JPS6347944B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a cam device used in various devices that automatically perform various operations such as assembly, processing, supply, transfer, and unloading.

Here, the cam device refers to a cam mechanism that enables an output member that performs various operations to perform predetermined complicated operations.

As a cam device of this type previously proposed by the present applicant, there is an invention described in Japanese Patent Publication No. 55-4978. The cam device shown in Japanese Patent Publication No. 55-4978, particularly in FIG. 1, has an input shaft rotatably supported in a housing, and a first
and a second globoidal cam are fixedly arranged adjacent to each other, and each of the globoidal cams is provided with a tapered rib forming a predetermined geometrical curve, the tapered rib corresponding to the globoidal cam forming a right angle to the input shaft, and the tapered rib forming a predetermined geometric curve. first and second follower shafts that are in a parallel relationship are rotatably supported in the housing;
First and second follower turrets are fixedly attached to the first and second follower shafts, and a cam follower is provided on the circumference of each follower turret to sandwich the tapered rib of each globoidal cam from both sides. , an arm is fixed to each of the first and second follower shafts, and the output member is caused to perform a compound motion of two linear motions via a guide member.

However, since such a cam device requires the use of two globoidal cams, the number of parts increases, resulting in problems such as a complicated structure, an increase in size, and an increase in cost.

The present invention was made to solve the above-mentioned problems, and its purpose is to convert the continuous rotational movement of a continuous rotating shaft into horizontal reciprocating movement and vertical movement by a single compound cam. The object of the present invention is to provide a cam device that can transmit motion to an output member, has a simple structure, can be made compact, and can be made at low cost. Various automatic assembly (processing)
It is an object of the present invention to provide a cam device suitable for use in a machine to cause each unit to perform a desired movement.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the embodiments detailed below, a case will be described in which the cam device of the present invention is applied to a pick-and-place unit as an output member, but the output member in the present invention is not limited to a pick-and-place unit. It can be applied to various output members that require complex movements as described below.

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

1 and 2 are configuration explanatory diagrams of an embodiment in which the cam device of the present invention is applied to a pick-and-place unit, and FIG. 1 is a plan view and FIG. 2 is a longitudinal sectional view. be. The cam device is housing 1
and a hollow fixing sleeve 4 whose outer periphery is fixed within the opening 1a of the housing 1, whose upper end fixedly supports the output member holding table 2, and whose lower end is fixedly supported by the fixing member 3, and the inside of the fixing sleeve 4. Continuous rotation shaft 5 disposed axially penetrating the hollow part
, a disc-shaped composite cam 6 fixedly supported on the upper end of the continuous rotating shaft 5, and an output member (in this embodiment, a pick-and-place unit) 7 fixed on the holding table 2. On the upper surface of the composite cam 6, there is an endless, non-circular grooved cam 8 located on the inner diameter side, and a circular end face cam 9 located on the outer diameter side of the grooved cam 8 and formed along the outer peripheral edge. A first contact 10 and a second contact 11 of a plurality of pick-and-place units 7 engraved and fixed in position on the holding table 2 are engaged in each cam 8, 9, respectively. , is configured to be able to roll along each cam 8, 9.

As shown most clearly in FIGS. 4 and 5, the grooved cam 8 has a small diameter arc portion 8b and a large diameter arc portion 8b.
d and non-arc parts 8a and 8c,
The bottom surface of the end cam 9 has a deep part (sections l to a, f to g), a shallow part (sections c to d, i to j), and an inclined part connecting these parts (j to l, a to c, d to f). , g~
i section), the first contact 10 rolls vertically within the groove cam 8, and the second contact 11
is adapted to roll along the bottom surface of the end cam 9.

The pick and place unit 7 includes a first guide rod 12 vertically fixed to the holding table 2, an L-shaped sliding block 13 inserted and supported by the first guide rod 12 so as to be slidable in the vertical direction. The sliding block 1 has one end locked to the upper end of the first guide rod 12.
3 downward (in the direction of the holding table 2); and a pair of second springs 14 extending horizontally (in a direction parallel to the surface of the compound cam 6) that are inserted and supported by the sliding block 13 so as to be slidable in the left and right directions. guide rod 15a,
15b. a pair of second guide rods 15a,
15b are arranged in a vertical positional relationship along a radial straight line passing through the rotational axis of the compound cam 6, and have mounting blocks on their outer diameter side ends for attaching various chuck means (not shown). 16 is fixed. The first contact 10 rolling within the cam groove 8 is attached to the inner end of the upper guide rod 15a, and the first contact 10 rolling within the end cam 9 is attached to the inner surface of the sliding block 13. 2 contactor 11 is the shaft 11
It is attached by a. First contact 10
Since the mounting block 16 rolls on a track along the non-circular grooved cam 8 as shown in FIG. 4, the mounting block 16 can be moved in the inner and outer radial directions. Since the second contactor 11 rolls on a trajectory along the circular end cam 9, it does not itself cause displacement in the inner and outer radial directions. It moves up and down in accordance with the shape of the bottom surface, displacing the sliding block 13 and the mounting block 16 in the up and down direction. Such a second guide rod 15a,
15b in the radial direction and the sliding block 13
The reciprocating movements in the vertical direction are combined, and the mounting block 16 can perform the desired pick-and-place movement.

Next, the operation of the cam device with the above configuration will be explained based on the timing diagram of FIG. 6. 6th
The timing diagram in the figure shows the vertical and radial reciprocating states of each of the five pick-and-place units 7 and the relationship between each operation.
For the sake of convenience, only the timing diagram of the pick-and-place unit 7 indicated by reference numerals in FIG. 1 will be explained using reference numerals a to l. Fourth
The symbols a to l in FIG. 5 are the symbols a to l in FIG. 6.
They correspond to l. The other pick-and-place units 7 indicated by symbols ~ have different mounting positions from the unit, and each performs the same operation with different timing, so only the unit will be explained, and the explanation for the other units will be redundant. omitted.

First, the pick-and-place unit shown in FIGS. 1 and 2 is located in the section i to j in FIG. In the section i to j, the first contactor 10 is located in the first non-circular part 8a of the grooved cam 8, so the guide rod 15a is displaced in the inner radial direction with the rotation of the compound cam 6. Integrally guide rod 15b,
Block 16 is also displaced in the inner diameter direction. In this section, the bottom surface of the end cam 9 is at a shallow portion, and since it is a flat surface, the second contactor 11 is at the uppermost position.
Therefore, the mounting block 16 is also held in the uppermost position. In the section j to k, the first contact 10 is located near the end of the non-circular portion 8a, so it continues to be displaced in the inner radial direction, but the second contact 11 is located in the descending area (inclination) of the end cam 9. The aircraft began descending to enter the area. Therefore, in the interval j to k, block 16
performs a downward movement while moving in the inner diameter direction. In the section k to l, the first contact 10 is connected to the grooved cam 8.
Since the block 16 enters the small-diameter arc portion 8b, the displacement in the radial direction of the block 16 is stopped. However, the second contact 11 is still located in the descending area (slanted part) of the end face cam 9, so it continues to descend and reaches the l position. It reaches the lowest position and stops descending. In the section l to a, the first contact 1
0 is located at the small diameter arc portion 8b of the grooved cam 8, and the second contact 11 moves deep within the end face cam 9, so that the block 16 is stopped at the innermost diameter position and the lowest position. In the section a to b, the first contact 10 is still located in the small diameter arc portion 8b, and the second contact 11 enters the ascending area (slanted part), so the mounting block 16
begins to rise while being at the innermost position. b~
In section c, the first contact 10 enters the non-arc section 8c, and the second contact 11 is in the rising area (slanted part), so the block 16 continues to rise while starting to be displaced in the outer radial direction. In the section c to d, the first contact 1
0 is in the non-circular portion 8c, and the second contact 11 is in the shallow portion, the mounting block 16 continues to move in the outer radial direction while being at the highest position. In the section d to e, the first contact 10 is still in the non-circular part 8c,
Since the second contactor 11 enters the descending area (inclined part), the block 16 continues to move further in the outer radial direction while starting to descend. In the section e to f, the first contact 10 enters the large-diameter arc portion 8d, and the second contact 11
Since the block 16 is located at the inclined part, the block 16 continues to descend while being located at the outermost diameter part. In the section f to g, the first contact 10 is still within the large-diameter arc portion 8d, and the second contact 11 is deep inside, so the block 16 is stopped at the outermost diameter position and the lowest position.
In the section g to h, the first contact 10 is connected to the large diameter arc portion 8
d, and the second contact 11 enters the rising area, so that the block 16 is in its outermost position and begins to rise. In the h-i section, the first contact 10 enters the non-arc portion 8a, and the second contact 11 is still in the rising area, so the block 16 continues to rise and moves in the inner radial direction. This section is continuously connected to sections i to j, and thereafter each operation in each section described above is repeated in sequence.

The pick-and-place units with reference numerals ~ perform similar operations at timings delayed by the same angle as the angle between the mounting positions of each unit. Then, when the mounting block 16 is at the outermost diameter position and the lowest position, each unit is checked (not shown).
The chuck grips the workpiece from the feeder, and when the block is at the innermost position and the lowest position, the chuck places the workpiece on a work table (not shown).

In the above embodiment, the pick-and-place unit 7 as an output member is disposed outside the composite cam 6.
However, it goes without saying that the number of units is not limited to this, and any number of units (including a single unit) can be arranged as necessary. Furthermore, as described above, the output member to which the desired motion is transmitted by the compound cam 6 is not limited to the pick-and-place unit in the above embodiment; Various output members requiring compound movements may be used with compound cam 6.

Further, in the above-described embodiment, there is one composite cam 6, but it is also possible to arrange a plurality of such composite cams in parallel on the continuous rotating shaft, and in that case, the radial direction of the output member It is also possible to use a cam device that combines different types of movement and vertical movement.

Furthermore, regarding the cam curve of the composite cam 6, in the illustrated embodiment, the output member makes one movement by rotating the groove cam 8 and the end cam 9 by 360 degrees. For example, it is also possible to perform one operation by rotating 180 degrees.

As can be understood from the above description, the cam device according to the present invention provides the following effects.

(1) A single compound cam fixed to a continuous rotating shaft allows the output member to perform compound movements in the vertical and horizontal directions, and the structure of the compound cam itself is relatively simple. The entire system is made smaller and lower in cost. Furthermore, multiple output members can be driven by a single composite cam.
Therefore, it is particularly suitable for use as a drive means for a pick-and-place unit.

(2) Since a large-diameter cam can be used, the ratio of the cam diameter to the stroke becomes large, and the degree of freedom in timing can be increased.

(3) The grooved cam carved on the composite cam and the end cam are the direct output, and the characteristics of the cam are directly reflected in the output, resulting in good movement and accuracy at the final end.

As described above, according to the cam device according to the present invention, an endless groove cam consisting of an arcuate portion and a non-arc-shaped portion is provided on the upper surface of the disc-shaped composite cam fixed to the continuous rotating shaft, and A first contact with at least one output member whose bottom surface forms an end face cam having a shallow part, a deep part, and an inclined part connecting these parts, and is supported so as to be movable in the radial direction and vertical direction with respect to the composite cam. and a second contact element, the first contact element is engaged in a rolling and vertically movable manner within the grooved cam, and the second contact element is engaged with the end surface cam on the bottom surface. The continuous rotation of the compound cam causes the output member to make compound movements in the radial and vertical directions.The single compound cam causes the output member to make compound movements. This has excellent effects such as making it possible to make the device smaller and lower in cost.

Further, the output member includes a first guide rod that is fixedly supported with respect to the housing and extends in the vertical direction, a sliding block that is vertically movably supported by the first guide rod, and a sliding block that is vertically movably supported by the first guide rod. a second guide rod slidably supported in the radial direction of the compound cam by a moving block, and the first contactor is attached to the inner radial end of the second guide rod. When the second guide rod is moved in the radial direction and the second contact is attached to the sliding block to move the sliding block in the vertical direction, the configuration of the output member also changes. Being relatively simple, it is possible to arrange a plurality of output members without increasing the size of the entire device, and in particular, fixing the chuck mounting block to the outer diameter end of the second guide rod. This makes it suitable for use as a pick-and-place unit.

[Brief explanation of drawings]

1 and 2 are a plan view and a vertical sectional view of a cam device according to an embodiment of the present invention, FIG. 3 is a partially enlarged sectional view of FIG. 2, and FIGS. 4 is a plan view, FIG. 5 A is a side view, B is a developed explanatory view of the end cam, and FIG.
Figures a to e are timing diagrams showing the operation of the output members, respectively. 1...Housing, 5...Continuous rotation shaft, 6...
Composite cam, 7... Output member, 8... Groove cam, 9...
...End cam, 10...First contact, 11...Second contact, 12...First guide rod, 13...Sliding block, 15a, 15b...Second guide rod,
16...Chick mounting block.

Claims (1)

[Claims] 1. A continuous rotary shaft that is continuously rotationally driven is rotatably supported in a housing, a disc-shaped composite cam is fixed to one end of the continuous rotary shaft, and on the upper surface of the composite cam,
An endless groove cam consisting of a circular arc portion and a non-circular portion, and an endless end face cam whose bottom surface has a shallow portion, a deep portion, and an inclined portion connecting these portions, and the composite cam At least one output member supported to be movable in the radial and vertical directions is provided with a first contact and a second contact, and the first contact is rotatable within the grooved cam. The second contact element is engaged to be movable in the vertical direction, and the second contact element is engaged to be movable in the end surface cam along the bottom surface, and continuous rotation of the composite cam causes the output member to be engaged in the radial and vertical directions. A cam device characterized by performing a compound motion of. 2. The output member includes a first guide rod that is fixedly supported with respect to the housing and extends in the vertical direction, a sliding block that is vertically movably supported by the first guide rod, and a sliding block that is vertically movably supported by the first guide rod. and a second guide rod slidably supported in the radial direction of the compound cam by a block, and the first contact is attached to the inner radial end of the second guide rod. Claim 1, characterized in that the second guide rod is moved in the radial direction, and the second contactor is attached to the sliding block to move the sliding block in the vertical direction. cam device. 3. The cam device according to claim 2, wherein a chuck mounting block is fixed to the outer diameter side end of the second guide rod.