JPH0615133B2 - Work transfer device - Google Patents

Description

Detailed Description of the Invention A. Object of the Invention (1) Field of Industrial Application The present invention relates to a work transfer device provided with a clamp finger, which is connected to a parallel rack guide bar meshing with a common pinion and is driven to open and close, at the tip of a transfer arm.

(2) Conventional technology Conventionally, in a work transfer device in which a clamp finger for gripping a work is provided at the tip of a transfer arm, two parallel rack guide bars with clamp fingers attached to both sides of a common pinion are engaged with each other. It is known that the clamp fingers are opened and closed so as to approach and separate from each other by driving in opposite directions (for example,
See JP-A-63-31204).

(3) Problems to be Solved by the Invention By the way, in the above-described conventional transport mechanism, a pair of parallel rack guide bars equipped with clamp fingers are directly connected to a drive source provided adjacent to the parallel rack guide bars to drive them. As a result, the size of the transfer arm that supports the clamp fingers becomes large, which interferes with the work loading / discharging mechanism and the processing machine, resulting in an inconvenience in its layout. Further, since the opening / closing stroke of the clamp finger is fixed, it is difficult to easily deal with the change in the dimension of the work.

The present invention has been made in view of the above circumstances, and makes it possible to reduce the size of a transfer arm on which a clamp finger is mounted and to easily adjust the opening / closing stroke of the clamp finger and the like. The purpose is to provide.

B. Configuration of the Invention (1) Means for Solving the Problems In order to achieve the above-mentioned object, the present invention provides a parallel rack guide bar which is meshed with a common pinion and driven in mutually opposite directions, and the parallel rack guide bar. In a work transfer device including a pair of clamp fingers that are connected to a bar to open and close, and a transfer arm that rotates by holding the clamp finger at an outer end in a radial direction, a hollow outer member that supports and rotates the transfer arm. A shaft, an inner shaft that is rotatably supported inside the outer shaft, a cam provided on the inner shaft, a link whose one end abuts on the cam and is driven, and a pinion that meshes with the pinion. And an intermediate gear driven by being connected to the other end of the link.

(2) Operation According to the above-mentioned feature of the present invention, when the inner shaft pivotally supported inside the outer shaft supporting the transfer arm rotates, the other end of the link whose one end abuts on the cam fixed to the inner shaft The connected intermediate gear rotates. The rotation of the intermediate gear is transmitted to the parallel rack guide bar via the pinion, and the clamp finger connected to the parallel rack guide bar is opened and closed. At this time, the power for opening and closing the clamp fingers is transmitted from the outside of the transfer arm by the inner shaft that is coaxially housed inside the outer shaft that supports the transfer arm. You can
Moreover, the opening / closing stroke and opening / closing timing of the clamp finger can be easily changed only by replacing the cam provided on the inner shaft.

(3) Examples Hereinafter, examples of the present invention will be described with reference to the drawings.

1 to 6 show an embodiment of the present invention.
FIG. 2 is a front view of the entire work transfer device, FIG. 2 is a sectional view taken along line II-II in FIG. 1, FIG. 3 is a sectional view taken along line III-III in FIG. 2, and FIG. 4 is IV in FIG. -IV line sectional drawing, FIG. 5 is a VV line sectional view of FIG. 2, and FIG. 6 is a VI-VI sectional view of FIG.

As shown in FIG. 1, this work transfer device is for attaching and detaching a work W such as a gear to a processing machine M such as a gear grinding machine, and a slider 3 guided by a guide rail 2 provided on a base 1. Via a transfer arm drive device D that moves back and forth between a forward position shown by a solid line and a retracted position shown by a chain line, and a transfer arm A that is rotationally driven clockwise by the transfer arm drive device D in the figure. There is.

The transfer arm A is attached to an outer shaft 4 as an output shaft projecting from one side surface of the transfer arm driving device D to the front side of the paper surface, and is rotated integrally with the first transfer arm 5 and the second transfer arm 5.
A transfer arm 6 is provided. Both of the transfer arms 5 and 6 have a shape bent like a dogleg so that the middle part thereof protrudes to the advancing side in the rotation direction, and each pair of clamp fingers 7 ₁ to hold the work W at the tip thereof. 7 ₂ is mounted. As apparent from the figure, the clamping fingers ₇ of the first transfer arm 5, _{7 2} and the clamping fingers ₇ 1, _{7 2} of the second carrier arm 6 is 120 ° relative to the outer shaft 4 as the rotational axis It is arranged with a central angle.

A work input shooter 8 for supplying a non-finished work W is provided above the transfer arm driving device D.
A work cutting member 10 driven by a cylinder 9 is provided at an intermediate portion of the work input shooter 8, and the works W stored in the work input shooter 8 are cut out one by one from the tip. On the side surface of the stopper 11 provided at the downstream end of the work input shooter 8, the work W driven by a cylinder (not shown) and locked by the stopper 11 is pushed laterally (back side of the paper surface) to the first side. A pusher 12 for delivering to the clamp fingers 7 ₁ and 7 ₂ of the first transfer arm 5 is provided. On the other hand, behind the transport arm driving device D (on the left side of the paper surface), there is provided a work discharge chute 13 for discharging the processed work W, the lower end of which is connected to a work discharge conveyor 14 which is a belt conveyor. ing.

A processing machine M disposed in the lower front part of the transfer arm driving device D
Is a shift table 15 which is movable in the front-rear direction, a traverse table 16 which is movable in the left-right direction on the shift table 15, and a collet chuck 17 and a tailstock 18 which hold both side surfaces of the work W on the traverse table 16. Is equipped with.

The first transfer arm 5 of the transfer arm A moves to the work input position P ₁
When the unprocessed work W is received from the work input shooter 8, the transfer arm driving device D is in the retracted position indicated by the chain line, and the clamp fingers 7 ₁ and 7 ₂ of the first transfer arm 5 are directly above the outer shaft 4. positioned.
When the second transfer arm 6 delivers the processed work W to the work payout shooter 13 at the work payout position P ₃ , the transfer arm drive device D is also in the retracted position. On the other hand, when the first transfer arm 5 transfers the unprocessed work W to the collet chuck 17 and the tail stock 18 of the processing machine M at the work attachment / detachment position P ₂ , and the second transfer arm 6 receives the processed work W. At this time, the transport arm driving device D is in the forward position shown by the solid line. At this time, the base portions 5 ₁ and 6 ₁ of both arms 5 and 6 incline forward and downward, and the front portions 5 ₂ and 6 ₂ extend forward in a horizontal posture. The shift table 15 of the processing machine M that has received the unprocessed work W from the first transfer arm 5 advances to the position of the chain line, and the work W is ground by a grinding wheel (not shown).

As shown in FIG. 2, the transfer arm driving device D includes a casing 19 that rotatably supports the outer shaft 4 that drives the transfer arm A. Inside the casing 19, a counter shaft 20 arranged in parallel with the lower portion of the outer shaft 4 is provided with roller bearings 21, 22 and ball bearings 23, 2 at both end portions and a central portion thereof.
The counter shaft 20 is supported by 4
The worm wheel 25 provided in the center of the drive motor 2
6 (see FIG. 1) meshes with the worm gear 27 that rotates and is driven to rotate.

An intermediate shaft 28 having a substantially cylindrical shape is supported on the upper portion of the casing 19 by a pair of needle bearings 29 and 30, and an inner peripheral portion of the intermediate shaft 28 is provided with a bearing member 31 provided on the right wall of the casing 19. The left end portion of the outer shaft 4 supported by is spline-engaged. On the left wall of the casing 19 is the key 3 at the left end of the counter shaft 20.
The driven gear 34, which has the same number of teeth and meshes with the drive gear 33 fixed in 2, is supported by ball bearings 35 and 36,
At the center of the driven gear 34, a left end of an inner shaft 38 coaxially arranged inside the outer shaft 4 via a ball bearing 37 is spline-engaged.

As will be apparent with reference to FIG. 4 as well, the intermediate shaft 28 is intermittently rotated by 120 ° by a well-known parallel index cam mechanism 39 provided between the intermediate shaft 28 and the counter shaft 20. That is, the parallel index cam mechanism 39 is rotatably supported on the outer circumference of the inner shaft 38 and the pair of original cams 40 ₁ and 40 ₂ fixed to the counter shaft 20 by the key 32 so as to be adjacent to the drive gear 33. And a follower roller support member 41 integrally fixed to the flange 28a of the intermediate shaft 28.
, And the six follower rollers 42 _1, ..., 42 ₂ ... That are rotatably supported on the outer circumference of the follower roller support member 41. Both original joint cams 40 ₁ and 40 ₂ are circular portions 40
a ₁ and 40a ₂ and cam crests 40b ₁ and 40b ₂ protruding outward in the radial direction from the perfect circles 40a ₁ and 40a ₂ . The follower roller support member 41 includes three follower rollers 42 _1, ... Which can be engaged with one of the master cams 40 _1.
The master cams 40 ₂ are arranged at 0 ° intervals and are arranged on the other side.
The other three follower rollers 42 ₂ ... Which can be engaged with the three follower rollers 42 ₁ are arranged in a phase shift of 60 ° with respect to the three follower rollers 42 ₁ . Then, both original section cams 40 ₁ and 40 ₂
Between the true circle portion _40a 1, 40a ₂ is in contact with the two follower rollers ₄₂ 1, 42 ₂ adjacent the HaraTakashi cam ₄₀ 1,
The rotation of 40 ₂ is not transmitted to the follower roller support member 41, that is, the intermediate shaft 28, and the two follower rollers 42 ₁ ,
42 rotation of the intermediate shaft 28 is regulated ₂ to a wedge action of a true circle portion _40a 2, 40a ₂ abuts. Original section cam 40 ₁ , 40
_{When 2} further rotates and the cam crests 40b ₁ and 40b ₂ press the corresponding follower rollers 42 ₁ and 42 ₂ , respectively, the follower roller supporting member 41 fixed to the intermediate shaft 28 becomes 120.
Rotate by ° and stop at the next index position. In this way, the parallel index cam mechanism 39 causes the intermediate shaft 28 to intermittently rotate by 120 ° per revolution of the counter shaft 20 that continuously rotates.

As will be apparent by referring to FIGS. 5 and 6 together, a cam groove 43 is formed on the outer circumference at the right end of the counter shaft 20.
A cylindrical groove cam 43 forming a is fixed by a key 44, and a roller follower 47 provided in the middle of a drive arm 46 pivotally supported by a support 45 on the casing 19 engages with the cam groove 43a of the cylindrical groove cam 43. I am fit. Casing 19
The slider 48 is slidably supported by the drive arm 46 and is driven by being engaged with the tip of the drive arm 46.
a is fixed, and this driving member 48a is engaged with a groove 50a formed on the outer circumference of a positioning arm 50 fixed to the outer shaft 4 with a key 49. Positioning arm 5
A positioning pin 51 is axially provided at the tip of 0, and the casing 19 has two positioning holes 52 ₁ and 52 ₂ with which the positioning pin 51 can engage in correspondence with two index positions. Are formed with a phase difference of 120 °. Incidentally, from both the positioning holes ₅₂ 1, 52 ₂ 120
Positioning holes corresponding to the third index positions are not formed in the parts that are out of phase with each other, and spaces are formed so as not to interfere with the movement of the positioning pins 51. As described above, the outer shaft 4 is spline-engaged with the intermediate shaft 28 that rotates intermittently by the parallel index cam mechanism 39 so as to be movable in the axial direction.
1 action per rotation of the counter shaft 20
It is driven back and forth in the axial direction at the rate of rotation. Then, of the three index positions at 120 ° intervals, the positioning pin 5 is positioned at two index positions that require positioning.
Positioning of the outer shaft 4 is carried out by 1 is fitted into the positioning holes ₅₂ 1, 52 _2. At this time, as the outer shaft 4 advances and retracts in the axial direction, the inner shaft 38 that is supported therein and that is spline-engaged with the driven gear 34 is driven to advance and retract in the axial direction together with the outer shaft 4.

As shown in FIGS. 2 and 3, the transfer arm A is integrally fixed to the tip of the outer shaft 4 protruding rightward from the casing 19. Clamp finger support member ₅₄ 1, 54 ₂ which is fixed in each pair of clamping fingers ₇ 1, _{7 2} to bolt 53 to the first transfer arm 5 provided at the end of the second transfer arm 6 of the transport arm A is first, The pair of parallel rack guide bars 55 ₁ and 55 ₂ that slidably pass through the front portions 5 ₂ and 6 ₂ of the two transfer arms 5 and 6 are slidably supported by both ends. A coil spring 5 is provided between the clamp finger support member 54 ₁ and the nut 56 ₁ screwed to the tip of one of the parallel rack guide bars 55 _1.
7 with ₁ are compressed state, _second coil spring 57 is under compression between the other nut 56 ₂ which is screwed to the tip of parallel rack guide bars 55 ₂ of the clamp finger support member _542, these coil springs 57 _1, 57 both clamp finger ₇₁ by _{2, 7 2} toward each other, i.e., is biased in a closing direction.

At the tip of the inner shaft 38 projecting from the tip of the outer shaft 4 to the inside of the transfer arm A, the first fingers for opening and closing the clamp fingers 7 ₁ , 7 ₂ of the first transfer arm 5 are opened and closed.
A cam 58 _1, the clamping fingers 7 of the second transfer arm 6
_A second cam 58 _{2 for} driving the opening and closing of ₁ and 7 ₂ is fixed by a key 59. Roller follower 62 provided at one end of the L-shaped link 61 pivotally supported by the shaft 60 in the interior of the transport arms 5 and 6 contact each ₂ the first cam 58 ₁ and the second cam 58, the other end The long hole 61a formed in the above is engaged with a pin 66 provided at the tip of an arm 65 fixed to an intermediate gear 64 pivotally supported by a support shaft 63 on both transfer arms 5 and 6. The parallel rack guide bars ₅₅ 1, 55 a pinion 68 which is rotatably supported by the support shaft 67 between the _two racks _55a 1 formed in the facing portion of the parallel rack guide bars ₅₅ 1, 55 _2,
55a ₂ and the intermediate gear 64. As a result, when the inner shaft 38 rotates relative to the outer shaft 4, the clamp fingers 7 ₁ , 7 _{2 of} the first transfer arm 5 are driven to open and close by the first cam 58 ₁ and the second cam 58 ₂ moves the clamp fingers 7 ₁ , 7 ₂ . clamp fingers ₇ 1 2 transport arm 6, _{7 2} is opened and closed.

Next, the operation of the embodiment of the present invention having the above-mentioned structure will be described.

In FIG. 2, the rotation of the counter shaft 20 driven by the worm wheel 25 meshing with the worm gear 27 is transmitted to the driven gear 34 via the drive gear 33.
Further, it is transmitted to the inner shaft 38 that is spline-engaged with the driven gear 34. On the other hand, the rotation of the counter shaft 20 is rotated by the intermediate shaft 2 via the parallel index cam mechanism 39.
The outer shaft 4 transmitted to the intermediate shaft 28 and spline-engaged with the intermediate shaft 28 is intermittently rotated. At this time, the inner shaft 38 continuously rotates at a constant speed, while the outer shaft 4 intermittently rotates by 120 ° per revolution of the counter shaft 20. Further, as shown in FIGS. 5 and 6, the drive arm 46 is supported by the support shaft 45 by the cylindrical groove cam 43 provided on the counter shaft 20.
The outer shaft 4 moves together with the inner shaft 38 once per rotation of the counter shaft 20 by oscillating about the center of the shaft and pressing the positioning arm 50 left and right via the slider 48 and the drive member 48a that engage with the tip of the counter shaft 20. Move forward and backward in the left and right directions. The outer shaft 4 advances and retreats in synchronization with the intermittent rotation of the parallel index cam mechanism 39, and the outer shaft 4 protrudes to the right end position (to the right in FIG. 2) during the rotation stop period of the outer shaft 4. Position) and is held at the left end position during the rotation period. When the outer shaft 4 is in the first index position shown, the positioning pin 51 provided on the positioning arm 50 to position the outer shaft 4 is carried out by engaging the positioning hole 52 _1, the outer shaft 4 The second rotated by 120 °
When in the index position, the positioning pin 51 engages with another positioning hole 52 ₂ (see FIG. 5) to similarly position the outer shaft 4. Note that when the outer shaft 4 is at the third index position, positioning is not necessary, so positioning by the positioning pin 51 is not performed.

As shown in FIG. 3, the first shaft provided on the inner shaft 38
Link crests of the cam 58 ₁ is provided in the first transfer arm 5 6
When the roller follower 62 of No. 1 is being pressed, the intermediate gear 64 rotates clockwise through the link 61 swinging counterclockwise, and the pinion 68 meshing with the intermediate gear 64 rotates counterclockwise. To do. Thus, the clamp fingers ₇₁ is moved in the closing direction while the parallel rack guide bars 55 ₁ while meshing compresses the coil spring 57 ₁ slides in the right direction in the drawing to the pinion 68,
The other parallel rack guide bars 55 ₂ is moved to the clamp finger 7 ₂ while compressing the coil springs 57 ₂ slides in the left direction in the drawing in the closing direction, so that both clamping fingers 7 _1, 7 ₂ mutually The workpiece W is approached and gripped. From the position shown in the drawing, the inner shaft 38 rotates relative to the outer shaft 4, that is, the transfer arm A, and
When the roller follower 62 comes into contact with the valley portion of the cam 58 _1, the clamp fingers 7 ₁ ,
7 ₂ opened and gripped workpiece W is released. On the other hand, the opening and closing of the clamp fingers 7 ₁ and 7 ₂ of the second transfer arm 6 is similarly performed by the second cam 58 ₂ fixed to the inner shaft 38 coaxially with the first cam 58 ₁ , but the first cam 58 is the same. clamping fingers 7 of transport arms 5, 6 ₁ and the difference of the second cam 58 _second shape and phase
Opening and closing of ₁ and 7 ₂ are performed at independent timings.

Now, the transfer arm A in Figure 1 is in the first index position, in a state the outer shaft 4 by the positioning pins 51 as described above engaged with the positioning holes 52 _1, i.e. the positioning of the transport arm A was made . At this time, the clamp fingers 7 ₁ and 7 ₂ of the first transfer arm 5 that grips the unprocessed work W received from the work input shooter 8 are located directly above the outer shaft 4.
In addition, the clamp fingers 7 ₁ and 7 ₂ provided at the tip of the second transfer arm 6 formed in a V-shape for gripping the processed work W mounted on the processing machine M are most suitable for the work W. Of the machined workpiece W by closing the clamp fingers 7 ₁ and 7 ₂ in the vertical direction while extending to the workpiece attachment / detachment position P ₂ between the collet chuck 17 and the tail stock 18 in a horizontal posture for easy gripping. Grasping is performed.

Then, the cylindrical groove cam 43 provided on the counter shaft 20.
Wherein the positioning pin 51 when the positioning holes 52 ₁ of the engagement is disengaged outer shaft 4 is moved in the axial direction by the transfer arm A by parallel indexing cam mechanism 39
Is to stop the second index position rotated 120 ° in the clockwise direction, the positioning pins 51 outer shaft 4 is moved again positioning is performed by engaging a different positioning holes 52 _2. At this second index position, the first transfer arm 5 is now the second
The transfer arm 6 is stopped at the work attachment / detachment position P ₂ where it was, and the clamp fingers 7 ₁ and 7 ₂ are opened in the vertical direction at that position to transfer the unprocessed work W to the collet chuck 17 and the tailstock 18 of the processing machine M. Hand over. Subsequently, when the transfer arm driving device D retracts and reaches the position of the chain line, the clamp fingers 7 ₁ and 7 _{2 of} the second transfer arm 6 are opened at the work discharge position P ₃ , and the processed work W is discharged to the work shooter. Discharge to 13.

When the processed workpiece W is discharged to stop the third index position the outer shaft 4 is rotated again 120 degrees after the positioning pin 51 out of the positioning holes 52 _2, the clamping fingers 7 of the first transfer arm 5 _{While 1} and 7 ₂ reach the work delivery position P ₃ , the clamp fingers 7 ₁ and 7 _{2 of} the second transfer arm 6 reach the work delivery position P ₁ at the downstream end of the work delivery shooter 8. However, at the third index position, the work W is not delivered, and therefore the transfer arm A is not positioned.

Subsequently, when the transport arm A further rotates 120 ° and is stopped and positioned at the first index position again, the unprocessed work W pushed out by the pusher 12 from the downstream end of the work input shooter 8 is placed at the work input position P. _{At 1st} , it is delivered to the 1st conveyance arm 5 and it is grasped by the clamp fingers 7 ₁ and 7 ₂ . When the clamp fingers 7 ₁ , 7 _{2 of} the first transfer arm 5 grip the work W, the transfer arm driving device D advances to the position shown in the drawing, and the clamp fingers 7 ₁ , 7 _{2 of} the second transfer arm 6 move to the work attachment / detachment position P. _The processed work W waiting at ₁ is gripped, and one cycle is completed.

As described above, the unprocessed work W is supplied from the work input shooter 8 to the processing machine M by the first transfer arm 5 during one rotation of the transfer arm A, and the processed work W becomes the second work W.
The transfer arm 6 discharges the work from the processing machine M to the shooter 13. At this time, the work input position P ₁ ,
The work attachment / detachment position P ₂ and the work delivery position P ₃ are above, below, and below the outer shaft 4, respectively.
Since the distances between the respective positions P ₁ , P ₂ , P ₃ become large, it is possible to avoid mutual interference between the work input shooter 8, the processing machine M, and the work output shooter 13.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments, and various small design changes can be made without departing from the present invention described in the claims. It is possible.

For example, the embodiment is provided with two transfer arms, that is, the first transfer arm 5 and the second transfer arm 6, but the number of transfer arms is not limited to two, and may be one or three or more. Good. Further, the shape of the link 61 is not limited to the L shape, and may be a linear shape, and it is also possible to use a plurality of links in combination.

C. As described above, according to the present invention, the driving force of the pair of clamp fingers opened and closed by the parallel rack guide bar carried on the outer end in the radial direction of the transfer arm and meshing with the common pinion causes the transfer arm to move. It is supplied from the outside by an inner shaft that is coaxially housed inside the supporting outer shaft. As a result, not only is it unnecessary to mount a drive source on the transfer arm, but also the power transmission mechanism for opening and closing the clamp fingers is simplified, and the transfer arm can be downsized. Also, the opening / closing stroke and opening / closing timing of the clamp fingers can be easily changed by simply changing the shape of the cam provided on the inner shaft, greatly increasing the versatility for workpieces of different sizes and different types of processing machines. You can

[Brief description of drawings]

1 to 6 show an embodiment of the present invention.
FIG. 2 is a front view of the entire work transfer device, FIG. 2 is a sectional view taken along line II-II in FIG. 1, FIG. 3 is a sectional view taken along line III-III in FIG. 2, and FIG. 4 is IV in FIG. -IV line sectional drawing, FIG. 5 is a VV line sectional view of FIG. 2, and FIG. 6 is a VI-VI sectional view of FIG. 4 ... Outer shaft, 7 ₁ , 7 ₂ ... Clamp fingers, 38 ... Inner shaft, 55 ₁ , 55 ₂ ... Parallel rack guide bar, 58 ₁ , 58 ₂ ... Cam, 61 ...
Link, 64 ... Intermediate gear, 68 ... Pinion, A ...
Transfer arm

Claims (1)

[Claims] 1. Parallel rack guide bars (55 ₁ , 5) meshing with a common pinion (68) and driven in mutually opposite directions.
5 _2), the parallel rack guide bars ₍₅₅ 1, 5
A pair of clamp fingers (7 ₁ , 7 ₂ ) that are connected to and open and close to the main body (5 ₂ ), and a transfer arm (A) that carries and rotates the clamp fingers (7 ₁ , 7 ₂ ) at the outer ends in the radial direction.
And a hollow outer shaft (4) that supports and rotates the transfer arm (A), and an inner shaft (rotatably supported inside the outer shaft (4) so as to be relatively rotatable. 38),
The cams (58 ₁ , 5) provided on the inner shaft (38)
8 ₂ ), a link (61) driven at one end in contact with the cams (58 ₁ , 58 ₂ ), and the pinion (68).
And a middle gear (64) which is driven by being connected to the other end of the link (61).