JPS6144618B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an article transfer device that transfers articles by the rotational movement and axial movement of a pivot shaft whose tip end is equipped with a rotation arm for grasping the article.

Generally, in the above-mentioned transfer device, a cylinder that moves the pivot shaft in the axial direction and a cylinder that rotates the pivot shaft are separately provided, and these cylinders are moved forward and backward in a predetermined order to transfer the article. I tried to perform the necessary series of actions, but
In such devices, a limit switch or the like is used to detect the completion of the previous operation and issue a command to start the next operation, which not only complicates the control circuit, but also makes it difficult to detect the completion of the previous operation. The relay operating time is
There is a non-operating time caused by the operating time of the electromagnetic switching valve, and there is a drawback that the article transfer speed cannot be increased very much.

On the other hand, in the past, a rotating body with cam grooves formed on the outer circumferential surface and end surface is arranged parallel to the rotation axis and driven to rotate, and the rotating body is rotated according to changes in the axial position of the cam groove formed on the outer circumferential surface. The pivot shaft is moved in the axial direction, and the pivot shaft is pivoted in response to changes in the radial position of the cam groove formed on the end face, thereby performing a series of operations necessary for transferring the article in one drive device. There is also a device that aims to increase the speed by performing one operation of The disadvantage is that the size of the device has increased and a large installation space is required.

In view of these conventional problems, the present invention aims to downsize the device by arranging a rotary body with a cam groove formed concentrically with the rotational movement, thereby providing a high-speed, compact article transfer device. Embodiments thereof will be described below based on the drawings.

FIG. 1 shows an embodiment in which the article transfer device according to the present invention is applied to tool exchange. exchange position
It is arranged at the center of the line connecting the center of the tool socket 4 indexed to the PO.

As shown in FIG. 2, a cylindrical support sleeve 11 is disposed in the main body 10 of the article transfer device 1 in a direction perpendicular to the rotation plane of the rotation arm 2. Swivel arm 2
A pivot shaft 12 to which is fixed is guided so as to be movable in the axial direction and pivotable.

Behind this pivot shaft 12, a connecting member 13 is provided.
The engaging portion 13 of the connecting member 13 is attached to the pivot shaft 12 with only axial movement restricted.
As shown in FIG. 3, the protrusion 13b engages with a guide groove 11a cut in the axial direction on the inner peripheral surface of the support sleeve 11, and the protrusion 13b engages with a notch 11b cut in the support sleeve 11 in the axial direction. Through support sleeve 1
It protrudes outward from 1. And the connecting member 13
A first cam follower 16 that engages with a first cam groove 15 formed on the inner peripheral surface of the rotor 14 is rotatably attached to the tip of the protrusion 13b.

The rotary cylinder 14 is rotatably supported within the main body 10 concentrically with the pivot shaft 12, and a small diameter cylinder portion 14a protruding in the axial direction is provided on the rear end surface of the rotary cylinder 14. Small diameter cylindrical portion 14a
The tooth groove 14b formed on the outer peripheral surface of the drive shaft 17
It meshes with a gear 18 provided in the. Drive shaft 1
7 is a gear 21 that engages with a rack 20 that is moved forward and backward by a hydraulic cylinder 19, as shown in FIG.
is formed, and when the hydraulic cylinder 19 operates, the rotary cylinder 14 is rotated via the rack 20 and gears 21 and 18. Note that the number of teeth formed on the outer periphery of the small diameter cylinder portion 14a is the same as the number of teeth of the gear 18, and the drive shaft 17 and the rotating cylinder 14 rotate at the same speed.

Reference numeral 22 denotes a rack shaft which is guided so as to be movable in a direction perpendicular to the axis of the pivot shaft 12 in front of the rotary cylinder 14, and the rack shaft 22 has a pivot shaft as shown in FIGS. 5 and 6. A rack member 24 formed with rack teeth that engages with tooth grooves 23 formed on the outer circumferential surface of 12 is attached. Also, 26 is
A connecting plate whose one end is pivotally supported by a support shaft 25 fixed to the main body 10 and is swingable in a plane orthogonal to the axis of the pivot shaft 12. A long hole 26a formed at the tip of the connecting plate 26 allows easy movement. It engages with an engagement pin 27 fixed to the side of 22. A second cam follower 30 is pivotally mounted on the connecting plate 26 at a position close to the support shaft 25. It engages with the cam groove 29. The radial position of the second cam groove 29 is changed depending on the angular phase, and the change in the radial position of the cam groove 29 is amplified and transmitted to the rack shaft 22.

Furthermore, a movable shaft 31 is guided inside the pivot shaft 12 so as to be movable in the axial direction and is pressed rearward by a spring 32, and the rear part of the movable shaft 31 is fixed to the end of the drive shaft 17. cam plate 33
It is in contact with a cam surface 34 formed on the side surface of.
On the other hand, a left-handed spline-shaped protrusion 35 formed on the outer peripheral surface of the tip detail of the movable shaft 31 is formed at the center of a rotating member 36 rotatably supported at the center of the rotating arm 2, and is formed on the inner peripheral surface The rotary member 36 is engaged with a through hole 36a having a twisted groove, and when the movable shaft 31 retreats, the rotary member 36 rotates clockwise in FIG.

One end of a pair of swinging members 37, 37 is pivotally supported on the outer periphery of the swinging member 36.
The other ends of 7 and 37 are pivotally connected to the rear end portions of tool pressing shafts 38 and 38 that are guided inside the rotating arm 2 so as to be movable forward and backward. Note that this tool pressing shaft 38, 38
There are tool pressing shafts 38, 38 between the rotating arm 2 and the rotating arm 2.
A spring 39 is compressed to press the forward direction. Further, the pivot point 37a on the rotating member 36 of the swinging member 37 is provided so that the pivot point 37a is located on the axis of the tool pressing shaft 38 when the movable shaft 31 is retreated to the retreating end. When the movable shaft 31 is located at the backward end, the tool pressing shaft 38 is prevented from retreating from the forward end, and the tool T is prevented from coming off.

FIG. 8 shows the movement of the movable shaft 31 and the rotating shaft 12 during one rotation of the drive shaft 17,
indicates the relative displacement of the movable shaft 31 with respect to the pivot shaft 12, and B and C indicate the axial movement and rotational movement of the pivot shaft 12, respectively. First, between the rotation angle α0 and α1, only the second cam follower 30 is connected to the second cam groove 2.
9 is moved away from the pivot shaft 12 and the rack shaft 22 is raised in FIG. 2, so that the pivot shaft 12 pivots clockwise in FIG. 1 and the pivot arm 2 moves clockwise by θ degrees. The tool gripping surfaces formed at both ends engage the tool T on the spindle 3 and the tool T at the tool exchange position PO. When the drive shaft 17 rotates beyond the rotation angle α1, the movable shaft 31 retreats to the retreat end due to the retreat of the cam surface 34, so the rotating member 35 turns clockwise and the tool pressing shaft 38 is moved by the spring 39. The tool T is advanced to the forward end by the pressing force, and the tool T is clamped by the pressing force of the spring 39.

After this, between the rotation angle α2 and α3, the first cam follower 16 is advanced by the first cam groove 15, and the pivot shaft 12 is thereby advanced.
The tool T is pulled out of the spindle 3 and the tool socket 4. Then, between rotational angles α3 and α4, the second cam follower 30 is moved by a predetermined amount by the second cam groove 29 toward the side closer to the pivot shaft 12, the rack shaft 22 is lowered, and the pivot arm 2 is moved counterclockwise. Rotated 180 degrees in the direction.

Between rotational angles α4 and α5, the first cam follower 16 re-engages with the first cam groove 15 and is moved back, so the pivot shaft 12 also moves back, and the replaced tool is attached to the spindle 3 and tool socket 4. be done. Then, between the rotation angles α5 and α6, the movable shaft 31 is advanced by the cam surface 34, the tool pressing shaft 38 is retracted, and the grip on the tool T is released. Furthermore, between the rotation angle α6 and α7, the second cam follower 3
0 is further moved toward the pivot shaft 12 by the second cam groove, and the pivot arm 2 is rotated counterclockwise by θ degrees, completing the tool exchange.

Subsequently, when the tool is to be replaced again, pressure oil is supplied to the front chamber of the cylinder 19, the rack 20 is moved back, and the drive shaft 17 is reversed. As a result, the movable shaft 31 and the pivot shaft 12 are operated in the reverse order as in the above case, and the tool is replaced in the same manner as in the above case.

In the above embodiment, a second cam follower that engages with the second cam groove is provided on the side near the pivot point of the connecting plate whose one end is pivotally supported on the device body, and a second cam follower that engages with the second cam groove is provided in the elongated hole formed at the tip of the connecting plate. The radial displacement of the second cam groove was enlarged and transmitted to the rack shaft by engaging an engaging pin fixed to the rack shaft, but the radius of the rotating plate forming the second cam groove was By increasing the radial displacement of the second cam groove, the second cam follower may be attached to an arm fixed to the rack shaft.

As described above, the article transfer device of the present invention includes a rotary cylinder in which a cam surface for axially moving the pivot shaft is formed on the inner peripheral surface, and a cam surface for pivoting the pivot shaft on one side. The rotary plate formed in This has the advantage that the installation space can be extremely small.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a diagram showing an embodiment in which tools are exchanged by the article transfer device according to the present invention, and FIG. 3 is a cross-sectional view taken along the line in FIG. 2, FIG. 4 is a cross-sectional view taken along the line taken in FIG. 2, and FIG. The figure is in Figure 5.
Line cross-sectional view, Fig. 7 is the same as in Fig. 2.
A cross-sectional view along the line, FIG. 8 shows the movable shaft 3 in FIG. 2.
1 and a pivot shaft 12 during a tool exchange operation. FIG. 2...Swivel arm, 10...Device main body, 12...Swivel shaft, 13...Connecting member, 14...Rotating cylinder, 15...First
Cam groove, 16... First cam follower, 17... Drive shaft, 18... Gear, 19... Cylinder, 20... Rack, 22... Rack shaft, 26... Connection plate, 27... Engagement pin, 28... Rotating plate, 29... No. 2 cam grooves, 30...
Second cam follower.

Claims (1)

[Claims] 1 A pivot shaft mounted on the device main body so as to be movable in the axial direction and swingable; a pivot arm fixed to the tip of the pivot shaft and having an article gripping mechanism at the end; a rotary cylinder which is rotatably disposed outside the shaft and has a cam surface formed on its inner circumferential surface whose position in the rotational axis direction changes depending on the angular phase; a connecting member whose pivoting movement is regulated relative to the device body and is mounted on the pivot shaft and has a first cam follower at its tip that engages with the first cam surface;
a rack shaft mounted so as to be movable in a direction perpendicular to the pivot shaft and engaged with tooth grooves formed on the outer periphery of the pivot shaft to pivot the pivot shaft; A rotating plate having a second cam surface whose radial position changes continuously depending on the phase, and a second cam follower that engages with the second cam surface according to changes in the radial position of the second cam surface. An article transfer device comprising: a coupling mechanism that moves the rack shaft; and a drive device that rotationally drives the rotary tube.