JPS61262261A - Normal and reverse revolving apparatus for shaft - Google Patents

Abstract

PURPOSE:To permit the smooth movement by positively revolving, in the normal and reverse directions, a trailing shaft by the revolution in one direction of a driving shaft by the cam on a driving shaft side and the cam follower on a trailing shaft side. CONSTITUTION:A driving device 8 is equipped with a driving shaft S1 having a plurality of cams A-D fixed, trailing shaft S2 which revolves normally and reversely within a certain angle range through a cam, and a plurality of cam followers F1-F4 fixed onto the shaft S2. Said cam follower F1 receives the action of the cam A only, and the cam follower F2 receives the action of the cam B only, and similarly the cam follower F3 receives the action of the cam C only, and the cam followers F4 receives the action of the cam D only. Therefore, the normal and reverse revolution of the trailing shaft are cetainly performed, and smooth rotary movement is permitted.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a device for rotating a shaft forward and backward, and can be used in various industrial machines.

[Conventional technology]

An arm extending in the radial direction of the shaft is fixed to a rotatable shaft, and the arm is rotated between two positions by rotating the shaft forward and backward within a certain angle, which is operated in various industrial machines. ing.

Immediately, when an article is placed on the fl# of the fll arm and an article at the - position is transferred to another position, the arm performs reciprocating rotation within a certain range. The arm operation drive mechanism of such a mechanism is such that a cam lever is fixed to a shaft to which the arm is fixed, the cam lever is made to follow a cam surface of a certain shape, and a cam follower on the cam lever rides on the peak of the cam. Generally, the cam lever is displaced against the spring force to rotate the shaft by a certain angle, and when the cam follower crosses the above-mentioned peak, the cam lever is displaced by the spring force to the valley of the cam surface. be.

[Problem that the invention seeks to solve]

In the above-mentioned forward/reverse device, forward rotation of the shaft is active rotation, but in the case of reverse rotation, it is a passive movement due to the spring, so long-term operation may cause the biasing force to decrease or the spring to break. In addition, since it is a passive movement, there is a problem in the reliability of the movement.

The present invention aims to solve the above problem.

(Means for Solving the Problem) The present invention actively rotates forward and reverse rotations by using a plurality of cam plates on the drive shaft side that rotate in one direction and a cam follower corresponding to the cam plates fixed on the driven shaft side. It is something that should be done in a specific manner.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

13 to 15 show an example of a spinning winder, in which the real bobbins on the spinning machine (1) side are separated into individual bobbins on the real bobbin conveying path (2) on the winder (3) side. This figure shows a system for transferring a bobbin onto a bobbin transport medium (4) (hereinafter referred to as a tray), and the device of the present invention is applied to the bobbin transfer device (5). That is, the real bobbin (6) inserted in the bag on the transport band (2a) running along the spindle of the spinning machine (1) is placed at a predetermined extraction position (6a).
) and that the empty tray (4) on the winder side has arrived at the actual bobbin supply position (4a), the rotating working arm (7) of the transfer device (5)
The actual bobbin (6) is transferred by a bobbin gripping mechanism provided in the bobbin.

That is, as shown in Figure 13.14, the work arm pivots in the forward and reverse directions within the range of angle (θ) between the bobbin extraction position (6a) and the bobbin supply position (4a) around the − axis (B2). (7) uses a cam mechanism, which will be described later, to actively rotate in both forward and reverse directions. Further, the work arm (7) is supported so as to be slidable in the vertical direction, and the bobbin is removed by moving upward, and the bobbin is inserted into the empty tray by moving downward.

FIGS. 1 and 2 show an embodiment of the driving device (8) for turning and vertically moving the working arm (7).

That is, the drive device (8) includes a drive shaft (Sl) to which a plurality of cams (A) to (D) are fixed, a driven shaft (B2) that rotates forward and reverse within a certain angle range by the cams, and the shaft. (B2)
It has a plurality of cam followers (Fl) to (F4) etc. fixed to.

The drive shaft (Sl) is rotatably supported between a lower frame (9) and an upper frame (not shown), and the motor (10)
, sprockets (11) (12), chino (13), and other driving means. Rotation angle of work arm (first
5 (θ)) is equal to the rotation angle of the driven shaft (B2) in FIG. 1.2, the rotation of the shaft (B2) will be explained below instead of the explanation of the work arm.

As shown in Figure 2, the cam for rotating the shaft (B2) consists of multiple cams (
In the figure, there are four cams), and at least two or more cams are required, and the number of cams is appropriately set depending on the required rotation angle of the shaft (B2) and the difference between the troughs and peaks of the cam. The cams (A) to (D) shown in the second diagram are fixed to the shaft (Sl) with the cam surfaces that contact and act on the corresponding cam followers (Fl) to (F4) shifted in phase as shown in the first diagram. There is. Cam followers (Fl) to (corresponding to the above cams (A) to (D))
F4) is a cam lever (1) fixed to a boss (14) splined to the shaft (B2) as shown in Figures 1 and 2.
5a) to (15d) are supported at equal angular pitches.

That is, the cam follower (Fl) is moved by the cam (A)
The cam follower (F2) is acted upon by the cam (B), likewise the cam follower (F3) is acted upon by the cam (C), and the cam follower (F4) is acted upon only by the cam (D).

For example, when the drive shaft (Sl) rotates in the direction of the arrow (16), the cam follower (Fl) that is in contact with the small diameter part (AO) of the cam (A) is rotated by the gradually increasing cam surface (AI).
The position (F1 a
), that is, the axis (B
2) rotates by an angle (cj,). Cam follower (Fl)
After reaching the two-dot chain line position (Fla), the cam (A
), the cam follower (F1a) cannot move, and the shaft (B2) is further rotated by the next cam follower (F2) and cam (B). That is, when the cam follower (Fl) reaches the chain double-dashed line (Fl a), the next cam follower (F2) moves to the previous cam follower position (F
l) has reached the vicinity, and the gradually increasing cam surface (B1) of cam CB)
), it receives a turning force in the same way, and it also receives a turning force by the angle (μ),
The shaft (B2) rotates, and at this point the shaft (B2) has rotated by an angle (2 cL). In addition, the above cam (A
) (B) corresponding cam follower (Fl) (F2
) are assumed to be equal, but they do not necessarily have to be equal, and the rotation angle by one cam can be set arbitrarily based on the overall rotation angle required of the shaft (B2). That is, the above setting can be achieved by varying the difference between the small diameter portion and the large diameter portion of the cam depending on the cam.

Examples of the shapes of the cams (A) to (D) are shown in FIGS. 3 to 6. In FIGS. 3 to 6, the cam is indicated by diagonal lines, and the two-dot chain line indicates an extension of the large diameter portion of the cam surface to facilitate understanding of the shape of the cam surface. Furthermore, the gradually increasing portion of the cam surface in the following explanation refers to the cam (A) to (
When D) rotates in the direction of arrow (16), it means the part where the distance from the cam rotation center of the cam surface that contacts the cam follower gradually increases, and the gradually decreasing part is the opposite, and is the opposite of the cam follower. This is the part where the distance from the center of rotation of the cam surface in contact gradually decreases. Therefore, if the direction of rotation of the cam is reversed, the gradually increasing part in the above case becomes a gradually decreasing part, and the gradually decreasing part becomes a gradually increasing part.

The cam (A) shown in Figure 3 is the cam follower (Fl) shown in Figure 1.
The cam acts on the small diameter part (AO), followed by the increasing part (A
1) is formed over the angle (C1), followed by the large diameter part (
A2), an i-reduction part (A3) is formed.

The cam (B) in FIG. 4 is a cam that acts on the cam follower (F2) in FIG. It is out of phase with (C1) and partially overlaps. Following the gradually increasing part (B1), there is a large diameter part (B2) and a gradually decreasing part (B3).
, a small diameter section (BO) is formed.

The cam (C) in Fig. 5 is a cam that acts on the cam follower (B3) in Fig. 1, and has a gradually decreasing part (CI) and a minute gradually increasing part (C
2), small diameter part (C3), gradual increase part (C4), large diameter part (CO
) is formed, and a gradual increase (C4) is formed over the angle (C3).

The cam (D) in Figure 6 is a cam that acts on the cam follower (B4) in Figure 1, and has a gradually decreasing part (DI) and a small diameter part (B2).
, a gradually increasing part (B3), and a large diameter part (DO) are formed, and the gradually increasing part (B3) extends over an angle (C4) and the cam (C
) are formed out of phase with the gradually increasing part (C4), and partially overlap.

The gradually increasing portions (A1) (B1) of the cams (A) (B) act on the cam followers (Fl) (F2) in FIG.
The gradually increasing portions (B3) (C4) of the cam (D) (C) act as a cam surface that rotates the cam (B2) in the direction of the arrow (17).
is configured to act as a cam surface that acts on the cam followers (B3) (B4) to reverse the shaft (B2) in FIG. 1 in the direction of the arrow (18). That is, each of the cams (A) to (D) has a shaft (Sl) at a constant interval in the vertical direction so that the X and Y axes passing through the centers of the cams in FIGS. 3 to 6 are at the same position. As shown in FIG.
(Bl) - (B3) - (C4) act in the order of 1. without rotating. Similarly, the small diameter part (AO) (BO) is the shaft (
B2) is stopped at a constant angle position without rotating.

Normal rotation of the driven shaft (B2) in the above cam mechanism
The reversing operation will be explained next.

The state in which the cam follower (Fl) in FIG. 1 is at the solid line position is the origin position of the shaft (B2). From this state, the drive shaft (Sl
) starts rotating in the direction of arrow (16), it temporarily assumes the state shown in Figure 7. That is, the gradually increasing portion (A1) of the cam (A)
) and the cam follower (Fl), and the cam (
The cam (A) (B) is formed so that the small diameter portion (BO) of the cam (B) and the cam follower (F2) come into contact at the same time, and from this state, the gradually increasing portion (B) of the cam (A) A
1), a turning force of the shaft (B2) in the direction of the arrow (17) acts on the cam follower (Fl), and the cam follower (F2) and the cam surface (BO) act on the shaft (B2).
The idle rotation of the cam follower (Fl) is prevented, and the cam follower (Fl)
A1), and the cam 7 lower (Fl) does not move away from the cam surface (A1), and the arrow (17) of the shaft (B2)
) direction is performed smoothly.

Figure 9 shows the cam follower (Fl) by the cam surface (A1).
The principle of the turning force generated in is shown. That is, the cam follower (Fl) has a roller shape, and the angle (β
) If it comes into contact with the cam surface (A1) at a shifted position, a force (fl) will be applied to the contact point (P) by the gradually increasing cam surface (A1) in a direction perpendicular to the tangent at the contact point of the cam surface. When this force (fl) is moved to the center position of the cam 7 oror (Fl), the component force (fil) of the nuclear force (fl) (fl2)
occurs.

The component force (fil) is a force directed toward the center of the shaft (B2). The sea component force (fl2) is a force that rotates the cam follower (Fl) in the direction of the arrow (17), causing the shaft (B2) to move toward the arrow (FIG. 7).
17).

When the cam follower (Fl) reaches the position (Fla) indicated by the two-dot chain line in Fig. 1 by the cam surface (A1), the cam 7 follower (
pta) is a position in contact with the large diameter part (A2) of the cam (A), and the large diameter part (A2) is an arcuate cam surface centered on the shaft (Sl), and the cam follower (Fxa) Although no force is applied to further rotate the cam surface (A1), the gradually increasing portion (B1) and the cam follower (F2) of the subsequent cam (B)
) and the cam follower (Fl), the shaft (B2) will therefore rotate further. While the cam 7 follower (F2) is receiving the turning force by the guiding face (Bl), the next cam follower (F3) is
The cam surface (C1) is formed so that the shaft (B2) rotates while contacting the gradually decreasing portion (C1) of C), and the same as during the rotation of the shaft (B2) by the cam surface (A1). Also, the rotational movement of the shaft (B2) by the cam surface (B1) is a smooth movement without causing any irregular movement.

The above cam follower (F2) moves from the cam surface (B1) to the cam (
When reaching the large diameter part (B2) of B), the shaft (
B2) rotates through a smaller angle, and the cam follower (F3
) is in contact with the small diameter part (C3) of the cam (C), and the cam follower (F4) is in contact with the small diameter part (B2) of the cam (D) at the same time, and the rotation of the shaft (B2) is stopped. , the shaft (B2) is moved up and down by another cam mechanism to be described later,
Only the aforementioned operation of chucking the bobbin or inserting the bobbin into the empty tray is performed. At this time, each cam follower is as shown in Fig. 8, and the cam follower (Fl) in Fig. 7 is at the position (F
1 b), and similarly below the cam follower (F2)
is the position (F2b), and the cam follower (F3) is the position (F3
In b), the cam follower (F4) reaches the position (F4b), and the shaft (B2) is rotated forward by a predetermined angle. In the system shown in FIG. 15, the bobbin gripping arm (7) fixed to the shaft (B2) has rotated by an angle (θ) from the two-dot chain line position (7a) to the solid line position (7). At that position,
The shaft (B2) performs an up-and-down movement to be described later, and extracts and grips the actual bobbin on the transport band. This rear axle (B2
), the arm (7) returns to the two-dot chain line (7
a) Move to position.

That is, at the solid line position of the arm (7), the lower of each cam 7 is in the position shown in FIG. part (B3) acts on the cam follower (F4b). That is, when the shaft (B2) rotates forward by a predetermined angle as shown in FIG. Since it is located on the opposite side of the cam follower (Fl) in the figure, the axis (B2) is reversed according to the principle shown in Figure 9. Displaced by an angle (i) in the counterclockwise direction from the straight line (20) The cam (F4b) rotating in the direction of the arrow (16)
Due to the action of the gradually increasing portion (B3) in D), a pressing force (f4) is applied to the cam follower (F4b), and the cam follower (F4b) receives a force to rotate in the direction of the arrow (18) around the axis (B2). Therefore, the axis (B2) is reversed.

Therefore, the gradually increasing part (B3) of the cam (D) and the cam follower (
When the shaft (B2) further rotates by a predetermined angle in the same direction due to the action of the cam follower (F4b) and the cam follower (F4b) reaches the position (F4) shown in Fig. 1, the cam follower (Flb) also moves to the position (F4b).
Fl) and returns to the origin position. In addition, in the case of the above-mentioned reverse rotation, as in the above-mentioned normal rotation, the cam surface is formed so that the shaft (S2) always rotates with two adjacent cam followers simultaneously in contact with their corresponding cams. ing. That is, in FIG. 8, when the cam 7 follower (F4b) is in contact with the cam surface (D3), the adjacent cam follower (
F 3b ) comes into contact with the small diameter portion (C3) of the cam (C), thereby preventing irregular movement of the shaft (S2). Similarly, the cam follower (F3b) is connected to the gradually increasing part (C) of the cam (C).
4), the cam follower (F2) is in contact with the cam surface (B3) (BO), and the cam follower (F2) is in contact with the cam surface (B3) (BO).
At the position where 4) returns to the origin, the cam follower (Fl) (
F2) comes into contact with the cam surfaces (AO) (BO), and the rotation of the shaft (S2) stops. In this state, the shaft (S2) is moved up and down, and the real bobbin held by the arm (7) in FIGS. 13 to 15 is inserted onto the empty tray waiting directly below.

As mentioned above, when the cam 7 follower rotates, normally two adjacent cam followers are always in contact with the cam surface of the cam corresponding to each cam follower, but the intermediate cam follower (F2) ( Regarding F3),
During the turning movement, there is a moment when the cam 7 lower and the cam surface contact on the straight line (2) connecting the axis (81) (S2) shown in the first diagram. 20) If it is on the top, the force acting on the cam follower is zero, and only one other cam follower comes into contact with the cam, and the shaft (
Since the rotation of S2) becomes unstable, it is desirable that the cam surface be formed so as to make three-point contact only in the above state.

That is, in FIG. 10, for example, the axis (Sl) is indicated by the arrow (
When the cam follower (F2) is rotating in the direction of 1 and is in contact with the cam surface (BO) on the straight line (2), the front and rear cam followers (Fl) (F3) also rotate at the same time on the cam surface (A1) (C
1). Similarly cam follower (F3)
is on a straight line (2), the front and rear cam followers (F2)
(F4) comes into contact with each cam surface.

In addition, in the above embodiment, the cam follower (Fl) (F4)
is never located on the straight line (2).

Next, the elevating mechanism of the shaft (S2) having the arm (7) will be explained with reference to FIGS. 2 and 11.

The elevating mechanism (21) of the shaft (S2) includes a cam (22) fixed to the drive shaft (Sl), a group of various levers operated by the cam (22), and a sleeve connected to the swing lever (23). (24) etc. The above sleeve (2
4) is a mere cylindrical body, and the shaft (S2) is connected to the sleeve (24).
), and the shaft (S2) passes through the sleeve (24
). Above and below the sleeve (24), engagement plates (25) (26) are attached to the shaft (S2) with screws (
27) is fixed, and the locking plates (25) (26) are connected to the shaft (S
2) rotates and moves up and down integrally.

A lever (28) is pivotally supported on a part of the sleeve (24), and a long lever (23a) of the swing lever (23) is pivotally supported (29) at one end of the lever (28). The swing lever (23) is fixedly supported by the frame (3).The other end of the connecting rod (32) is connected by a pin (36) to the end of a cam lever (35) supported by a fixed shaft (34). A cam follower (37) that comes into contact with the cam surface of the cam (22) is pivotally supported (38) in the middle part of the cam lever (35), and the cam surface allows the cam lever (35) to move toward the shaft (as shown in FIG. 11). 34) and assumes multiple positions.The cam shape of the cam (22) is set as appropriate depending on the lifting height of the shaft (S2) and the position where the lifting operation is performed. Because it is lower than the height at which the grip is released for insertion, the amount of elevation of the shaft (S2) is different.
Therefore, the distances from the axis of the troughs (22a) (22C) of the cam surface are different. That is, Cam 7 Oroa (37
), while the cam lever (35) is located at the peaks (22b) and (22d) of the cam, the cam lever (35) rotates at a certain angle counterclockwise from the solid line position in FIG. The swing lever (23) in Figure 2 is attached to the shaft (
31) in a clockwise direction, and remove the sleeve (24).
, the shaft (B2) rises via the locking body (25).

On the other hand, when the cam follower (37) is located in the troughs (22a) (22c) of the cam (22), the shaft (B2) will be lowered by an operation opposite to the above.

The above cam (22) is a cam (A) for rotating the arm (7).
(D) is fixed on the fixed drive shaft (Sl), so the rotation position of the arm (force) and the vertical position of the shaft (B2) can be reliably synchronized.

Fig. 12 shows cam followers (Fl) to (F4),! -axis (
The timing of the rotation of B2) and the vertical movement of the shaft (B2) are shown as a time chart. That is, the line (Ll) is the cam 7
The oroa (Fl) shows the relationship to the cam (A), and the line (
B2) is the relationship of the cam follower (F2) to the cam (B), and similarly, the line (B3) is the relationship of the cam follower (F3),
Line (B4) shows the relationship of the cam follower (F4) to the cam (CXD).

The vertical line (0) indicates the origin position in FIG. 1, and the curved portion (Lla) of the line (Ll) indicates the time during which the cam follower (Fl) is in contact with the gradually increasing portion (A1) of the cam (A). Line (B2)
In the O-curve part (L2a), the cam follower (F2) is connected to the cam (
The time during which the cam follower (F3) is in contact with the gradually increasing part (B1) of the cam (C) is shown. Similarly, the convex part (L3a) protruding below the line (B3) indicates the time when the cam follower (F3) is in contact with the gradually increasing part (C4) of the cam (C). The convex portion (L4a) of the line (B4) indicates the time during which the convex portion (L4a) of the cam (D) is in contact with the gradually increasing portion (B3) of the cam (D).

In addition, in the line (B5), the inclined part (L5a) indicates the time during which the shaft (B2) is performing the forward rolling motion by the cam follower (Fl) (F2), and the flat part (L5b) (L
5d) indicates the time during which the rotation of the shaft (B2) is stopped,
The other inclined part (L5c) is the cam follower (F3) (F4
) indicates the time during which the shaft (B2) is performing reverse rotation.

Furthermore, the line (B6) shows the timing of the vertical movement of the shaft (B2), and when the rotation of the shaft (B2) stops (L5b) (L5d
), the part with a large lifting stroke (L6a) shows the actual bobbin extraction position in Fig. 15,
The small stroke portion (L5b) indicates the actual bobbin insertion position (4a) in FIG. 15. Of course, if the spinning machine side conveyance path and the winder side conveyance path shown in FIG. 14 are at the same level, the vertical strokes of the shafts may be the same.

As described above, in the above embodiment device, the drive shaft (S
The driven shaft (B) has cams (A) to (D) fixed to the shaft (L) and cam followers (Fl) to (F4) corresponding to each cam.
2), the shaft (B2) rotates in the forward and reverse directions by the rotation of the camshaft (Sl) in one direction, and the cam follower side has no spring that presses the cam surface of the cam follower. Both forward and reverse rotations of the shaft (B2) result in positive motion by the cam.

In the above embodiment, the case where four sets of cams and cam followers were used was explained, but the rotation angle of the shaft (B2) (
It can be any number depending on θ).

〔Effect of the invention〕

As described above, in the present invention, a plurality of cam plates on the drive shaft side and a plurality of cam followers corresponding to the above-mentioned cams on the driven shaft side actively adjust the driven shaft by rotating the drive shaft in one direction. Because it rotates and reverses, forward and reverse rotation of the driven shaft can be performed extremely reliably, and there is no negative rotation caused by the spring as in the conventional case, so there is no risk of irregular vibrations or play, and the driven shaft If a working member is installed in
Various work movements are reliable.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing an embodiment of the device of the present invention, FIG. 2 is a side view of the same, and FIGS. 3 to 6 are cams (A) to (D) of the same device.
) is a plan view showing an example of the cam shape of the cam (A
), Fig. 4 is a plan view showing the cam (B), Fig. 5 is a plan view showing the cam (C), Fig. 6 is a plan view showing the cam (D), and Fig. 7 is a plan view showing the cam follower (F).
l) A plan view showing the contact relationship between (F2) and cams (A) and (B) during normal rotation, and Figure 8 shows the cam follower (F3b) (
FIG. 9 is a plan view showing the contact relationship between F, ib) and the cams (C) and (D) during reversal, and FIG. Figure 10 is 3
Fig. 11 is an explanatory plan view showing a state in which two cam followers are in contact with the cam at the same time, Fig. 11 is a plan view showing an example of the elevating mechanism of the driven shaft, and Fig. 12 shows the action of the cam follower and the timing of the rotation and elevating of the driven shaft. Time chart diagram shown, No. 13
15 to 15 show an example of a bobbin transfer system to which the device of the present invention can be applied, and FIG. 13 is a perspective view of a bobbin transfer section;
FIG. 14 is a front view of the same, and FIG. 15 is a plan view of the same. (Sl)... Drive shaft (S2)... Driven shaft (A)
(B) (C) (D)...Cam (Fl) (F2
) (F3) (F4)...Cam follower +7 Fig. 7, Fig. 8

Claims (1)

[Claims] It consists of a plurality of cams on the drive shaft side and a plurality of cam followers corresponding to the above-mentioned cams on the driven shaft side, and is characterized in that the driven shaft actively rotates in the forward and reverse directions when the drive shaft rotates in one direction. A device that rotates the shaft forward and backward.