JPH07187344A - Driving structure for feed arm in feeder - Google Patents

Abstract

PURPOSE:To sufficiently endure a load, enable long-term use by reducing the necessity of maintenance, prevent longitudinal and lateral vibration of a feed part, attain safety and accuracy of supply, and realize reduction in driving torque and smoothness of the movement. CONSTITUTION:A base end of a driving arm 4 is pivotally fixed to the lower end of a feeder 1, and a pivotally fixing shaft uses a driving servomotor as a rotary source. A tip part is connected to an intermediate point of a feed arm 6 by a connecting shaft 11. An upper end part of the feed arm 6 is connected to a raisinglowering slider 13 fitted to a raising-lowering guide rail 7, and is raised and lowered on a vertical line of the pivotally fixing shaft 9. Thereby, a feed part 18 on the lower end of the feed arm 6 moves in the horizontal and lateral direction according to rotation of the driving arm 4. The connecting shaft 11 is connected to a board 26 of the slider, and the slider is integrally fitted to a guide rail 21 of an arc-shaped guide 8 fixed to the feeder 1. The guide rail 21 has a curved shape and the positional relationship forming an arc-shape line in parallel to an arc-shaped locus of the connecting shaft 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive structure for a feed arm in a feeder, and more specifically, it relates to a feed arm for moving a feed part of the feed arm in a horizontal direction by utilizing a Scott Russell motion mechanism. It relates to a drive structure.

[0002]

2. Description of the Related Art A drive structure for a feed arm of a feeder utilizing a Scott Russell motion mechanism is such that a base of the drive arm is pivotally attached to a lower portion of a feeder body, and a tip of the drive arm is attached to an intermediate point of the feed arm by a shaft pin. Connect
An upper end portion of the feed arm, which is a non-feed portion, has a structure regulated so as to move up and down on a vertical line of a pivot axis of the drive arm.

The distance between the pivot shaft of the drive arm and the intermediate connecting shaft of the feed arm and the distance between the upper end portion and the feed portion (lower end portion) divided by the connecting shaft of the feed arm are all designed to be equal. Therefore, when the drive arm is rotated by the operation of the drive motor, the feed section moves in the horizontal direction. Therefore, if an attachment such as a chuck or a suction tool is attached to the feed part, the feed material can be fed in the lateral direction.

However, in the above construction, the feed arm is connected to the tip of the drive arm at the intermediate point, and the upper end is engaged with the guide for restricting the ascending / descending movement, while the drive arm is only attached to the base of the feeder body. Because it ’s worn
The weight of the attachment and the feed material will be supported by the base of the drive arm and the upper end of the feed arm, and each support and connection will be damaged by the load. There are problems such as lack of movement, large torque required at the time of starting and stopping the movement, and non-smooth movement.

In order to obtain a large torque at the time of starting and stopping the movement, there is a device in which an expansion rod of an auxiliary cylinder is connected to an intermediate portion of the drive arm and the drive arm is directly pushed when torque is required. Need a space for mounting the auxiliary cylinder,
Since the installation position is limited, it is difficult to obtain an effective and auxiliary torque with the minimum torque, the mechanism is complicated, and the vibration preventing action of the feed part cannot be exerted. is there.

[0006]

Therefore, in view of the above points, the present invention is capable of withstanding loads sufficiently, reduces the need for maintenance, and enables long-term use, and prevents the front and rear and left and right driving of the feed section. However, it is an object of the present invention to provide a drive structure of a feed arm of a feeder for the purpose of ensuring the safety and accuracy of supply and reducing the drive torque and smoothing the movement.

[0007]

SUMMARY OF THE INVENTION According to the present invention, the tip of a drive arm that pivotally attaches a base and positively rotates is connected to the midpoint of the feed arm, and the movement of the upper end of the feed arm is on the vertical line of the pivot axis of the drive arm. In a feeder using the Scott Russell motion mechanism regulated in, an arc guide parallel to the arc trajectory of the connecting shaft of the drive arm and the feed arm is fixed to the feeder main body, and the connecting shaft is slidable on the arc guide. It is also characterized by being integrally connected.

[0008]

Since the connecting shaft of the drive arm and the feed arm is integrally connected to the arc-shaped guide fixed to the feeder main body, the load is received at three points together with the base of the drive arm and the upper end of the feed arm. Moreover, since the action of directly supporting the portion close to the feed portion is added, the bearing action is strengthened and the bearing force of each bearing portion is dispersed.

Since the midpoint of the feed arm is integrally connected to the arc-shaped guide fixed to the feeder main body, the supporting force of the feed arm is strengthened, and the feed portion at the lower end acts to prevent vertical vibration. In particular, it has a strong anti-vibration effect in the front-back direction.

Further, the fact that the intermediate point of the feed arm is integrally connected to and supported by the feeder main body reduces the support load on the base portion of the drive arm, resulting in the action of reducing the drive torque and sliding on the arc-shaped guide. As a result, the rotation of the drive arm is made smooth, and the movement of the feed portion is made smooth.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. 1 is a front view of the feeder, FIG. 2 is a side view and FIG.
3 is a cross-sectional view of a main part, in which a feeder 1 is mounted on an apparatus main body 3 so as to be able to move up and down by a lift servomotor 2.
The feeder 1 is composed of main parts such as a drive arm 4, a drive servomotor 5, a feed arm 6, a lifting guide rail 7 and an arc-shaped guide 8.

The drive arm 4 is rotatably pivoted at the lower end of the feeder 1, and its pivot shaft 9 is rotated in the forward and reverse directions by a drive servomotor 5, so that the drive arm 4 is rotated and the tip portion 4 is rotated.
A reciprocates on an arcuate orbit. The drive arm 4 is provided with an auxiliary drive arm 10 that moves in parallel by a link mechanism.

The tip 4A of the drive arm 4 is connected to the midpoint of the feed arm 6 by a connecting shaft 11, and the upper end 12 of the feed arm 6 is located on the vertical line of the pivot shaft 9 of the drive arm 4 and A lifting slider 13 slidably fitted to a lifting guide rail 7 vertically provided on the feeder 1 parallel to the vertical line is connected by a pin 14.

The feed arm 6 is also provided with an auxiliary feed arm 15 which moves in parallel by a link mechanism, and has the same positional relationship and connection relationship as the auxiliary drive arm 10, 16 is a guide rail for the auxiliary feed arm, and 17 is a guide rail. It is a lifting slider for the auxiliary feed arm.

Therefore, the drive arm 4 and the feed arm 6 have a relationship of Scott Russell motion mechanism, and the feed portion 18 at the lower end of the feed arm 6 horizontally moves with respect to the rotation of the drive arm 4, Since the lower end feed portion 19 of the auxiliary feed arm 15 connected by a mechanism is also interlocked, an attachment (not shown) such as a chuck or an adsorbent can be attached to the connecting arm 20 to convey the feed material.

Reference numeral 8 is an arc-shaped guide in which the guide rail 21 is firmly fixed to the mounting base 22 with screws or the like.
Is a main body of the feeder 1 and an arm portion 2 projecting integrally with the main body
3 and 23 are fixed by screwing 24, 24 ... The guide rail 21 of the arc-shaped guide 8 is the tip portion 4 of the drive arm 4.
A connecting shaft 11 connecting A and an intermediate point of the feed arm 6
It has a curved shape and a positional relationship that becomes an arc line parallel to the arc locus of.

The guide rail 21 has a concave groove formed on its side surface. The lower portions on both sides of the slider 25 are fitted in the concave groove, and bearings are interposed in the fitting portion to enable smooth sliding, thereby enabling the slider 25 to move smoothly. The board 26 is integrally connected by a connecting shaft 11 and a pin 27. Therefore, the drive arm 4 and the feed arm 6 are supported by the arc-shaped guide 8 via the slider 25 and at the same time obtain the guide action.

That is, since the drive arm 4 is rotatably supported at both ends thereof, vibration at the time of rotation is prevented and the rotation is smooth, and the feed arm 6 has the upper end portion 12 and the intermediate portion. Since the shaft is supported, the supporting force is strengthened, the weight of the feed material and the like can be endured, and the left and right and front and rear vibrations during rotation can be prevented.

[0019]

As described above, according to the present invention, the connecting shaft of the drive arm and the feed arm is slidably integrally connected to the arc guide fixed to the feeder main body in parallel with the orbit of the connecting shaft. This has the effect of preventing vibration when the feed arm is moved, especially vibration in the front-rear direction, which has been a problem in the past.

Further, since the supporting force is increased and the guide function is given to the connecting shaft portion, the load on the pivot shaft portion of the drive arm is reduced, the rotation is facilitated, and the labor saving effect of the drive torque is also exhibited. To do.

Furthermore, these operational effects contribute to the improvement of the accuracy of the feeder, and the prevention of vibration has the effect of ensuring the safety of work and preventing accidents caused by falling or shaking of the supply. Of.

[Brief description of drawings]

FIG. 1 is a front view showing an embodiment of the present invention.

FIG. 2 is a side view of FIG.

FIG. 3 is a cross-sectional view of the main parts of FIG.

FIG. 4 is a front view of a main part of FIG.

[Explanation of symbols]

 1 Feeder 2 Servo Motor 3 Device Main Body 4 Drive Arm 5 Drive Servo Motor 6 Feed Arm 7 Elevating Guide Rail 8 Arc Guide 9 Rotating Shaft 11 Connecting Shaft 13 Elevating Slider 18 Feed Part 21 Guide Rail 22 Mounting Base 23 Arm 25 Slider 26 Substrate

Claims (1)

[Claims] 1. A Scott Russell motion mechanism in which a tip of a drive arm pivotally attached to a base portion and connected to an intermediate point of the feed arm to restrict movement of an upper end portion of the feed arm on a vertical line of a pivot axis of the drive arm. In the feeder to be used, an arc guide parallel to the arc trajectory of the connecting shaft of the drive arm and the feed arm was fixed to the feeder main body, and the connecting shaft was slidably and integrally connected to the arc guide. The drive structure of the feed arm in the characteristic feeder.