WO2007141947A1

WO2007141947A1 - Inter-element support mechanism, automatic tool changer with the inter-element support mechanism, conveying device, and actuator

Info

Publication number: WO2007141947A1
Application number: PCT/JP2007/055700
Authority: WO
Inventors: Ichiro Kitaura
Original assignee: Pascal Engineering Corporation
Priority date: 2006-06-08
Filing date: 2007-03-20
Publication date: 2007-12-13
Also published as: JP2007327597A

Abstract

An inter-element support mechanism (70) comprises a spherical body (42) which is installed between a first element (3) and a second element (120), one of which is movable relatively to the other, and which can support the first element (3); and a pressing means capable of pressing the spherical body (42) toward the first element (3).

Description

Specification

Inter-element support mechanism, automatic tool changer equipped with this inter-element support mechanism, transport apparatus, and actuator

Technical field

The present invention relates to an inter-element support mechanism, in particular, an inter-element support mechanism that is provided between machine elements and supports machine elements, an automatic tool changer including the inter-element support mechanism, a transfer device, and an actuator About.

Background art

[0002] In general, a mechanical device such as an ATC (automatic tool changer), a table transport unit, and an actuator is configured by organically coupling a plurality of mechanical elements via an inter-element support mechanism.

[0003] This inter-element support mechanism is generally provided in one machine element, and makes a mechanical relationship between one machine element and the other machine element by contacting the other machine element. I have it. As such an inter-element support mechanism, for example, a gear mechanism and a cam mechanism are well known.

[0004] The inter-element support mechanism needs to couple the mechanical elements without causing problems such as friction and backlash generated between the contacting mechanical elements.

[0005] For this reason, conventionally, a spherical body such as a ball or a cylindrical body such as a roller has been adopted as a contact portion with the machine element to reduce friction or the like.

[0006] In a driving force transmission mechanism that transmits the power of one mechanical element force to the other mechanical element, as a mechanism in which a ball is employed at a contact point with the mechanical element, for example, JP-A-8-1

There is an intermittent rotation device described in Japanese Patent No. 59233.

[0007] In this intermittent rotation device, the inter-element support mechanism is provided on the output shaft, the ball bearing holding hole formed in the output shaft, the ball bearing attached to the ball bearing holding hole, and the ball bearing holding And a presser plate for holding the ball bearing in the hole.

[0008] Then, while the input shaft rotates, the ball bearing is moved in the cam groove formed in the input shaft. The output shaft rotates as the gear slides.

Patent Document 1: JP-A-8-159233

Disclosure of the invention

Problems to be solved by the invention

[0009] In the inter-element support mechanism in which the ball is employed at the contact point with the mechanical element as described above, the ball and the contact surface are brought into good contact with each other to prevent occurrence of defects such as looseness. It is necessary to adjust the diameter of the ball. On the other hand, there is a limit to the types of commercially available ball diameters, and there is a limit to adjusting the ball diameter.

[0010] The present invention has been made in view of the above-described problems, and the object thereof is to suppress problems such as backlash even when a commercially available ball with a limited type of diameter is used. An inter-element support mechanism is provided, and an automatic tool changer, a transport device, and an actuator including the inter-element support mechanism are provided.

Means for solving the problem

[0011] An inter-element support mechanism according to the present invention includes a spherical body that is mounted between a first element and a second element, one of which is movable with respect to the other, and that can support the first element. And a pressing means capable of pressing the spherical body. Preferably, the spherical body is detachably attached to the second element. Preferably, the recess is formed in the second element and rotatably receives the spherical body, and the second element is detachably provided to expose a part of the spherical body and prevent the spherical body from falling off the recess. And a possible drop-off preventing member. Preferably, a recess for rotatably receiving the spherical body is formed, a moving member is provided in the second element and is displaceable toward the first element by a pressing force from the pressing means, and the first member The second element is provided on the second element so that the position of the moving member can be adjusted toward the element, and includes a stagger that can lock the moving member and adjust the maximum displacement amount of the moving member.

[0012] Preferably, the apparatus further includes a plurality of small spherical bodies provided in the depression, in contact with at least one of the inner surface of the depression and the outer surface of the spherical body and having a smaller diameter than the spherical body.

[0013] An automatic tool changer according to the present invention includes the inter-element support mechanism. A transport apparatus according to the present invention includes the inter-element support mechanism. The actuator according to the present invention includes the inter-element support mechanism. The invention's effect

[0014] The inter-element support mechanism according to the present invention can press the ball toward the mechanical element even if the diameter of the ball is not accurately adjusted and a gap is generated between the ball and the mechanical element. Therefore, it is possible to organically connect machine elements that do not cause defects such as looseness. Moreover, the same effect can be obtained also in the tool changer, the transfer device, and the actuator according to the present invention.

Brief Description of Drawings

FIG. 1 is a cross-sectional view of an automatic tool changer according to a first embodiment.

2 is a cross-sectional view taken along the line II-II shown in FIG.

FIG. 3 is a sectional view showing the inter-element support mechanism in detail.

FIG. 4 is a cross-sectional view of a hydraulic cylinder according to a second embodiment.

FIG. 5 is a cross-sectional view taken along line V—V in FIG.

FIG. 6 is a cross-sectional view showing details of an inter-element support mechanism.

FIG. 7 is a sectional view showing an actuator according to the third embodiment.

FIG. 8 is a cross-sectional view showing a main part of a table transport apparatus according to a fourth embodiment.

FIG. 9 is a sectional view taken along line IX-IX shown in FIG.

FIG. 10 is a cross-sectional view showing a modification of the table transport apparatus according to the fourth embodiment.

FIG. 11 is a cross-sectional view taken along the line XI-XI shown in FIG.

Explanation of symbols

[0016] 1 casing, 3 worm wheel, 5 rotation shaft, 8 cam groove, 12 rotation shaft, 17 annular recess, 41A1 ring, 41A2 protrusion, 41 drop-off prevention member, 42 ball, 43 moving member, 45 cam groove, 50 Turret, 60, 65 Driving force transmission mechanism, 70 Inter-element support mechanism, 71 Hydraulic mechanism, 100 Automatic tool changer, 300 Hydraulic cylinder, 320 Small ball, 35 0 Actuator, 400, 500 Table transfer device.

BEST MODE FOR CARRYING OUT THE INVENTION

[0017] (Embodiment 1)

Using FIG. 1 to FIG. 3, the inter-element support mechanism 70 according to the first embodiment and this element The automatic tool changer 100 provided with the intermediate support mechanism 70 will be described.

FIG. 1 is a cross-sectional view of automatic tool changer 100 according to the first embodiment, and FIG. 2 is a cross-sectional view taken along the line II-II shown in FIG. As shown in FIG. 1, the automatic tool changer 100 transmits the driving force of the output shaft force of a motor (drive source) (not shown) to the rotating shaft 5 to transmit the first driving force that rotates the rotating shaft 5. A mechanism 60 and a second driving force transmission mechanism 65 that transmits the driving force from the output shaft to the rotating shaft 5 and drives the rotating shaft 5 in the axial direction are provided.

[0019] The first driving force transmission mechanism 60 is provided in the casing 1 and is provided in a disc-shaped worm wheel (first mechanical element) 3 fixed to the rotary shaft 12 and rotatably in the casing 1. The worm gear 2 that is provided, the turret (second mechanical element) 50 that is rotatably provided, and the inter-element support mechanism 70 that is provided in the turret 50 and transmits the driving force of the worm wheel 3 to the turret 50 It has. The worm wheel 3 includes a circular side surface, a peripheral surface located between both side surfaces, and a cam groove 45 formed on the peripheral surface. The worm gear 2 is rotated by a drive source such as a motor (not shown), and a gear 2 a that meshes with a gear formed on the peripheral surface of the worm wheel 3 is formed at the tip of the worm gear 2. For this reason, when the worm gear 2 rotates, the worm wheel 3 rotates about the rotation shaft 12.

[0020] The turret 50 includes a shaft portion 110 extending in a direction intersecting the rotation shaft 12, and a disk portion 112 formed at one end of the shaft portion 110. They are arranged so that they intersect.

[0021] Both end portions of the shaft portion 110 are rotatably supported by the casing 1, and the central portion of the shaft portion 110 is supported by the support member 143, and it is possible to suppress the occurrence of stagnation in the shaft portion 110. It has been. A gear portion 112 a is formed on the peripheral surface of the disc portion 112.

[0022] The inter-element support mechanism 70 includes an annular member 120 that defines a plurality of recesses 120a, a moving member 43 that is housed in the recesses 12Oa and that is movably provided toward the worm wheel 3. A ball (spherical body) 42 fitted between the moving member 43 and disposed between the turret 50 and the worm wheel 3, and a hydraulic mechanism (pressing) that can press the ball 42 and the moving member 43 toward the worm wheel 3. Mechanism) 71.

According to the inter-element support mechanism 70, the hydraulic mechanism 71 can displace the ball 42 toward the worm wheel 3 via the moving member 43. Therefore, smaller than the desired diameter Even if the ball 42 is adopted, the hydraulic mechanism 71 displaces the ball 42 toward the warm wheel 3 via the moving member 43, thereby preventing a gap from being generated between the ball 42 and the cam groove 45. be able to. As a result, the ball 42 slides in the cam groove 45 satisfactorily, occurrence of problems such as play is suppressed, and the rotational movement of the worm wheel 3 can be transmitted to the turret 50 satisfactorily.

[0024] As shown in FIG. 2, a plurality of recesses 120a are formed in the circumferential direction at equal intervals, and a moving member 43 is provided in each recess 120a.

In FIG. 1, a hydraulic mechanism 71 includes an oil supply pipe 113 formed in a shaft portion 110, a rotary joint 141 provided at an end of the oil supply pipe 113, and an oil supply pipe via the rotary joint 141. And a pipe 140 connected to 113.

[0026] In the oil supply pipe 113, one end force of the shaft portion 110 also extends over a portion where the annular member 120 is located. Then, it branches so as to reach each recess 120 a formed in the annular member 120. Therefore, the ball (42) can be displaced toward the worm wheel (3) via the moving member (43) by oil (liquid medium), and the ball (42) can be brought into contact with the inner peripheral surface of the cam groove (45). . In the first embodiment, the force using the hydraulic mechanism 71 is not limited to this. For example, an air pressure or gas pressure mechanism using air or gas (a gaseous medium) as a medium may be used. Good.

FIG. 3 is a cross-sectional view showing the inter-element support mechanism 70 in detail. As shown in FIG. 3, the recess 120a includes a recess 120a2 and an annular recess 120al formed radially outward from the recess 120a2 and having a larger diameter than the recess 120a2.

[0028] The moving member 43 includes a large-diameter portion 122 that is in sliding contact with the inner peripheral surface of the recess 120a2, and a small-diameter portion 123 that is formed with a smaller diameter than the large-diameter portion 122 and protrudes toward the worm wheel 3. Yes. A recess 44 is formed on the end surface of the small diameter portion 123 on the worm wheel 3 side, and the ball 42 is received. The inner surface of the recess 44 has a gossip arch shape, and is configured by joining together two circular arc surfaces formed with a diameter larger than the diameter rl of the ball 42.

[0029] For this reason, the contact portion between the ball 42 and the recess 44 is in line contact, and a gap is formed between the ball 42 and the inner peripheral surface of the recess 44, so that the inner peripheral surface of the ball 42 and the recess 44 is formed. Big between The occurrence of friction can be suppressed.

A drop prevention member 41 that prevents the ball 42 from dropping from the depression 44 is provided at the opening edge of the depression 44. The drop-off prevention member 41 includes a C ring 41A1 fitted in an annular groove formed at the opening edge of the recess 44, and an annular protrusion 41A2 provided on the C ring 41A1. .

[0031] Therefore, the turret 50 alone can be taken out of the apparatus with the ball 42 mounted, and the diameter of the ball can be adjusted with the turret 50 alone.

[0032] The length of the large diameter portion 122 in the axial direction is shorter than the depth of the recess 120a2, and the large diameter portion 122 can be displaced in the axial direction within the recess 120a2. An oil supply pipe 113 is connected to the recess 120a2, and an oil supply chamber 120d capable of storing oil (medium) is formed between the inner peripheral surface of the recess 120a2 and the moving member 43. When the oil is supplied into the oil supply chamber 120d, the moving member 43 is pressed toward the worm wheel 3 to be movable.

[0033] Therefore, even when a gap is generated between the ball 42 and the cam groove 45 where the diameter of the mounted ball 42 is smaller than a predetermined diameter, the moving member 43 is displaced to the worm wheel 3 side. As a result, the ball 42 can be brought into contact with the inner surface of the cam groove 45.

[0034] Further, when the diameter of the mounted ball 42 is larger than a predetermined diameter, the ball 42 is cammed by retracting the moving member 43 so that the ball 42 and the inner surface of the cam groove 45 come into contact with each other. Can be inserted into the groove 45.

[0035] As described above, even if the diameter of the mounted ball 42 is slightly different from the predetermined diameter by the moving member 43 provided so that the ball 42 can be displaced toward the worm wheel 3, the ball 42 Can be fitted into the cam groove 45. In addition, by pressing the ball 42 against the inner surface of the cam groove 45, the gap between the ball 42 and the cam groove 45 can be eliminated, and the driving force from the worm wheel 3 that is free from defects such as play is transmitted to the turret 50. can do.

[0036] A ring-shaped stopper 121 is provided in the annular recess 120al. The stopper 121 whose inner diameter is smaller than the diameter of the recess 120a2 protrudes from the opening edge of the recess 120a in the inner diameter direction.

[0037] The small-diameter portion 123 is inserted into a through hole formed in the central portion of the stopper 121, and the large-diameter portion 1 When the upper surface of 22 and the bottom surface of the stopper 121 are in contact with each other, the stopper 121 locks the moving member 43. As a result, the maximum moving distance by which the moving member 43 is displaced toward the worm wheel 3 can be defined.

[0038] A screw part 121b is formed on the inner peripheral surface of the annular recess 120al, and a screw part 121a that is screwed with the screw part 121b is formed on the peripheral surface of the stopper 121. For this reason, when the stock 121 is rotated, it can be displaced toward the worm wheel 3. Therefore, by rotating the stopper 121, the locking position between the stopper 121 and the moving member 43 can be set, and the maximum displacement amount of the moving member 43 can be adjusted.

[0039] Furthermore, by making this stopper 121 removable from the annular member 120, even if the moving member 43 is deteriorated with time, only the moving member 43 can be replaced, and the repair cost Reduction can be achieved.

In FIG. 1, the rotating shaft 5 is provided with an annular rotating member 150, and a gear corresponding to the gear portion 112 a formed on the turret 50 is formed on the outer peripheral surface of the rotating member 150. Part 150a is formed.

[0041] Therefore, when the worm gear 2 is rotated by the driving force of the motor and the worm wheel 3 and the turret 50 are rotated, the rotating member 150 is also rotated. When the rotating member 150 rotates, the rotating shaft 5 engaged with the rotating member 150 also rotates. In this way, the driving force of the motor force is transmitted as the rotational force of the rotating shaft 5.

[0042] At the end of the rotating shaft 5, there is provided a tool changing arm (not shown) for exchanging the tool installed in the tool magazine and the tool mounted on the main shaft. This tool change arm has a substantially rectangular shape, is provided with a tool gripping part capable of gripping a tool and a tool holder at both end sides, and is supported by the rotary shaft 5 at the center part.

The second driving force transmission mechanism 65 includes a power transmission member (not shown) that transmits the rotational motion of the worm wheel 3 from the annular recess 17 formed in the rotational shaft 5 to the rotational shaft 5. The This power transmission member is provided on one end side, and is provided on a roller sliding in the annular cam groove 8 shown in FIG. 2 formed on the side surface of the worm wheel 3 and on the other end side. And a roller that slides in the annular recess 17 and a rotation shaft formed in the center.

[0044] When the worm wheel 3 rotates, the position of the roller sliding in the cam groove 8 is displaced. Thus, the power transmission member rotates about the rotation axis. Then, the rotary shaft 5 is displaced in the axial direction by a roller provided at the other end and disposed in the annular recess 17.

[0045] The operation of the automatic tool changer 100 configured as described above will be described. In FIG. 1, when exchanging a tool mounted on a spindle (not shown) and a new tool to be exchanged waiting in the tool magazine, first, the tool exchange arm rotates from the retracted position toward each tool. Move.

In this turning step, the hydraulic mechanism 71 supplies oil from the oil supply pipe 113 and presses the ball 42 against the cam groove 45 of the worm wheel 3. As a result, the turret 50 rotates accurately according to the cam groove 45 of the worm wheel 3, and the rotating shaft 5 also rotates accurately.

Thereby, the position of the tool exchange arm can be accurately controlled, and the tool mounted on the spindle and the tool waiting in the tool magazine can be accurately obtained.

[0048] When the tool gripping portion of the tool change arm is positioned on each tool, the tool mounted on the spindle is removed by an unclamping device (not shown).

[0049] During this unclamping operation, a large impact force is applied to the spindle, so that a large stress is not applied to the ball 42 via a tool change arm or the like. Is reduced.

[0050] When the pressing force from the hydraulic mechanism 71 to the ball 42 is reduced, the moving member 43 is displaced so as to retract from the worm wheel 3 when a large pressing force is applied to the ball 42 in FIG. Thus, the stress applied to the ball 42 can be reduced.

[0051] Thus, according to the inter-element support mechanism 70 according to Embodiment 1, the ball 4

2 can be adjusted, and a large stress can be prevented from being applied to the ball 42 and the turret 50.

[0052] Furthermore, when a large stress is applied to the ball 42, the ball 42 rotates in the recess 44 and receives the applied stress, thereby further suppressing the large stress from being applied to the ball 42 itself and the turret 50. can do. This prevents damage to the turret 50 and the like.

[0053] After the unclamping operation, the ball 42 is pressed into the cam groove 45 by the pressing force from the hydraulic mechanism 71. Thereafter, the second drive force transmission mechanism 65 shown in FIG. The rolling shaft 5 is displaced in the axial direction, and the tool changing arm pulls out the tool from the spindle and takes out the tool stored in the tool magazine.

[0054] Then, the rotating shaft 5 is rotated by the first driving force transmission mechanism 60, the tool changing arm is also rotated, and each tool is conveyed. Each tool is precisely aligned with the storage position of the spindle and tool magazine. Thereafter, the rotary shaft 5 is displaced in the axial direction, and a new tool is mounted on the main shaft.

[Embodiment 2]

The inter-element support mechanism 370 and the hydraulic cylinder (actuator) 300 including the inter-element support mechanism 370 according to the second embodiment will be described with reference to FIGS. Note that the same components as those shown in FIGS. 1 to 3 are denoted by the same reference numerals and description thereof is omitted.

FIG. 4 is a cross-sectional view of hydraulic cylinder 300 according to the second embodiment. As shown in FIG. 4, the hydraulic cylinder 300 includes a housing (first mechanical element) 340 formed in a bottomed cylindrical shape.

A piston (second mechanical element) 311 provided in the casing 340 and an inter-element support mechanism 370 provided in the casing 340 are provided.

The inside of the housing 340 is defined by a piston 311 into an oil supply chamber 303 capable of storing oil and an oil supply chamber 313. Oil supply pipes 304 and 314 are connected to the oil supply chambers 303 and 313, respectively.

The piston 311 includes a closing member 302 that divides the housing 340 into an oil supply chamber 303 and an oil supply chamber 313, a cam portion 324 that is connected to the closure member 302 and has a cam groove 305 formed on the surface thereof. An output shaft 301 connected to the cam portion 324 is provided.

[0059] The inter-element support mechanism 370 is inserted into the cam groove 305 to support the piston 311.

09 equipped.

FIG. 5 is a cross-sectional view taken along the line VV in FIG. As shown in FIG. 5, a plurality of inter-element support mechanisms 370 are arranged along the circumferential direction of the piston 311.

FIG. 6 is a cross-sectional view showing details of the inter-element support mechanism 370. As shown in FIG. 6, the inter-element support mechanism 370 includes a moving member 307 fitted in a recess 308 formed in the inner peripheral surface of the housing 340, and a recess 321 formed in the moving member 307. The Bonore 309 fitted in the Bonore 309, the Bonore 309 mounted in the Bonore 309, and the hydraulic mechanism 330 are provided. The

[0062] The moving member 307 is slidably provided in the recess 308. The oil supply chamber 325 is defined by the back surface 307a from which the inner surface force of the recess 308 is also separated by the displacement of the moving member 303 and the inner surface of the recess 308. An oil supply pipe 306 provided in the hydraulic mechanism 330 is connected to the oil supply chamber 325. For this reason, when oil is supplied into the oil supply chamber 325, the moving member 307 can advance toward the piston 311 and can be moved backward by removing the oil from the oil supply chamber 325.

A plurality of small balls (small spherical bodies) 320 are accommodated between the inner surface of the recess 320 and the outer surface of the ball 309.

[0064] The diameter of the small ball 320 is smaller than the diameter of the ball 309, and the outer surface of the small ball 320 is in contact with at least one of the inner surface of the ball 309 or the recess 321.

[0065] The ball 309 is in contact with the small ball 320 at a plurality of positions. Since the small ball 320 rotates in accordance with the movement of the ball 309, the friction generated between the small ball 320 and the ball 309 causes the ball 309 to directly contact the inner surface of the recess 321 and the ball 309 and the recess 3

This is less than the friction that occurs between them. For this reason, the ball 309 can rotate and slide well in the recess 321.

A drop prevention member 312 is provided at the opening edge of the recess 321, and the drop prevention member 312 opens the storage space formed between the ball 309 and the inner peripheral surface of the recess 321. The mouth end is blocked, and the small ball 320 is prevented from falling off.

[0067] An oil supply chamber 325 is formed between the bottom surface 307a of the moving member 307 and the inner surface of the recess 308. The hydraulic mechanism 330 includes an oil supply pipe 306 connected to the oil supply chamber 325. Yes.

[0068] The operation of the hydraulic cylinder 300 configured as described above will be described.

For example, to move the piston 311 downward from the retracted state of the piston 311 as shown in FIG. 4, first, oil is supplied from the oil supply pipe 314 into the oil supply chamber 313.

[0069] When oil is supplied into the oil supply chamber 313, the piston 311 is pressed downward and advances downward. At this time, the ball 309 is fitted in the cam groove 305, and the piston 311 is

, Guided by a cam groove 305. [0070] In the hydraulic cylinder 300 according to the second embodiment, the cam groove 305 includes a portion extending along the axial direction and a portion extending in the circumferential direction toward the axial direction. The For this reason, when the ball 309 reaches a portion extending in the circumferential direction, the piston 311 rotates in the circumferential direction while being displaced downward.

[0071] At this time, since the ball 309 is supported by a plurality of small balls 320, following the change in the shape of the cam groove 305 that does not generate large friction, the rotation direction and the sliding direction of the ball 309 are changed. It can be changed.

[0072] For this reason, it is possible to smoothly guide the piston 311 in which friction is hardly generated between the ball 309 and the cam groove 305. In this way, the piston 311 advances outward as shown in FIG.

In the inter-element support mechanism 370 according to the second embodiment, the moving member 307 can be displaced toward the piston 311. For this reason, even when the diameter of the ball 309 is not set accurately, the ball 309 can be pressed against the cam groove 305 to suppress the occurrence of rattling vibration on the piston 311 and the housing 340. It is possible to reduce friction.

Furthermore, by retracting the moving member 307, the ball 309 can be fitted into the cam groove 305 even if the ball 309 larger than the predetermined diameter is mounted. That is, the inter-element support mechanism 370 according to the second embodiment can obtain the same operations and effects as the element support mechanism according to the first embodiment. Preferably, the drop-off prevention member 312 can be attached to and detached from the moving member 307 as in the first embodiment.

The hydraulic cylinder 300 according to the second embodiment is provided with the inter-element support mechanism 370 on the housing 340 side, but is not limited thereto, and may be provided on the piston side.

[Embodiment 3]

FIG. 7 is a cross-sectional view showing an actuator 350 according to the third embodiment. As shown in FIG. 7, the actuator 350 includes a casing 351, an output shaft 352 provided in the casing 351, and a cylindrical body disposed in the casing 351 and disposed around the output shaft 352. 380 and an inter-element support mechanism 370 provided on the output shaft 352.

[0077] The cylindrical body 380 is formed in a hollow cylindrical shape and has a pair of defined provisions arranged to face each other in the axial direction. Wall portions 361 and 363 and hollow body portions 362 formed on the outer peripheral edge portions of the prescribed wall portions 361 and 363 are provided.

The regulation wall portion 363 cooperates with the inner wall surface of the casing 351 to define the fueling chamber 365 in the casing 351, and the regulation wall portion 361 similarly defines the fueling chamber 360. An oil supply pipe 371 is connected to the oil supply chamber 365, and an oil supply pipe 372 is connected to the oil supply chamber 360.

[0079] Therefore, by supplying oil into the oil supply chamber 365 or the oil supply chamber 360, the cylinder 380 can be displaced in the axial direction. In order to prevent the cylindrical body 380 from rotating in the circumferential direction, a stopper 390 is provided on the inner wall surface of the housing 351.

[0080] A cam groove 362 extending in the circumferential direction is formed on the inner wall surface of the cylindrical body 380 as it is directed in the axial direction.

[0081] The output shaft 352 is inserted into the cylindrical body 380, and both end portions are rotatably supported by the housing 351, and the inter-element support provided on the shaft portion 356 located in the cylindrical body 380. Mechanism 370.

The inter-element support mechanism 370 includes an annular member 353 in which a plurality of recesses 308 are formed, a moving member 307 movably provided in the recess 308, and a recess 321 formed on an end surface of the moving member 307. It has a ball 309 mounted inside and a hydraulic mechanism!

[0083] The hydraulic mechanism includes an oil supply pipe 354 that is formed in the shaft portion 356, the end force of the shaft portion 356 extends to a portion where the annular member 353 is located, and branches toward each recess 321. Thus, by supplying oil between the recess 308 and the moving member 307, the moving member 307 can be displaced. The ball 309 is engaged with the cam groove 362 and supports the cylindrical body 380. In the third embodiment as well, the inter-element support mechanism 370 includes a plurality of small balls between the ball 309 and the recess 321.

The operation of the actuator 350 configured as described above will be described. When oil is supplied into the oil supply chamber 365 from the state shown in FIG. 7, the cylinder 380 is displaced in the axial direction. At this time, since the ball 309 is fitted in the cam groove 362 and the circumferential displacement of the cylindrical body 380 is suppressed, the shaft portion 356 rotates.

[0085] Since the ball 309 can be displaced in the radial direction of the cylindrical body 362 by the hydraulic mechanism, the ball 309 can be pressed against the surface of the cam groove 362a. The ball 309 can be slid in the cam groove 362a satisfactorily without causing friction.

That is, since the inter-element support mechanism according to Embodiment 3 is configured in the same manner as the inter-element support mechanism according to Embodiment 2, the same effect as the above Embodiment 2 'effect Can be obtained.

(Embodiment 4)

A table transport apparatus 400 according to the fourth embodiment will be described with reference to FIGS. FIG. 8 is a cross-sectional view showing a main part of the table transport apparatus 400 according to the fourth embodiment.

[0088] As shown in FIG. 8, the table transport apparatus 400 includes a drive source 401 such as a motor, a rotating shaft 405 in which a cam groove 408 extending in a spiral shape is formed on the outer surface, and the rotating shaft A table support unit 403 that is provided in 405 and supports a table (not shown), and an inter-element support mechanism 370 provided in the table support unit 403 are provided.

A driving force transmission mechanism 402 that transmits power from the output shaft to the rotating shaft 405 is provided between the output shaft of the driving source 401 and the rotating shaft 405.

[0090] The inter-element support mechanism 370 is mounted in a recess 308 formed in the table support portion 403, a moving member 307 movably mounted in the recess 308, and a recess formed in an end surface of the moving member 307. And a hydraulic mechanism that presses the ball 309 through the moving member 307.

The hydraulic mechanism includes an oil supply pipe 409 that is formed in the table support portion 403 and supplies oil between the recesses 308 and the moving member 307.

FIG. 9 is a cross-sectional view taken along line IX-IX shown in FIG. As shown in FIG. 9, a plurality of inter-element support mechanisms 370 are arranged in the circumferential direction of the rotating shaft 405.

The ball 309 is mounted in a recess 321 formed on the end face of the moving member 307, and is held in the recess 321 by a drop prevention member 312.

Further, a plurality of small balls 320 are arranged between the inner surface of the recess 321 and the ball 309. That is, the inter-element support mechanism 370 according to the fourth embodiment is configured in the same manner as the inter-element support mechanism 370 according to the second and third embodiments. The table transport apparatus 400 configured as described above will be described. Power from the output shaft of the drive source 401 is transmitted to the rotating shaft 405 by the driving force transmission mechanism 402, and the rotating shaft 405 rotates.

When the rotating shaft 405 rotates, the table support portion 403 is displaced in the axial direction of the rotating shaft 405. At this time, since the ball 309 can rotate or slide well in the recess 321, it is possible to suppress a large friction between the cam groove 408 and the ball 309. Furthermore, since the moving member 307 can be pressed against the inner surface of the cam groove 408 by the hydraulic mechanism, the occurrence of backlash can be suppressed.

[0097] For this reason, the table can be conveyed accurately, and when the accuracy of position control is not high, the ball 309 by the hydraulic mechanism is weakened to further reduce the distance between the ball 309 and the force groove 408. Friction can be reduced and high-speed conveyance can be achieved.

Note that the inter-element support mechanism according to Embodiment 4 is configured in the same manner as the inter-element support mechanism according to Embodiments 2 and 3, and thus the elements according to Embodiments 2 and 3 above. The same effect as the inter-support mechanism can be obtained.

In the table transport apparatus 400 according to the fourth embodiment, the force described in the example in which the spiral cam groove 408 is formed on the rotating shaft 405, as shown in FIG. 10 and FIG. It may be a cam groove extending along the axial direction.

FIG. 10 is a cross-sectional view showing a modification of the table transport apparatus according to the fourth embodiment, and FIG. 11 is a cross-sectional view taken along line XI-XI shown in FIG.

As shown in FIGS. 10 and 11, the table transport apparatus 500 includes a shaft portion 501 in which a cam groove 408 extending linearly in the axial direction is formed, and along the shaft portion 501. A table support member 502 that moves, and an inter-element support mechanism 370 provided between the table support member 502 and the shaft portion 501 are provided.

[0102] In this table transport device 500 as well, since the ball 309 can be displaced toward the cam groove 408, even if the ball 309 having a diameter different from the predetermined diameter is mounted, the ball 309 is cammed. By pressing against the surface of the groove 408, it is possible to move the table support member 502 that is free from defects such as play.

[0103] The embodiment of the present invention has been described as described above. The embodiment should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

[0104] In Embodiments 1 to 4 described above, examples of application to an automatic tool changer, an actuator, and a transfer device have been described. However, the present invention is not limited to this, and one of them can move relative to the other. The present invention can be applied to any mechanism that organically connects the mechanical elements.

Industrial applicability

The present invention is an inter-element support mechanism, in particular, an inter-element support mechanism that organically couples mechanical elements, and an automatic tool changer, an actuator, and a transport equipped with the inter-element support mechanism It is suitable for a mechanical device such as a device.

Claims

The scope of the claims

[1] a spherical body mounted between the first element and the second element, one of which is movable with respect to the other, and capable of supporting the first element;

A pressing means capable of pressing the spherical body toward the first element;

An inter-element support mechanism.

[2] The inter-element support mechanism according to claim 1, wherein the spherical body is detachably attached to the second element.

[3] a recess formed in the second element and rotatably receiving the spherical body;

A drop-off preventing member that is detachably provided on the second element, exposes a part of the spherical body, and prevents the spherical body from falling off the depression.

The inter-element support mechanism according to claim 1, further comprising:

[4] A moving member that is formed with a recess for rotatably receiving the spherical body, is provided in the second element, and is movable toward the first element by a pressing force from the pressing means; ,

A stagger that is provided in the second element so as to be position-adjustable toward the first element, and is capable of locking the moving member and adjusting a maximum displacement amount of the moving member;

The inter-element support mechanism according to claim 1, comprising:

[5] The apparatus further comprises a plurality of small spherical bodies provided in the hollow, in contact with at least one of the inner surface of the hollow and the outer surface of the spherical body, and having a smaller diameter than the spherical body. The inter-element support mechanism according to item 2 of the range.

[6] An automatic tool changer comprising the inter-element support mechanism according to claim 1.

[7] A transport device comprising the inter-element support mechanism according to claim 1.

[8] An actuator comprising the inter-element support mechanism according to claim 1.