US3798979A - Rotary and axial drive mechanism - Google Patents

Rotary and axial drive mechanism Download PDF

Info

Publication number
US3798979A
US3798979A US00279858A US27985872A US3798979A US 3798979 A US3798979 A US 3798979A US 00279858 A US00279858 A US 00279858A US 27985872 A US27985872 A US 27985872A US 3798979 A US3798979 A US 3798979A
Authority
US
United States
Prior art keywords
sleeve
cam
set forth
cam slot
cam follower
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US00279858A
Other languages
English (en)
Inventor
Klaus Kienhofer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Felsomat GmbH and Co KG
Original Assignee
Gebr Felss GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE19712146720 external-priority patent/DE2146720C3/de
Application filed by Gebr Felss GmbH and Co KG filed Critical Gebr Felss GmbH and Co KG
Application granted granted Critical
Publication of US3798979A publication Critical patent/US3798979A/en
Assigned to FELSOMAT GMBH & CO. KG, GUTENBERGSTRASSE 4 KONIGSBACH-STEIN , WEST GERMANY, A COMPANY OF GERMAN reassignment FELSOMAT GMBH & CO. KG, GUTENBERGSTRASSE 4 KONIGSBACH-STEIN , WEST GERMANY, A COMPANY OF GERMAN ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: GEBR. FELSS
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/186—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions with reciprocation along the axis of oscillation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/046—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member
    • F15B11/048—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed depending on the position of the working member with deceleration control
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18024—Rotary to reciprocating and rotary
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18056—Rotary to or from reciprocating or oscillating
    • Y10T74/18296—Cam and slide
    • Y10T74/18304—Axial cam

Definitions

  • An input member consists of a rotatable cam slot consists of a cam follower sleeve, which is coaxial with said cam slot sleeve and rotatable and axially movable relative thereto and carries a cam follower in engagement with said cam slot sleeve in said cam slot.
  • Angular stop means limit the angular movement of said cam follower sleeve from an initial position to a limiting angular position.
  • Axial stop means limit the axial movement of said cam follower sleeve relative to said ,cam slot sleeve.
  • Said cam slot and cam follower are adapted to impart to said cam follower sleeve an angular movement in unison with an angular movement of said cam slot sleeve between said initial position and said limiting angular position, and to impart to said cam follower sleeve an axial movement relative to said cam slot sleeve in response to an angular movement of said cam slot sleeve beyond said limiting angular position.
  • Input drive means comprise a fluid-operable actuator and are operable to impart to said input member an oscillating angular movement from said initial position to and beyond said limiting angular position and back to said initial position.
  • a drum coaxially surrounds and is non-rotatably connected to said input member.
  • Control means are provided to control said input drive means in response to the angular movement of said drum.
  • Said control means comprise adjustable cam means carried by said drum for rotation therewith and valve means which communicate with said actuator and are arranged to vary the speed of said actuator under control by said cam means.
  • the mechanism according to the invention serves to feed parts made from varous materials to presses, drilling, boring, milling and riveting machines and to joining and assembling machines of all kinds.
  • the mechanism may also be used to remove and transfer workpieces from such machines.
  • the rotary and axial drive mechanism serves preferably to drive a feeder and comprises a driven assembly comprising a rotatable cam slot sleeve and a cam follower sleeve which is rotatable and axially movable so that controlled rotational and axial movements can be performed in alternation and limited by preferably adjustable stops.
  • An adjustable work holder may be provided to accommodate the workpiece to be transferred.
  • the cam slot sleeve and the cam follower sleeve are guided on a stationary column.
  • the cam follower sleeve is rotatably and axially movably mounted on the column to follow the input cam slot sleeve.
  • the cam slot sleeve and the cam follower sleeve are coupled by a finger, which ex-' tends into the cam slot and preferably carries a removable cam follower roller.
  • FIGS. 1 and 2 are a side elevation and top plan view showing a complete rotary and axial drive mechanism, which in FIG. 2 is shown with parts cut away.
  • FIGS. 3 and 4 are views showing partly in transverse section the mechanism of FIG. 1 in its top and bottom dead center position, between which the cam slot sleeve has performed one angular stroke.
  • FIG. 5 is a sectional view showing a cylinder with a built-in damping valve.
  • the rotary and axial drive means comprises a rotatable cam slot sleeve 1 and a rotatable and axially movable cam follower sleeve 2.
  • the sleeves 1 and 2 are guided on a stationary column 3.
  • the cam follower sleeve 2 is rotatably and axially movably mounted on the column 3 with a compression spring 4 interposed.
  • the input cam slot sleeve 1 is held on the lower portion of the column 3 by bearing flanges 5 to be rotatable and held against an axial movement. Rotation is imparted to the cam slot sleeve 1 by a rack 6 in mesh with the gear teeth 7 of the sleeve 1.
  • the rack is driven by pistons, which are reciprocated in the two cylinder halves 8, 9 under valve control.
  • the cam slot sleeve 1 and the cam follower sleeve 2 are coupled by a finger 10, which carries a cam follower roller 11, which is removable so that the cam follower sleeve can be removed through the slot 12.
  • the cam slot 13 is symmetrical.
  • the cam'follower roller 11 is subjected to a spring force tending to-hold the roller 11 in its uppermost position shown in FIG.
  • the cam follower sleeve 2 carries a bracket 19, to which a work holder can be adjustably secured.
  • the work holder consists of a solenoid 20.
  • the work holder may consist of a pneumatic or hydraulic collet or chuck. These work holders are not shown.
  • the abutments l5 and 16 are adjustably mounted on the lower portion 45 of the column so that the position in which the angular movement of the cam follower sleeve 2 and the work holder is succeeded by the vertical movement can be adjusted as desired and the angular output movement of the mechanism can be limited.
  • the vertical stops l7 and 18 for limiting the vertical movement are also adjustable, as is apparent from FIGS. 3 and 4. These adjustable stops constrain the cam follower sleeve to performa controlled reciprocating angular and vertical movement.
  • the adjustable work holder consisting in the present case of the solenoid 20 serves to carry the workpiece to be transferred.
  • the cam slot sleeve 1 is surrounded by a drum 21, which rotates with the sleeve 1 and is formed with grooves 22 and a collar 23 for confining control cams 24 and 25.
  • the cam 24 serves to damp the movement of the piston during the change from the angular to the vertical movementand for this reason is connected by two cam follower arms 26 and 27 to respective throttlecheck valves 28'and 29, which are connected to the ends'of respective cylinder portions 8, 9 and control the supply of pressure fluid.
  • throttle-check valve 28 M29 is manually adjustable to set the maximum speed-and is controlled by means of the adjustable cam 24 and the cam follower arms 26 and 27 to determine accelerating and retarding phases.
  • the additional control cams 25 serve to operate switches 30 for additional switching and control functions to be performedby the feeder itself or the machine to be fed. 1
  • each of the throttle-check valves 28 and 29 has following mode of operation:
  • the pressure fluid enters through the bore- 31 and is discharged through the same when it has performed work.
  • a shoulder 32 at the inlet is engaged by a valve disc 34, which is loaded'by a spring 33 and formed with a through bore 35 containing a throttling needle 36.
  • Pressure fluid supplied in direction B causes the seal 37 at the rim of the disc 34 to be lifted so that the pressure fluid can enter around said seal.
  • pressure fluid can be discharged through the bore 35 in direction C.
  • the valve chamber 38 communicates with the cylinder chamber 39'throug'h a conduit 40.
  • the position of the throttling needle 36 relative to the bore 35 in the valve disc 34 is controlled by a collar 42, which is carried by the needle and urged by a spring 41 against the cap nut 43, which is manually adjustable to control the maximum speed of the piston.
  • the needle At its end opposite to the valve disc, the needle has a portion 44 which is engageable by the control cam 24 to operate the needle.
  • the cap nut 43 is thus manually adjustable to determine the maximum speed of the piston.
  • the cam 24 or corresponding different cams may be used for an additional control of the speed of the piston in any position thereof.
  • a rotary and axial drive mechanism which comprises an input member consisting of a rotatable cam slot sleeve'formed with a cam slot, an output member consisting of a cam follower sleeve, which is coaxial with said cam slot sleeve and rotatable and axially movable relative thereto and carries a cam follower in engagement with said cam slot sleeve in said cam slot, angular stop means limiting the angular movement of said cam follower sleeve from an initial position to a limiting angular position, and
  • cam slot and cam follower being adapted to impart to said cam follower sleeve an angular movement in unison with an angular movement of said cam slot sleeve between said initial position and 7 said limiting angular position, and to impart to said cam follower sleeve an axial movement relative to said cam slot sleeve in response to an angular movement of said cam slot sleeve beyond said limiting position.
  • a fluid-operated actuator adapted to reciprocate said rack.
  • cam slot sleeve is coaxially surrounded by and nonrotatably connected'to a drum, which carries cam means for rotation therewith, and
  • said input drive means are arranged to be speedcontrolled by said cam means in response to the rotation of said drum.
  • said input drive means comprise a fluid-operable actuator and valve means which communicate with said actuator and are arranged to vary the speed of said actuator under control by said cam means.
  • said valve means comprise two valves, which communicate with respective ends of said cylinder. 5
  • said valve means comprise a throttle-check valve for supplying pressure fluid to and for throttling the discharge of pressure fluid from said actuator.
  • valve means are manually adjustable to determine the maximum speed of said actuator.
  • angular stop means comprise at least one angularly adjustable stop.
  • said angular stop means comprise a stop carried by said cam follower sleeve and two angularly spaced apart and angularly adjustable stops carried by said columnand engageable by said stop carried by said cam follower sleeve.
  • said axial stop means comprise I sleevescarried stop means and column carried stop means carried by said column and engageable by said sleeve-carried stop means A to limit the axial movement of said cam follower sleeve.
  • said angular stop means comprise a stop carried by said cam follower sleeve.
  • a rotary and axial drive mechanism which comprises a rotatable input member,
  • input drive means comprisising a fluid-operable actuator and operable to impart to said input member an oscillating angular movement from said initial position to and beyound said limiting angular position and back to said initial position, and
  • control means for controlling said input drive means in response to the angular movement of said drum, said control means comprising adjustable cam means carried by said drum for rotation therewith and valve means which communicate with said actuator and are arranged to vary the speed of said actuator or under control by said cam means.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Feeding Of Workpieces (AREA)
  • Mechanically-Actuated Valves (AREA)
  • Transmission Devices (AREA)
  • Automatic Assembly (AREA)
US00279858A 1971-09-18 1972-08-11 Rotary and axial drive mechanism Expired - Lifetime US3798979A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19712146720 DE2146720C3 (de) 1971-09-18 Hin- und herschwenkbarer, sowie heb- und senkbarer Greiferarm zum Zuführen von Werkstücken

Publications (1)

Publication Number Publication Date
US3798979A true US3798979A (en) 1974-03-26

Family

ID=5819956

Family Applications (1)

Application Number Title Priority Date Filing Date
US00279858A Expired - Lifetime US3798979A (en) 1971-09-18 1972-08-11 Rotary and axial drive mechanism

Country Status (6)

Country Link
US (1) US3798979A (enrdf_load_stackoverflow)
JP (1) JPS5315258B2 (enrdf_load_stackoverflow)
CH (1) CH573718A5 (enrdf_load_stackoverflow)
FR (1) FR2153036B1 (enrdf_load_stackoverflow)
GB (1) GB1373043A (enrdf_load_stackoverflow)
IT (1) IT967525B (enrdf_load_stackoverflow)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4688985A (en) * 1985-05-24 1987-08-25 Hartman John F Rotary mechanism for robot arms
US6541932B2 (en) * 2000-05-19 2003-04-01 Kuka Roboter Gmbh Robot area monitoring device
ITUB20159295A1 (it) * 2015-12-01 2017-06-01 B N P Srl Braccio articolato

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5413294B2 (enrdf_load_stackoverflow) * 1974-03-08 1979-05-30
JPS5413295B2 (enrdf_load_stackoverflow) * 1974-03-08 1979-05-30
JPS562444Y2 (enrdf_load_stackoverflow) * 1974-10-16 1981-01-20
JPS5449043A (en) * 1977-09-27 1979-04-18 Tokyo Electric Co Ltd Electronic cash register
FR2474917A1 (fr) * 1980-01-31 1981-08-07 Wabco Westinghouse Dispositif de transfert automatique d'objets
JPS56154694A (en) * 1980-04-30 1981-11-30 Pioneer Electronic Corp Electronic analog display timepiece
JPS5913335U (ja) * 1982-07-20 1984-01-27 日本精機株式会社 チエツク回路
FR2566635B1 (fr) * 1984-06-29 1987-02-06 Huber Auguste Dispositif de transfert automatique d'une chaussure entre des machines
DE3522337A1 (de) * 1985-06-22 1987-02-05 Bosch Gmbh Robert Robotergelenk mit einem elektrischen antriebsmotor
CN105108738B (zh) * 2015-09-22 2017-09-22 安徽省小小科技股份有限公司 自动抓料的装置
CN112060053A (zh) * 2020-08-24 2020-12-11 南京昱晟机器人科技有限公司 一种自动化生产车间用工业机器人行走机构及其使用方法

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1310575A (en) * 1919-07-22 A cobpokatiost
US2408957A (en) * 1944-01-15 1946-10-08 Nat Automatic Tool Company Inc Remote control apparatus for machine tools
US2982258A (en) * 1957-06-04 1961-05-02 United Aircraft Corp Pressure ratio device utilizing a free piston valve for pressure ratio regulation and a servo mechanism coacting therewith to amplify pressure ratio error correction
US3025008A (en) * 1959-04-17 1962-03-13 Fort Wayne Tool & Die Inc Stator winding machine
US3139922A (en) * 1959-10-19 1964-07-07 Bendix Corp Compensated controller
US3460770A (en) * 1967-01-30 1969-08-12 Fort Wayne Tool & Die Inc Stator winding apparatus
US3678766A (en) * 1970-09-30 1972-07-25 Ind Products Inc Drive for in-slot winding machine
US3731546A (en) * 1971-12-01 1973-05-08 Sundstrand Corp Power operable pivot joint

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1310575A (en) * 1919-07-22 A cobpokatiost
US2408957A (en) * 1944-01-15 1946-10-08 Nat Automatic Tool Company Inc Remote control apparatus for machine tools
US2982258A (en) * 1957-06-04 1961-05-02 United Aircraft Corp Pressure ratio device utilizing a free piston valve for pressure ratio regulation and a servo mechanism coacting therewith to amplify pressure ratio error correction
US3025008A (en) * 1959-04-17 1962-03-13 Fort Wayne Tool & Die Inc Stator winding machine
US3139922A (en) * 1959-10-19 1964-07-07 Bendix Corp Compensated controller
US3460770A (en) * 1967-01-30 1969-08-12 Fort Wayne Tool & Die Inc Stator winding apparatus
US3678766A (en) * 1970-09-30 1972-07-25 Ind Products Inc Drive for in-slot winding machine
US3731546A (en) * 1971-12-01 1973-05-08 Sundstrand Corp Power operable pivot joint

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4688985A (en) * 1985-05-24 1987-08-25 Hartman John F Rotary mechanism for robot arms
US6541932B2 (en) * 2000-05-19 2003-04-01 Kuka Roboter Gmbh Robot area monitoring device
ITUB20159295A1 (it) * 2015-12-01 2017-06-01 B N P Srl Braccio articolato

Also Published As

Publication number Publication date
JPS4837862A (enrdf_load_stackoverflow) 1973-06-04
IT967525B (it) 1974-03-11
FR2153036B1 (enrdf_load_stackoverflow) 1979-04-06
CH573718A5 (enrdf_load_stackoverflow) 1976-03-31
DE2146720B2 (de) 1975-08-28
JPS5315258B2 (enrdf_load_stackoverflow) 1978-05-23
FR2153036A1 (enrdf_load_stackoverflow) 1973-04-27
GB1373043A (en) 1974-11-06
DE2146720A1 (de) 1973-03-22

Similar Documents

Publication Publication Date Title
US3798979A (en) Rotary and axial drive mechanism
EP0016527B1 (en) Impact press
US3680876A (en) Indexing device for a crankshaft
US2991760A (en) Tool feed and control
US3796116A (en) Machine with tailstock
US2995989A (en) Work positioning system for machine tools
GB1263104A (en) Improvements relating to tool infeeding mechanisms
GB601253A (en) Improvements in drilling and like machine tools
GB1360532A (en) Apparatus for machining ring-shaped workpieces
US2612005A (en) Glazing and polishing machine
GB1049791A (en) Improvements in or relating to thread grinding machines for grinding of conical threads
US3670456A (en) Honing tool arrangements
SU1282978A1 (ru) Пневмогидравлический привод осевого перемещени
US3937586A (en) Hydraulically actuated machine tool
US2839874A (en) Machine control mechanism
US3142940A (en) Machine for lapping gears
GB1219228A (en) Automatic turret lathes
US3675519A (en) Two position tool holder
US3401583A (en) Machine tool with tool feed control
US3848362A (en) Grinding apparatus for side surface of a workpiece
US2142022A (en) Infeed cycle control attachment
US3169349A (en) Gear finishing apparatus
GB589283A (en) Improvements in and relating to screw thread grinding machines
US2082929A (en) Metalworking machine
GB831927A (en) Grinding machine having an incremental feed mechanism

Legal Events

Date Code Title Description
AS Assignment

Owner name: FELSOMAT GMBH & CO. KG, GUTENBERGSTRASSE 4 KONIGSB

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:GEBR. FELSS;REEL/FRAME:004470/0923

Effective date: 19850925

STCF Information on status: patent grant

Free format text: PATENTED FILE - (OLD CASE ADDED FOR FILE TRACKING PURPOSES)