JPS58192735A - Clutch/brake unit and indexing device having control system - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field: The present invention relates to a clutch/
Related to the brake unit. To explain in more detail,
The invention relates to a clutch/brake unit as described above having a control interface between a microprocessor or microcomputer and the clutch/brake unit. More specifically, the invention relates to a microcomputer controlled indexing table having any number of stations in a rotary or linear indexer.

Prior Art: Prior art indexing controls had complex servo controls and fluid drive mechanisms that zeroed at selected target points. Strict mechanical controls such as Geneva movements with positioning cams and the like have also been used in indexing tables. Such devices have the drawbacks of being slow, cumbersome, requiring complex controls for acceleration and deceleration, and not being very accurate. Alternatively, extremely coarse indexing was supposed to be achieved by mechanical stopping.

Structure and purpose of the invention: The present invention is capable of knowing where the table is, knowing what kind of movement is required to achieve the target point, and moving it until the desired target point is precisely obtained. A computer associated with a clutch/brake unit that self-corrects and continues to correct as the workpiece operation progresses to automatically correct for errors in the system when it is out of alignment due to temperature or other factors. have. The present invention allows the operator to bring the pump up to speed 9 at a certain point, monitor the pressure, make calculations as to when to apply the brakes, and determine the best pump down point and time for the desired pump downtime. It can be used in any type of embodiment in which a clutch/brake unit is used, including an oil pump, etc., where it is necessary to know the acceleration and deceleration of the pump, the deceleration point and time to obtain the feed rate.

In the embodiment of the indexing table, the control and mechanism of the present invention is extremely simple and technically provides certain efficiency improvements, reliability and versatility over the indexing tables of prior art devices. be. A target button is positioned at a selected location across the indexing table to indicate the indexing angle at which the workpiece will stop and at least one operation will be performed on the workpiece.

The number of stations can be any number.

The number of stations can be easily changed without any changes to the microprocessor control program by removing the target button and placing a new target button in the newly selected hole.

It is therefore an object of the present invention to provide a control and four-drive system for a rotary indexing table that is reliable and versatile, but of extremely simple construction.

It is another object of the present invention to provide a fluid-controlled, oil-cooled clutch/clutch that is integrally located within the control system of the indexing table.
An object of the present invention is to provide an indexing table as described above having a brake unit.

Yet another object of the invention is to provide a highly accurate and programmable system for braking a workpiece in place. The highly accurate indexing table and its control system can also precisely control robots and other auxiliary hardware in relation to the operations performed on the workpiece and the environment in which the operations are performed. .

Still another object of the present invention is to provide a clutch/brake unit with a built-in microcomputer that can be applied to a linear indexing device that is reliable, versatile, and has a simple structure with slight modifications. It is to provide.

Still another object of the invention is to
, j- or during the operation of the microcomputer and the auxiliary logic control of the unit, there is a poor current in the power grid 9.
The purpose is to prevent orgasm from occurring.

Description of the Preferred Embodiment: Referring to FIG. 1, an index table apparatus 10 having a round table 12 is illustrated. The table 12 has a diameter of 8 feet and has a rotatable tf
It is fixed to the main drive shaft 14 which is arranged. The housing 16 has a cylindrical shape and has a side wall 17 integrally formed with the base portion 18 and a removable side wall 17 fixed to the side wall 17 by a number of circumferentially spaced bolts. It has an annular top portion 19.A seal member 21.22 and upper and lower roller bearings 26.24 are mounted between the shaft 14 and the housing 16. A lubricating oil is supplied to the lower half of the shaft 14 by an oil retainer 25.The lower roller bearing 26 is connected to the removable lower portion 26 of the shaft 16 and the radius of the housing 16. It is supported by an annular portion 28 extending inwardly in the direction.Annular portion 2
8, a removable lower part 26 is attached by a number of bolts 29. Motor 3° is directly coupled to a gear reduction mechanism 62 which is coupled via a coupling 66 to an input of indexing mechanism 34. The gear reduction mechanism 62 has a high reduction ratio, such as 24:1, and the motor 3o is configured to operate continuously while the table device 1o is operating. Second gear reduction mechanism 66 with a reduction ratio of 8:1
is provided within the housing 16. The Lord Hano 4° is
It is a tight fit over the shaft 14 at its midpoint. Clutch mechanism 42 and brake mechanism 44
is directly attached so as to be interconnected with this hub 4o. The input of the indexing mechanism 64 is the shaft 46
The shaft 46 is attached to the housing 16 by a bearing 48.5o and has a diagonal gear 52 at one end 54 thereof.

Pinion gear 52 meshes with an annular bevel gear 56 that is secured to an annular drive member 58 by a series of bolts 6o. Drive member 58 is rotatably secured to shaft 14 by an angled roller bearing 62. The drive member 58 has an annular flange 64, which is fixed to the annular flange 64 by a dowel 68 or the like at a position where a clap disk 66 as shown in FIG. 2 is disposed in the circumferential direction. There is. Spacer 6
9 is used to reduce bending of the disc 66 during operation of the clutch 42. Clutch disc 66 is arranged in a recess 70 located in lower portion 72 of hub 40.
sitting inside. The lower portion 72 of the hub 40 is secured to the hub 40 by a series of bolts 74. An annular brake disc 76 similar to that shown in FIG.
It is secured to the top portion 19 of the housing 16 by a series of circumferentially spaced dowels 78. The spacer 79 is used to reduce deflection of the disc 76 during operation of the brake mechanism 44. The brake disc 76 is likewise connected to the upper hub portion 8 of the hub 40.
It is inserted between 0 and 0. The upper hub portion 80 is secured to the hub 40 by a number of circumferentially spaced screws 82.

The hub 40 has a radially outwardly extending annular flange 84 for guiding an annular piston 86 drivingly disposed thereon. The piston 86 has a lower portion 90 integrally secured by an upper portion 88 and a spline 92 and further extends on a spline 96 extending radially outwardly from the main hub 40. It has a groove 94 arranged inward in the direction. A flange 84 disposed outwardly of the main hub 40 and a flange 104 disposed inwardly of the lower portion 90 of the piston 86 to define an air chamber 106 for actuating the piston. A seal member 100 is provided between
．． 102 is arranged so as to be drivable. A series of circumferentially spaced recesses 107, 108 are provided in the piston 86 and annular flange 84 of the main knob 40, respectively. A compression spring 110 is disposed within this hole 107, 108, which biases the piston into driving engagement with the brake mechanism when the indexing table device 10 is not to be operated. . Passage 112 communicates through main hub 40 with a radially extending passage 114 in shaft 14 . This passage 1
14 is a passage 116 extending in the axial direction of the shaft 14.
It communicates with an inlet (=N-) 118 at one end of the shaft 14 provided outside the housing 16 through the inlet. Inlet port 118 further communicates with a source of compressed air (not shown). Therefore, the clutch mechanism 42 and the brake mechanism 44 are provided with a compression spring 110
and in the illustrated preferred embodiment 65 p,s
-i (A) are mechanically locked together via pneumatically controlled pistons having a clutch mechanism 42 adapted to operate with an air pressure of 4.5 ky/Cl10.

The friction discs 66, 76 for the clutch mechanism 42 and brake mechanism 44 are as shown in FIG.
A leaf 120 is provided between the main body 122 and the seven flange 124. This leaf 120 engages the screw 68 or 78 and causes the disc 66, 76 to flex. Friction disc 6
One side of 6.76 contacts a plate 72.80 which is doweled to the hub 40. The other side contacts a piston that splines into hub 40 .

This creates an anti-backlash torque that is half of the total torque.

The housing 16 is filled with light oil to a level above the clutch 42. Light oil is supplied into ports 1 and 0 in housing 16 from a quarter horsepower pump/motor mounted on the side of the housing.

A 5,000 pulse/rotation optical encoder 162 is driven by the index table 12 through a gear reduction mechanism 164 with an anti-backlash reduction ratio of 20:1. This allows the controller to adjust the circumferential direction of the workpiece on the 8 ft. One pulse is delivered every 3 inches (0,008α). Therefore, 100,000 pulses are required to rotate the work table once.

The target button 140 is mounted on the table 12 with a reamer TtJ interference fit. The plate 164 is pre-prepared with holes corresponding to any combination of station numbers, and the target button 140 is inserted into the precise hole corresponding to the desired index amount. Goal button 1
40 must be mounted at precise locations, but need not be specifically associated with workstations being located at precise locations relative to each other. Therefore, no matter how many stations there are, all programs of the control circuit computer 154 can be selected without changing.
It is attached at approximately the midpoint between. FIG. 1 shows the target button 140 energizing the proximity switch 144. However, proximity switches do not require accuracy in repeatability. In this case, optical targeting methods are used for greater accuracy.

When installed for the first time or when the device has not been operated for an extended period of time, indexing accuracy is achieved by a computer sensing process. This sensing cycle does not introduce an index of 8 to 10.

To illustrate the operation of the system, consider a work table with five stations. The number of counts between stations is 20,000 counts) (5,
000 pulses x 20 (reduction ratio) ÷ 5 stations).

The first procedure to start the operation is to press the target button 1.
40 and the desired stop point of the workpiece. As the table 12 rotates, one of the target buttons 140 passes over the proximity switch 144. This resets the counting circuit to zero.

The counting circuit is 1 when the target button 140 passes through the switch.
≧.

Furthermore, the workpieces are moved until they reach their precise stop target position. The best way to perform this operation is to rotate the table a little short of the final target stop position, stop the main motor D, and manually move the gear reduction mechanism 62 and housing 16 while keeping the clutch 42 engaged. is to rotate the coupling between. When the target stop position is reached, this stop position is fixed in the memory circuit 152 (see FIG. 6) by actuating the key fixing switch 150. The actual count is displayed as a digital readout. For example, if the count is 9
．． Assume that it was 300. The size of the count number is 5
,000 means that the target button 140 is not between workstations.

By simple calculations based on the addition of appendages and workpieces, the stopping angle in this example is 15 degrees. 15 degrees is 100,000X15÷360=4,16
Equivalent to 6 counts. Number 5,134 (9,ro00-
4,166) is entered into the brake application memory circuit 158 (see FIG. 6) as the brake application position.

After that, the indexing process is started. Assume that the actual stopping position is 8,500. On the next index, the computer automatically advances its brake application position (and brake application circuit) by 800 counts. Therefore, the brake count is 5964 instead of 5134.
It is activated at the count position. Assume that the final stop position was 9620 in the next indexing.

The stop command for the sixth index is 5934 in this case.
-20=5914. This process consists of two consecutive indexing steps in which the final actual stop count number is 9.
This continues until 300 (stop target position) plus or minus 2 is reached. After this occurs, a signal is issued to activate the robot or the like to perform work on the workpiece on table 12. A counting error of plus or minus 2 is plus or minus 0.006 inches if the table 12 is 8 feet in diameter.
, 015 cm).

Assume that the count increases to 9606 after the 15th indexing as manufacturing progresses. At the next index, the brake application command is made to be 5,914-5=5911. The computer continues to observe the actual stop position and continues to modify the position of the brake operation command as necessary. Through this process, changes in the device caused by temperature and other factors are automatically zeroed out by the computer.

Now suppose that after manufacturing several dozen or even hundreds of parts, the operator wants to change the stop target position from 9.296 to 9.00. In this case, the operator simply enters this number as the final stop target position (via the key lock switch 150), performs several sensing indexes, and then resumes production.

Currently, a sensing cycle is required if the device is shut down for more than 60 minutes. A temperature transducer may also be included within the control system. Monitoring temperature as a corrector for brake operation commands reduces the need for sensing cycles except when the machine is stopped for an extended period of time.

The microcomputer and associated logic circuits are powered by a nickel-cadmium 9nium battery with an on-board charger to prevent any adverse spikes in the power grid.

A schematic diagram of the control circuit is shown in FIG.

The counter 162 indicates that the target button 140 is the sensor 14.
The number of pulses is reset to zero each time the table 12 passes, or the number of pulses is counted in response to the movement of the table 12. When the workpiece is placed in the target stop position, the key lock switch 150 is actuated to lock the count at this position in the memory circuit 152 of the microprocessor or microcomputer 154. Comparator 1 in microcomputer 154
56 indicates the count from the counter 162 and the memory circuit 1.
52 to determine accurate positioning. After the calculations are made as described above, the brake operation count is entered into the brake operation storage circuit 158. This count number is also the comparator 1
56 (which may or may not be similar to comparator 156). When the count number of the counters 1 and 2 matches the count number stored in the brake operation storage circuit 158, the brake 44 is applied.

The workpiece and table 12 come to a stop, and at this position the count is compared to the stop target position count stored in memory circuit 152. If the comparison is within the selected area (within plus or minus 6), a command is given to the robot or other machine to start working (YES). When the job is complete, a signal is issued to clutch 162 to index the next station. If the comparison result is within the predetermined range (No.), the Clarachi ActiUnit calculates again and adds the number that is the difference between the actual count number and the desired count number, as described above. (or by pulling) to modify the brake operation count in brake application memory circuit 158.

Although the present invention has been described based on preferred embodiments,
The present invention can be modified in various ways without departing from its technical scope.

[Brief explanation of drawings]

FIG. 1 is a side sectional view of an indexing table device according to the present invention. 2 is a front view of a portion of the clutch or brake disc used in FIG. 1; FIG.・Then, Figure 6 shows
FIG. 1 is a schematic diagram of a control system according to the present invention. 10... Index table device 12... Table 1
4... Drive shaft 16... Haulender 6Q.
... Motor 62 ... Gear reduction mechanism 64 ... Indexing mechanism 4o ... Main hub 42 ... Clutch mechanism 4
4...Brake mechanism

Claims (1)

[Scope of Claims] (1) Drive means; driven element; clutch means for drivingly connecting the drive means to the driven element when the clutch means is engaged; brake means; and the driven element. Means for controlling the clutch and brake means to control the position of the element,
means for indicating a zero point; means for activating the braking means to stop the driven element; and means for recognizing at which position the driven element has stopped relative to the zero point. , means for recognizing the movement of said driven element to achieve a selected stopping target point with respect to said zero point, within a range of accuracy with which said desired stopping target point is selected; means for self-correcting the error between the actual stop position of the driven element and the stop target point until the actual stop position is determined by temperature or other factors; If the driven element deviates from the actual stop position, the error between the actual stop position of the driven element and the stop target point is continuously corrected, and all errors in the system are automatically corrected as the workpiece operation progresses. A clutch/brake unit having a control system for use in workpiece manipulation, comprising: a control means comprising means configured to operate a workpiece; (2. The clutch/brake unit according to claim 1, in which the control means further includes means for changing the stop target point as necessary. A clutch/brake unit according to scope 1, further comprising a battery means for powering said unit and a charging means for said battery means. (4) Drive means; driven element. a clutch means for drivingly associating said driving means with said driven element such that said driving means drives said driven element when said clutch means is engaged; a brake drivingly associated with said driven element; means; and control means comprising means for detecting the position of the driven element at all positions of the driven element, output means, means for selecting a desired stop position of the driven element; means for activating the braking means in order to stop the driven element at a desired stop position; means for selecting a position at which the braking means is actuated by the activating means;
control means comprising: means for comparing said output means of said stage with said selected desired stopping position; and if said driven element does not stop within said selected accuracy range said brake means for correcting said position selection means of said means for actuating said means to a selected rest position, said means comprising means for actuating said clutch means to initiate movement of said driven element; A clutch/brake unit having a control system consisting of correction means; (5) A clutch/brake unit according to claim 4, comprising means for associating a workpiece with the driven element and operating a device capable of performing a desired operation on the workpiece. A unit comprising means for controlling. (6) an indexing table for working with at least one workpiece, comprising table means for supporting the workpiece; drive means including means for a motor; and a housing disposed adjacent to said table means. a clutch means provided within said housing for drivingly coupling said drive means to said table means to effect movement of said table means; within said housing for stopping said table means; means for drivingly coupling said clutch means and said brake means to said table means; and said means for locating said work piece on said table means with respect to a preselected target stop position. means provided on the table means; and computer means for determining the position of the workpiece on the table means;
11y control means comprising means for actuating said clutch or brake means in response to the position of said workpiece determined by said computer means;
An index table consisting of. (Force) An indexing table according to claim 6, comprising means for relating a workpiece to said driven element and for controlling the operation of a device capable of performing a desired operation on said workpiece. (8) An indexing table according to claim 6, wherein the table control means further comprises: an actual stopping position of the workpiece on the table means; An indexing table comprising means for correcting the operating position of the braking means in response to an error between the workpiece and a preselected target stop position. (9) Claim 6 In the indexing table according to
An indexing table comprising means for changing the number of said stations. 00) An indexing table device having at least one workpiece thereon, for supporting said at least one workpiece in a predetermined position, having a transmission element for controlling the movement of said header means; Cheedall means; a housing for supporting said table means; a drive means having at least a portion disposed within said housing, including a motor means; a clutch means drivingly connected to said drive means; coupled braking means; including biasing means for engaging said braking means with said transmission element; means for alternately engaging said clutch means and said braking means with said transmission element; said at least one workpiece; means for indexing said table means for sequentially positioning pieces at said selected workstations, said target being positioned one step above said table means for indicating positions on said table means; means, means for sensing said target means, and output means for emitting a signal, the precise relative position of said target means and said at least one workpiece disposed on said table means; and said engaging means for engaging said braking means in response to said signal from said output means of said JIF activation computer means drivingly connected to said sensing means for determining said JIF activation computer means. an indexing table device comprising: indexing means comprising means for controlling;