JPS587422B2 - Workpiece posture changing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for changing the posture of a workpiece in an automatically controlled device such as an automatic processing machine.

More specifically, a workpiece is connected to a rotating shaft such as a pulse motor such that the axis of the workpiece and the axis of a rotating shaft of a pulse motor etc. intersect at a predetermined angle, and the rotating shaft of the one pulse motor etc. Relating to a workpiece posture changing device that can change the posture of a workpiece to a posture rotated by 90 degrees around the axis of the workpiece and 90 degrees around an axis perpendicular to the axis of the workpiece, that is, a twisted posture, by simply rotating the workpiece It is.

Let us consider the motion of changing a workpiece or the like from a predetermined posture to a twisted posture.

In order to move the mark point P on the surface of the workpiece 1 as shown in FIG. 6a to the position of the mark point P' in FIG. 6b,
The workpiece 1 must be rotated by 90° clockwise around the axis l1 and the axis l2 perpendicular to the axis l1.

In other words, in order for the workpiece to change into a twisted posture, two rotational movements, the rotational movement around the axis l1 and the rotational movement around the axis l2, need to be combined.

Based on the above principle, in order to change the workpiece 1 from a predetermined posture to a twisted posture in a conventional automatic processing machine etc., as shown in FIG.
Two pulse motors 2 and 3 were required to be arranged so that the direction of l2 coincided with the direction of the rotation axis of the pulse motor.

One pulse motor 2 is attached to a support member 4,
The rotation shaft of the pulse motor 2 is connected to the work table 5 of the work 1, and the work 1 is rotated by 90 degrees around the axis l1.

The other pulse motor 3 is fixed to a protruding wall 6a formed on the base 6 so that its rotating shaft is connected to one piece 4a of the support member 4.

Since the other piece 4b of the support member 4 is pivotally supported by another protruding wall 6b, the pulse motor 3 rotates the workpiece 1, the support member 4, and the pulse motor 2 around the axis l2.

As described above, two rotational drive sources are required to convert the workpiece into a posture in which it is rotated by 90° about one axis l1 and further rotated by 90° about the axis l2 perpendicular to this axis.

This generally means that automatically controlled processing machines require a large number of rotary drive sources, which increases the manufacturing cost of the device, makes the entire device structurally complex, and requires a large number of rotary drive sources. had problems such as difficulty in installing.

In view of the above-mentioned problems, the present inventors have created the present invention in order to effectively solve the problems.

The object of the present invention is to rotate the posture of a workpiece by 90 degrees around its axis using a single pulse motor, etc.
To provide a device for changing the posture of a workpiece, which rotates the workpiece by 90° around an axis perpendicular to the axis.

Therefore, an object of the present invention is to reduce by half the number of rotary drive sources such as pulse motors used in automatic processing machines, automatic conveyance machines, etc., simplify the structure of the equipment, and install it in narrow spaces. To provide a workpiece posture changing device that can change the posture of a workpiece.

A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a perspective view of a device according to the invention.

Reference numeral 10 denotes a pulse motor, and the pulse motor 10 is installed on the base 11 of the apparatus with the axis l3 of the rotating shaft inclined at a certain angle with respect to the vertical line.

An arm member 12 is attached to the rotation shaft 10a of the pulse motor 10.
is attached and secured with a nut 10b.

A workpiece mounting base 12a is formed at the other end of the arm member 12.

The workpiece mount 12a has a circular disk shape, with a concentric small-diameter disk portion 12b formed on the bottom surface, and a protruding fixed shaft 12c with a hexagonal cross section formed at the center of the end surface.

The workpiece 13 is attached to the workpiece mounting base 12a as shown by the imaginary line in the figure.

In this embodiment, the work 13 has a cylindrical shape, and the work 1
The axis l4 of No. 3 is the same as the axis of the fixed shaft 12c.

A tool 14 is provided on the side of the end surface 13a of the work 13, and the tool 14 processes a predetermined location on the end surface 13a and a predetermined location on the outer peripheral surface 13b of the work 13.

In the above workpiece mounting device, the panless motor 10
The axis l3 of the rotating shaft 10a and the axis l4 of the workpiece 13 are in the same plane and are arranged to intersect at one point O1 at θ=125°16'.

This arrangement relationship will be determined by the shape of the arm member 12.

The purpose of operation of the workpiece mounting device is to move the workpiece 13 from a predetermined posture to a twisted posture so that the tool 14 can process predetermined portions of the end surface 13a and the outer circumferential surface 13b of the workpiece 13, respectively.

In the device with the above configuration, the rotation shaft 10 of the pulse motor 10
By rotating a by 120° counterclockwise, the attitude of the workpiece 13 can be changed from the state shown in FIG. 1 to the state shown in FIG. 2.

That is, the work 13 is as shown in FIG.
The workpiece 13 is aligned with the axis l4 such that the axis l4 of
4 and 90 degrees around an axis l5 perpendicular to the axis l4.

Looking at this change in terms of the movement of an arbitrary point on the work surface, the mark point P shown in Figure 1 is the mark point P in Figure 2.
’ position.

In this way, the posture of the workpiece 13 is changed, and the tool 14
Processing work can be performed by

FIG. 3 is a view of FIG. 2 viewed from direction A.

In the arm member 12, the axis l4 of the workpiece 13 and the axis l3 of the rotating shaft 10a of the pulse motor 10 form an angle of 125°1.
It is bent 12d at a predetermined angle so as to intersect at 6'.

Next, the principle of changing the posture of the work will be explained with reference to FIG.

A coordinate system O consisting of the X-axis, Y-axis, Z-axis and the origin O is drawn, and in this coordinate system O, the center of rotation of the workpiece 13 is O1.
are arranged so that they are the vertices of the cube K, as shown in FIG.

The arrangement conditions are such that the axis l4 of the workpiece 13 is parallel to the Z-axis, and the axis l3 of the rotation axis of the pulse motor coincides with the line segment OO1 (diagonal line of the cube).

The center of rotation O1 is the intersection of the axes l4 and l3.

At this time, ∠O1OX=∠O1OY=∠O1OZ=54
°44'.

Next, with the center of rotation O1 as the origin, the X' axis, Y' axis, Z'
A coordinate system O1 consisting of axes is constructed.

The conditions at this time are OX//O1X', OY//O1
Y', OZ//O1Z'.

Therefore, ∠OO1X'=∠OO1Y'=∠OO1Z'=
125°16'.

The posture of the workpiece 13 in FIG. 4 is the axis of rotation l3 (
corresponding to the line segment OO1) and the axis l4 of the workpiece 13 (Z'
This satisfies the condition of the positional relationship between the workpiece 13 and the rotating shaft 10a of the pulse motor 10 shown in FIG.

In the above, the line segment OO1 has the axis l3 and the Z' axis O1
Since Z' corresponds to axis l4, line segment O is used instead of axis l3.
The explanation will be made using O1Z' instead of the axis l4 at O1.

O1X', O1Y', and O1Z' each intersect OO1 at an equal angle of 125°16', and in terms of projection lines on a plane orthogonal to line segment OO1, they are each at an angle of 120° from each other.
They intersect at a point without an angle of °.

Therefore, the spatial relationship between line segment OO1, O1X', O1Y', and O1Z' becomes O when OO1 is rotated 120 degrees clockwise.
1Z' moves to the position O1Y', O1Y' moves to the position O1X', O1X' moves to the position O1Z', and vice versa.
When O1 is rotated 120 degrees counterclockwise, O1Z' becomes O1X', O1X' becomes O1Y', and O1
Y' moves to the position O1Z'.

Now, mark point P is taken on the surface of workpiece 13, and line segment OO1
Let us consider the change in the position of mark point P when rotated 120 degrees clockwise.

Assuming that the mark point P is set on the Y'Z' plane as a condition, the position of the mark point P is divided into a point a on the Y' axis and a point b on the Z' axis.

This is because the position of point P on the Y'Z' plane is determined by the Y'-axis coordinate value of point a and the Z'-axis coordinate value of point b.

Next, when line segment OO1 is rotated 120 degrees clockwise, due to the nature of the movement regarding the X' axis, Y' axis, and Z',
Point a on the Y' axis goes to point a' on the X' axis, point b on the Z' axis
moves to point b' on the Y' axis.

Therefore, contrary to the above decomposition, point a' and point b are
The position of point P' synthesized by
This is the position reached as a result of movement.

The above explanation describes the change in position when the rotation axis l3 (line segment OO1) is rotated by 120 degrees due to one mark point P on the workpiece surface, but this change is common to all points on the workpiece surface. It is a change, and this change is called work 1.
Looking at the entire work 13, first of all, the workpiece axis l
4 (Z' axis), and rotated 90 degrees clockwise around axis l5 (X' axis) perpendicular to axis l4, converting the workpiece 13' into the indicated posture. You will do the exercises that will be done.

120 counterclockwise around rotation axis l3 (line segment OO1)
Even when the workpiece 13 rotates by degrees, the attitude change of the workpiece 13 can be explained using the same principle as described above.

In addition, in the positional relationship shown in Fig. 4, ∠COZ=45°
, ∠COX=45°, ∠O1OC=35°16'.

In the above configuration, the workpiece 13 is moved at the same position by 120° rotation of the single rotating shaft l3, and the workpiece 13 is rotated by 90 degrees with respect to the axis l4.
degree rotation, allowing for a 90 degree rotation about axis l5.

Next, another invention of the device according to the present invention will be explained.

FIG. 5 shows a diagram explaining the principle of another invention.

Coordinate system O consisting of X axis, Y axis, Z axis, X' axis, Y' axis,
The coordinate system O1 consisting of the Z' axis is the same as that shown in FIG.

The rotation center of the workpiece 13 is assumed to be 02.

At point O2, the axis l4 of the workpiece 13 is drawn parallel to the Z' axis, and the axis l6 parallel to the Y' axis.

In the spatial relationship between the axes l4, l6 and the rotation axis l3 (line segment OO1) in the workpiece 13, if the rotation axis l3 is rotated 120 degrees clockwise, the axis l4 becomes parallel to the Y' axis, and the axis l6 becomes parallel to the If the rotating shaft l3 is rotated 120 degrees counterclockwise, the axis l4 becomes parallel to the X' axis and the axis l6 becomes parallel to the Z' axis.

Therefore, the mark point P on the surface of the workpiece 13 is connected to the line l4, l.
Disassemble into two points on 6 and rotate the single rotation axis l3 120° clockwise.
After rotating, if the above two points are combined again, workpiece 13 is created.
A point P' on the surface of ' is obtained.

Since this property of movement of the mark point P holds true for all points on the surface of the workpiece 13, this result is converted from the workpiece 13 in the initial posture to the workpiece 13' in the twisted posture, as shown in FIG. It turns out.

The above-mentioned property of changing the posture of the workpiece is a property that holds true even when the workpiece 13 is rotated 120° counterclockwise around the rotation axis l3.

In the above explanation, the principle of another invention has been explained, but as a practical device, for example, the line segment OO1 is used as the first arm member,
It is also possible to form an arm member using the line segment O1O2 as the second arm member, or to form one arm member by changing its shape.

If necessary, the rotation axis l3 (line segment 001) and the axis l4 of the workpiece 13 are not in the same plane, and the rotation axis l3 and the axis l4
If the workpiece 13 is attached to the rotating shaft of a pulse motor or the like by means of an arm member so that the angle formed with the workpiece 4 is a predetermined angle (125° 16'), the posture change movement of the workpiece as described above can be performed.

In the above-mentioned other invention, the workpiece 13 can be moved in space by the single rotating shaft l3, and it is also possible to change the workpiece 13 into a twisted position.

In the above description of the embodiment, the case of changing the posture of a workpiece in an automatic processing machine has been described, but it goes without saying that the present invention can also be used to change the conveyance direction and posture of a workpiece in an automatic conveyance machine or the like.

As is clear from the above description, according to the present invention, by attaching the workpiece to the drive means so that the axis of the workpiece and the axis of the rotation shaft of the drive means form a predetermined angle, By simply rotating the rotating shaft 120 degrees, it is now possible to rotate the workpiece 90 degrees around the axis and 90 degrees around the axis perpendicular to the axis.

Therefore, in an automatically controlled mechanical device, the number of rotary drive means used can be halved, the structure of the device can be simplified, the control method can be simplified, and in addition, the device can be made smaller and This is extremely useful as it can be installed in narrow spaces.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is a perspective view of a workpiece posture changing device according to the present invention, FIG. 2 is a view with the rotation axis rotated 120 degrees counterclockwise in FIG. Figure 3 is a view taken in the direction of arrow A in Figure 2, Figure 4 is a diagram explaining the principle of this device,
FIG. 5 is a diagram for explaining the principle of another invention, FIG. 6 is a diagram for explaining the attitude change of a workpiece, and FIG. 7 is a diagram of a conventional workpiece attitude changing device. In addition, in the drawing, 10 is a pulse motor which is a driving means, and 12 is a pulse motor.
is the arm member, 13 is the workpiece, l3 is the axis of the rotating shaft, l
4 is the axis of the workpiece.

Claims (1)

[Scope of Claims] 1. An arm member having an end fixed to the rotating shaft of the driving means and an end to which the work is attached, such that the angle between the axis of the rotating shaft and the axis of the work is 125°16
' The workpiece is coupled to a driving means so that the rotating shaft is rotated by 120° to rotate the workpiece by 90° around the axis of the workpiece, and the workpiece is rotated by 90° around an axis perpendicular to the axis of the workpiece. A workpiece posture changing device characterized by converting a workpiece into a rotated posture. 2 An arm member having an end fixed to the rotating shaft of the driving means and an end to which the work is attached allows the axis of the rotating shaft and the axis of the work to be aligned within the same plane by 12
The workpiece is connected to a driving means so as to intersect at an angle of 5° 16', and the workpiece is rotated by 90° around the axis of the workpiece by rotating the rotating shaft by 120°, and the workpiece is orthogonal to the axis of the workpiece. A workpiece posture changing device characterized by changing the posture of a workpiece into a posture rotated by 90 degrees around an axis.