 that is driven by the vertically moving cam 36 to move up and down are properly secured. It is possible to obtain an intermittent indexing motion with a positive motion. Furthermore, in this embodiment,
Since the cutout portion 47b of the tubular body 47 and the pocket 48a of the disk 48 constituting the clutch device 46 are matched with the turning angle α, the intermittent operation of the clutch device 46 is performed at the indexing position. Therefore, the indexing position can be properly maintained by the clutch device 46 as well. That is, in this embodiment, the swing angle α of the swinging rotary cam 33 and the cutout portion 4 of the clutch device 46.
The arrangement angle α of the 7b and the pocket 48a and the arrangement angle α of the engaging body 39 of the indexing frame 55 are all the same so that extremely high position indexing accuracy can be obtained.

In this embodiment, the output shaft 40 makes one reciprocating oscillation motion in one revolution of the input rotary shaft 31, while the indexing frame 55 is rotated in one direction by the turning angle α. You will be exercising. The up-and-down moving cam 36 moves forward and backward for engaging the engaging body 39 of the indexing frame 55 with the stopper 38 in each of the two stop periods of the swinging rotating cam 33 in one rotation of the input rotating shaft 31. Either one of the backward movement and the backward movement is transmitted to the output shaft 40. Then, in the present embodiment in which the turning angle α is 90 °, the indexing frame 55 is intermittently rotated by 90 ° and is rotated once by four rotations of the input rotary shaft 31.

By the way, the intermittent indexing device equipped with the mechanical hand of the present embodiment explained above can basically create a reliable stop state by the dwell and can easily and surely obtain the positive motion of the whole motion. The cam mechanism 32 and the drive cam 73, which have high-speed motion stability and high reliability, are used as mechanical elements, and are controlled by the stopper 38 from the intermittent oscillating motion obtained by the swinging rotary cam 33. The intermittent rotation motion is taken out by the on / off of the clutch device 46, and in this intermittent rotation motion, the indexing frame 5 for the stopper 38 is further drawn.
The indexing position is held by the engaging operation of No. 5, and the intermittent intermittent indexing motion can be reasonably highly accurately obtained. In particular, in the present embodiment, while applying the operation principle of the existing pick-and-place unit, the intermittent indexing motion, which requires a completely different motion, is rationalized by using the cam mechanism 32 and the clutch device 46. Can be obtained in configurations.

Further, the position indexing accuracy of the indexing frame 55 is essentially ensured with high accuracy by the cam curve provided on the rocking rotary cam 33, and the indexing frame 55 indexed by the rocking rotary cam 33 is highly accurate. The unnecessary rotation can be completely blocked by the stopper 38.

On the other hand, as described above, the output shaft 40 always performs the oscillating motion according to the motion transmitted from the cam mechanism 32, and at the same time, the indexing frame 55 performs the intermittent rotation motion according to the intermittent control of the clutch device 46. Therefore, these two types of movements are coaxially output from the single output shaft 40. Then, in such two types of motion systems, the output shaft 40 is provided with respect to the indexing frame 55 stopped at the indexing position.
Is relatively rotated, and the output of this relative rotation is transmitted to the mechanical hand 74 so that it can be used for the clamping operation at the indexing position. As a result, the mechanical hand 74 can perform clamping and unclamping operations at the indexing position of the intermittent indexing motion where the indexing frame 55 is stopped. In the present embodiment, one set of loading end and loading end is set at four indexing positions and four mechanical hands 74 are provided. However, for example, simply, two loading ends are set at eight indexing positions. A number of indexing positions in the intermittent indexing motion can be set around the output shaft 40 by setting the carry-out end and comprising eight mechanical hands 74, and all or any of the indexing positions can be set. A large number of mechanical hands 74 can be provided correspondingly, and a large number of mechanical hands 74 that operate at a large number of indexing positions can be arranged. As a result, a large number of mechanical hands 74 are provided in the conveyance path of the work that follows the rotation path around the output shaft 40, and a large number of stop positions are set in this conveyance path, so that the large number of mechanical hands 74 are swiveled and moved at once. It can be actuated at once in multiple stop positions. Therefore,
It is possible to receive a large number of works of a single type from a large number of positions and to discharge them at a large number of positions, so that it is possible to convey and process a large number of works at once with a single device, and to receive various works at once. Even for various kinds of work such as discharging at the target carry-out position, it is possible to carry out the carrying process at once while having the flow of carrying in one device, and also to have these functions together. Thus, it is possible to obtain an apparatus having a single configuration, which is capable of handling and transporting a plurality of various kinds of works all at once.

In short, the cam mechanism 32 and the clutch device 4
By using 6 and 6, the intermittent indexing motion can be obtained from the oscillating motion with a rational configuration, and the intermittent indexing motion thus obtained can be used for the transfer operation including the loading and unloading of the work, as well as the intermittent indexing motion. By incorporating a large number of mechanical hands 74 that operate correspondingly, it is possible to handle a large number of works at once.

Further, since the up-and-down moving cam 36 alternately moves the output shaft 40 in either one of the advancing and retreating directions with respect to each stop period of the swinging rotary cam 33, the swinging motion is performed. When the rotary cam 33 rotates in one direction,
By connecting the clutch device 46, the indexing frame 55
Rotates integrally with the output shaft 40 at a fixed swing rotation angle, and during the other periods, it is stopped due to the dwell period of the swing rotation cam 33 and disconnection of the clutch device 46. An intermittent rotary motion can be obtained, which allows an intermittent indexing motion to be performed. Even with such a motion configuration, by transmitting the output of the relative rotational motion of the output shaft 40 with respect to the indexing frame 55 to the mechanical hand 74, the mechanical hand 74 can perform the intermittent indexing motion in which the indexing frame 55 is stopped. Clamping operation such as clamping and unclamping can be performed at the indexing position, and the same operation as described above is exhibited.

Further, the cam curve of the oscillating rotary cam 33 does not limit the oscillating rotational angle range of the oscillating motion, so that the oscillating motion in the angular range of 180 ° or more can be created.

Further, since the mechanical hand 74 is configured to be clamped by the drive means 79 driven by the drive cam 73 provided on the output shaft 40 which is moved by the cam mechanism 32, the operation of the mechanical hand 74 is Without using any other power source such as pneumatic pressure, hydraulic pressure, electric drive mechanism, etc., it can be performed only by the motion transmission system of the cam structure and by the motion output from the single output shaft 40, which is complicated. The movement can be obtained with a very simple structure.

In the above embodiment, the output shaft 40 is alternately moved only in one of the advancing and retracting directions with respect to each stop period of the swinging rotary cam 33. The control of the output shaft 40 for the stay period of 33 is not limited to this. Regarding the setting of the intermittent indexing motion, with respect to the reciprocating drive of the output shaft 40 by the vertical movement cam 36, a motion for advancing in at least one direction is generated in any one of the stationary periods created by the swinging rotary cam 33 and stopped for a certain period, A cam curve may be created that causes a backward motion in at least the opposite direction during any one of the subsequent stopping periods to stop for a certain period. As a result, the output shaft 40 is rotated by the swing rotation cam 33.
During any one of the stay periods, the reciprocating motion that advances and retreats in at least one direction is generated, and the intermittent indexing motion obtained thereby becomes various.

[0068]

As described in detail above, according to the first aspect of the invention, in addition to the rotational movement, the independent axial reciprocating movement is transmitted from the cam mechanism to the output shaft, and the clutch actuating means operates. Since the clutch means is controlled to be intermittently operated, the output member can be repeatedly caused to perform the stopping operation and the rotating operation, and the intermittent rotating motion can be obtained from the rotating motion of the cam mechanism. Positioning during this intermittent rotary motion is accurately performed by the cam curve of the cam mechanism and the clutch actuating means that engages with and stops the output member of the clutch means that is driven by the cam mechanism and that undergoes reciprocating motion. It can be ensured, whereby a positive intermittent indexing movement can be obtained.

In particular, since the dwell is used to form a reliable stop state and the mechanical movement of the cam mechanism that can easily and surely obtain the positive motion of the entire movement is used, the cam mechanism is used. From the rotating motion
Intermittent rotation motion can be taken out by the on / off of the clutch means controlled by the clutch actuation means, and in this intermittent rotation motion, the indexing position can be held by the engaging operation of the clutch actuation means with the output member, and the positive movement can be performed. Intermittent indexing movement can be reasonably obtained with high accuracy. Particularly, in the present invention, while applying the operation principle in the existing pick and place unit,
An intermittent indexing motion that requires a completely different motion can be obtained with a rational configuration using the cam mechanism and the clutch means.

Further, the position indexing accuracy of the output member is essentially ensured with high accuracy by the cam curve provided in the cam mechanism, and the unnecessary rotation of the output member indexed by the cam mechanism causes the clutch operation. It can be completely blocked by means.

In this way, the output shaft always performs the rotational movement according to the movement transmitted from the cam mechanism, and at the same time, the output member performs the intermittent rotational movement according to the intermittent control of the clutch means. Can be output coaxially from a single output shaft, and by such two kinds of motion systems, the output shaft is made to rotate relative to the output member stopped at the indexing position. The output of the relative rotary motion is transmitted to the mechanical hand and can be used for the clamp operation at the indexing position. As a result, the mechanical hand can perform clamping and unclamping operations at the indexing position of the intermittent indexing motion where the output member is stopped. A large number of indexing positions in the intermittent indexing motion can be set around the output shaft, and a large number of mechanical hands can be provided in correspondence with all or one of these indexing positions, enabling operation at multiple indexing positions. A large number of mechanical hands can be arranged. As a result, a large number of mechanical hands are provided in the transfer path of the work that follows the rotation trajectory around the output axis, and a large number of stop positions are set in this transfer path to swivel and stop the mechanical hands at once. It can be activated all at once. Therefore, it is possible to obtain an apparatus having a single structure capable of handling and transporting a plurality of various kinds of works at once.

In short, by using the cam mechanism and the clutch means, the intermittent indexing motion can be obtained from the rotary motion with a rational configuration, and the intermittent indexing motion thus obtained can be used for the transfer operation including the loading / unloading of the work. A large number of mechanical hands that can be used and that operate in response to this intermittent indexing movement can be incorporated to handle a large number of workpieces at once.

According to the second aspect of the present invention, when the output shaft rotates in one direction, the output member is rotated integrally with the output shaft at a constant swing rotation angle by connecting the clutch means. During the other period, the output member can be stopped by the dwell period of the rotational movement of the output shaft and the disconnection of the clutch means, and the intermittent rotational movement of the output member in one direction can be obtained. This allows the intermittent indexing movement to be obtained. Even in such a motion configuration, by transmitting the output of the relative rotational motion of the output shaft with respect to the output member to the mechanical hand, the mechanical hand clamps at the indexing position of the intermittent indexing motion where the output member is stopped, The unclamping clamp operation can be performed, and the same effect as that of the first aspect of the invention can be obtained.

In the cam curve of the cam mechanism, there is no limitation on the swinging rotation angle range of the oscillating motion, so that the oscillating motion in the angular range of 180 ° or more can be created.

Further, according to the third aspect of the invention, the mechanical hand is configured to be clamped by the drive means driven by the drive cam provided on the output shaft moved by the cam mechanism. Can be performed only by the motion transmission system of the cam structure without using any other power source such as air pressure, hydraulic pressure, electric drive mechanism, etc. and with a motion output from a single output shaft, which is complicated. Motion can be obtained with an extremely simple structure.

[Brief description of drawings]

FIG. 1 is a side sectional view showing a preferred embodiment of an intermittent indexing device equipped with a mechanical hand according to the present invention.

FIG. 2 is a plan sectional view of the above embodiment.

FIG. 3 is a plan view of the above embodiment.

FIG. 4 is a diagram for explaining an intermittent indexing operation and an operation of a mechanical hand in the above embodiment.

FIG. 5 is an explanatory view showing the structure and operation of the clutch device adopted in the above embodiment.

FIG. 6 is an explanatory diagram for explaining a mechanical hand and its drive mechanism adopted in the above-described embodiment.

FIG. 7 is an explanatory diagram for explaining an operating state of the mechanical hand according to indexing rotation.

[Explanation of symbols]

 32 Cam Mechanism 38 Stopper 40 Output Shaft 46 Clutch Device 47 Cylindrical Body 48 Disc 73 Drive Cam 74 Mechanical Hand 79 Drive Means

Claims (3)

[Claims] 1. An output shaft to which a composite motion that independently generates a rotational motion and an axial reciprocating motion is transmitted from a cam mechanism, an input member provided on the output shaft, and a relative rotation with respect to the input member. And an output member of the clutch means, which is engaged and disengaged according to the rotational load generated between the input and output members, and the output member of the clutch means that moves along with the axial reciprocating motion of the output shaft. A clutch actuating means that is detachably engaged to intermittently actuate the clutch means, and a mechanical hand that performs a clamping operation by transmitting a relative rotational movement of the output shaft with respect to the output member engaged with the clutch actuating means. And an intermittent indexing device equipped with a mechanical hand. 2. The rotary motion is an intermittent oscillating motion having a dwell period, and the axial reciprocating motion is alternated with respect to the dwell period sequentially generated intermittently. 2. The output member is caused to undergo either one of an advancing movement to be engaged with the clutch actuating means and a retreating movement to be disengaged from the clutch operating means.
An intermittent indexing device equipped with the mechanical hand described in. 3. The mechanical hand according to claim 1, further comprising drive means for clamping the mechanical hand, the drive means being driven by a drive cam provided on the output shaft. Intermittent indexing device equipped with the described mechanical hand.