JP3921666B2

JP3921666B2 - XY actuator

Info

Publication number: JP3921666B2
Application number: JP2003121569A
Authority: JP
Inventors: 富男前田
Original assignee: Tsubaki Yamakyu Chain Co Ltd
Current assignee: Tsubaki Yamakyu Chain Co Ltd
Priority date: 2003-04-25
Filing date: 2003-04-25
Publication date: 2007-05-30
Anticipated expiration: 2023-04-25
Also published as: JP2004323194A

Description

【０００１】
【発明の属する技術分野】
本発明は、例えば、各種商品の組立機や、印刷機や、検査機等による作業工程中に於いて、適宜ワーク（被搬送物）を、正確に且つ高速に搬送させることができ、しかも、装置自身の構成がより簡素で、コンパクトとなるように工夫されたＸＹアクチュエーターに関するものである。
【０００２】
【従来の技術】
従来、この種の装置としては、例えば、特許文献１に示すような搬送装置がある。そして、これは、回転駆動力が入力される入力軸と、相互に相対向させて平行に一対配置され、互いに接離する方向およびこれと直交する方向へ往復移動可能でそれぞれ矩形運動される第１，第２フィードバーと、上記入力軸にこれと同軸で一体回転可能に設けられ、回転中心周りに１８０°点対称なカム形状を有する、一方が少なくとも１つ、他方が少なくとも２つで、合わせて３つ以上のフィード用カムおよびクランプ用カムと、上記フィード用カムおよび上記クランプ用カムそれぞれに、これを挟んで１８０°対称位置で係合され、上記入力軸回転を互いに直交する方向の揺動回転に変換する一対のフィード用ターレットおよび一対のクランプ用ターレットと、上記各フィード用ターレットと上記第１，第２フィードバーそれぞれとの間に設けられ、該フィード用ターレットの揺動回転を第１，第２フィードバーのフィード運動に変換するフィード運動変換機構と、上記各クランプ用ターレットと上記第１，第２フィードバーそれぞれとの間に設けられ、該クランプ用ターレットの揺動回転を第１，第２フィードバーのクランプ運動に変換するクランプ運動変換機構とを備え、上記第１，第２フィードバーのクランプ運動でワークをクランプすると共に、クランプしたワークを第１，第２フィードバーのフィード運動で搬送する手段を採用した搬送装置である。
【０００３】
【特許文献１】
特開平１０−１３９１２５号公報（図１）
【０００４】
【発明が解決しようとする課題】
ところが、前述の如き搬送装置にあっては、カム１個に対してターレットを２個使用し、最低でもカム３個（ターレット６個）を使用して矩形運動させるため、装置自体が複雑で、高価となり、しかも、装置自体が比較的大きくなって、大きな設置スペースが必要となる難点等があった。
更に、１８０°点対称なカムでターレットを１８０°対称位置に設置してあり、カム精度や、カム・ターレットの組立て誤差によって、運動精度が低下し易い難点等もあった。
そこで、本発明は、適宜ワーク（被搬送物）を、円滑に且つ正確に搬送させることができ、安定した動作が可能で、作業の高速化にも対応でき、しかも、装置自身の構成がより簡素で、コンパクトとなり、設置が容易で、生産ライン等への組込みも容易となり、耐久性に優れ、故障し難く、メンテナンスも容易で、コストを低減でき、経済的で、汎用性の優れたＸＹアクチュエーターを提供すべく創出されたものである。
【０００５】
【課題を解決するための手段】
しかして、前述の如き課題を達成すべく、本発明の請求項１記載のＸＹアクチュエーターにあっては、一対の作動体Ｓ１、Ｓ２を、所定のＸ方向及びこのＸ方向に対して直交するＹ方向に移動せしめられるよう構成したＸＹアクチュエーターであって、適宜駆動手段によって作動する第１カム機構Ａと、この第１カム機構Ａの出力軸１の回転力が適宜連繋手段Ｃを介して伝達されて作動する第２カム機構Ｂと、第２カム機構ＢのＸ方向用出力軸６の所望正逆回転によって、Ｘ方向に往復移動可能となるリニアプレート１０と、このリニアプレート１０にガイド手段Ｆを介して装着されて、リニアプレート１０と共にＸ方向に往復移動し、且つ第１カム機構ＡのＹ方向用出力軸２の所望正逆回転によって、Ｙ方向に往復移動可能となる一対のスライドプレート１５、１６とを備え、前記第１カム機構Ａは、ケーシングから入力軸と、出力軸１と、Ｙ方向用出力軸２とが突設され、適宜駆動手段の駆動回転力が入力軸に伝達され、この入力軸の回転によって、出力軸１は、所定向きに一定回転し、Ｙ方向用出力軸２は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、前記第２カム機構Ｂは、ケーシングから入力軸５と、Ｘ方向用出力軸６とが突設され、第１カム機構Ａの出力軸１の回転力が連繋手段Ｃを介して入力軸５に伝達されると、Ｘ方向用出力軸６は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、一対のスライドプレート１５、１６に一対の作動体Ｓ１、Ｓ２を付設、或いは、一対のスライドプレート１５、１６自体が一対の作動体Ｓ１、Ｓ２となるように構成し、一対の作動体Ｓ１、Ｓ２のＹ方向の動作によって、ワークを挟持したり、或いは、離したりでき、一対の作動体Ｓ１、Ｓ２のＸ方向の動作によって、挟持したワークをＸ方向に搬送したり、或いは、次のワークを搬送すべく元の位置に移動できるように構成する手段を採用した。
【０００６】
また、請求項２記載のＸＹアクチュエーターにあっては、一対の作動体Ｓ１、Ｓ２を、所定のＸ方向及びこのＸ方向に対して直交するＹ方向に移動せしめられるよう構成したＸＹアクチュエーターであって、適宜駆動手段によって作動する第１カム機構Ａと、この第１カム機構Ａの出力軸１の回転力が適宜連繋手段Ｃを介して伝達されて作動する第２カム機構Ｂと、第２カム機構ＢのＸ方向用出力軸６の所望正逆回転によって、Ｘ方向に往復移動可能となるリニアプレート１０と、このリニアプレート１０にガイド手段Ｆを介して装着されて、リニアプレート１０と共にＸ方向に往復移動する一対のスライドプレート１５、１６とを備え、この一対のスライドプレート１５、１６のどちらか一方は、第１カム機構ＡのＹ方向用出力軸２の所望正逆回転によって、Ｙ方向に往復移動可能となるように構成し、前記第１カム機構Ａは、ケーシングから入力軸と、出力軸１と、Ｙ方向用出力軸２とが突設され、適宜駆動手段の駆動回転力が入力軸に伝達され、この入力軸の回転によって、出力軸１は、所定向きに一定回転し、Ｙ方向用出力軸２は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、前記第２カム機構Ｂは、ケーシングから入力軸５と、Ｘ方向用出力軸６とが突設され、第１カム機構Ａの出力軸１の回転力が連繋手段Ｃを介して入力軸５に伝達されると、Ｘ方向用出力軸６は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、一対のスライドプレート１５、１６に一対の作動体Ｓ１、Ｓ２を付設、或いは、一対のスライドプレート１５、１６自体が一対の作動体Ｓ１、Ｓ２となるように構成し、どちらか一方の作動体Ｓ１、Ｓ２のＹ方向の動作によって、ワークを挟持したり、或いは、離したりでき、一対の作動体Ｓ１、Ｓ２のＸ方向の動作によって、挟持したワークをＸ方向に搬送したり、或いは、次のワークを搬送すべく元の位置に移動できるように構成する手段を採用した。
【０００７】
更に、請求項３記載のＸＹアクチュエーターにあっては、一対の作動体Ｓ１、Ｓ２を、所定のＸ方向及びこのＸ方向に対して直交するＹ方向に移動せしめられるよう構成したＸＹアクチュエーターであって、適宜駆動手段によって作動する第１カム機構Ａと、この第１カム機構Ａの出力軸１の回転力が適宜連繋手段Ｃを介して伝達されて作動する第２カム機構Ｂと、第２カム機構ＢのＸ方向用出力軸６の所望正逆回転によって、Ｘ方向に往復移動可能となる一対のリニアプレート１０と、このリニアプレート１０夫々にガイド手段Ｆを介して装着されて、リニアプレート１０夫々と共にＸ方向に往復移動し、且つ第１カム機構ＡのＹ方向用出力軸２の所望正逆回転によって、Ｙ方向に往復移動可能となる一対のスライドプレート１５、１６とを備え、前記第１カム機構Ａは、ケーシングから入力軸と、出力軸１と、Ｙ方向用出力軸２とが突設され、適宜駆動手段の駆動回転力が入力軸に伝達され、この入力軸の回転によって、出力軸１は、所定向きに一定回転し、Ｙ方向用出力軸２は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、前記第２カム機構Ｂは、ケーシングから入力軸５と、Ｘ方向用出力軸６とが突設され、第１カム機構Ａの出力軸１の回転力が連繋手段Ｃを介して入力軸５に伝達されると、Ｘ方向用出力軸６は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、一対のスライドプレート１５、１６に一対の作動体Ｓ１、Ｓ２を付設、或いは、一対のスライドプレート１５、１６自体が一対の作動体Ｓ１、Ｓ２となるように構成し、一対の作動体Ｓ１、Ｓ２のＹ方向の動作によって、ワークを挟持したり、或いは、離したりでき、一対の作動体Ｓ１、Ｓ２夫々のＸ方向の動作によって、挟持したワークをＸ方向に搬送したり、或いは、次のワークを搬送すべく元の位置に移動できるように構成する手段を採用した。
【０００８】
【発明の実施の形態】
以下、本発明を図示例に基づいて説明すると、次の通りである。
本発明は、例えば、組立機械や、印刷機械や、検査機械等による作業工程中（或いは、供給時、或いは、排出時等）に於いて、適宜ワーク（被搬送物）を正確に且つ高速に搬送させることができるようにしたＸＹアクチュエーターであって、このＸＹアクチュエーターは、一対の作動体Ｓ１、Ｓ２を、搬送方向となるＸ方向及びこの搬送方向に対して直交するＹ方向に移動（往復移動）せしめられるよう構成したものである。
すなわち、一対の作動体Ｓ１、Ｓ２のＹ方向の動作（例えば、相互に接近したり、離れたり、或いは、相対的に接近したり、離れたりする動作）によって、ワークを挟持したり、或いは、離したりでき、また、一対の作動体Ｓ１、Ｓ２のＸ方向の動作（搬送方向への往復移動動作）によって、挟持したワークをＸ方向（搬送方向）に搬送したり、或いは、次のワークを搬送すべく元の位置に移動できるように構成したものである。
【０００９】
そして、このＸＹアクチュエーターは、ギャードモーター等による適宜駆動手段と、この適宜駆動手段の駆動回転力がその入力軸に伝達されて作動すると共に、出力軸１とＹ方向用出力軸２を有する第１カム機構Ａと、入力軸５とＸ方向用出力軸６を有する第２カム機構Ｂと、第１カム機構Ａの出力軸１の回転力を第２カム機構Ｂの入力軸５に伝達する連繋手段Ｃと、ガイド手段Ｅを介してＸ方向に往復移動可能となるよう構成されるリニアプレート１０と、第２カム機構ＢのＸ方向用出力軸６の回転力をリニアプレート１０のＸ方向の往復移動に変換する動作変換手段Ｄと、リニアプレート１０と共にＸ方向に往復移動すると共に、Ｙ方向に往復移動可能となるよう構成される一対のスライドプレート１５、１６と、一対のスライドプレート１５、１６をＹ方向に往復移動可能となるようリニアプレート１０に支持するガイド手段Ｆと、第１カム機構ＡのＹ方向用出力軸２の回転力を一対のスライドプレート１５、１６のＹ方向の往復移動に変換する動作変換手段Ｇとを備えたものである。
【００１０】
更に、前記一対のスライドプレート１５、１６に一対の作動体Ｓ１、Ｓ２を付設、或いは、一対のスライドプレート１５、１６自体が一対の作動体Ｓ１、Ｓ２となるように構成されている。
【００１１】
前記第１カム機構Ａは、例えば、オシレーター等が利用され、適宜金属製等の箱状ケーシングから入力軸と、この入力軸に直結されている（或いは、直結されていなくても良い）出力軸１と、Ｙ方向用出力軸２とが突設され、ケーシング内には、オシレーターカムや、溝カムや、或いは、リブカム等が内蔵されて、ギャードモーター等による適宜駆動手段の駆動回転力が入力軸に伝達され、この入力軸の回転によって、出力軸１は、所定向きに一定回転し、Ｙ方向用出力軸２は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成されている。
【００１２】
また、前記第２カム機構Ｂは、例えば、オシレーター等が利用され、適宜金属製等の箱状ケーシングから入力軸５と、Ｘ方向用出力軸６とが突設され、第１カム機構Ａの出力軸１の回転力が連繋手段Ｃを介して入力軸５に伝達されると、Ｘ方向用出力軸６は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成されている。
【００１３】
前記連繋手段Ｃは、例えば、チェーン機構や、歯付きベルト機構や、リンク機構や、歯車機構等を利用することが可能で、出力軸１の回転力が、入力軸５に確実に、正確に、且つスムーズに伝達できるものであれば良い。尚、図示例では、出力軸１と入力軸５に、スプロケットを夫々固定し、このスプロケットにチェーンや歯付きベルト等を巻装せしめたものが利用されている。
【００１４】
そして、前記動作変換手段Ｄは、第２カム機構ＢのＸ方向用出力軸６の回転力をリニアプレート１０のＸ方向の往復移動にスムーズに且つ正確に変換できるよう構成され、例えば、図示例では、第２カム機構ＢのＸ方向用出力軸６に固定された揺動アーム７と、この揺動アーム７の先端部分に装着されるローラ８と、このローラ８が収容される溝部分を有すると共に、リニアプレート１０下面に固定されるローラ受体９とで構成されている。
ところで、前記動作変換手段Ｄは、例えば、第２カム機構ＢのＸ方向用出力軸６に固定されるピニオンと、このピニオンに歯合すると共に、リニアプレート１０下面に固定されるラックとで構成することもできるし（図示せず）、その他適宜手段を採用することができるものである。
【００１５】
前記リニアプレート１０は、例えば、その略中央に第１カム機構ＡのＹ方向用出力軸２部分に干渉しないような長円孔が穿設されているような略矩形板状に形成されている。
【００１６】
また、前記ガイド手段Ｅは、リニアプレート１０をＸ方向にスムーズに且つ安定的に往復移動自在に支持できるよう構成され、例えば、図示例では、第１カム機構Ａや第２カム機構Ｂがわに固定される一対（一つでも良いし、三つ以上でも良い）のレール１１と、このレール１１に摺動自在に装着されると共に、リニアプレート１０に適数固定されるガイド体１２とで構成されている。
尚、レール１１は、固定ネジ等によって固定され、しかも、その左右側面部分には、適宜切欠溝が凹設され、ガイド体１２には、この切欠溝に合致する突起が突設されており、レール１１に対してガイド体１２が、Ｘ方向にのみ摺動して、他の方向にガタついたり、分離、逸脱しないように形成してある。
【００１７】
また、前記一対のスライドプレート１５、１６は、例えば、略細長矩形板状に形成されている。
【００１８】
そして、前記ガイド手段Ｆは、一対のスライドプレート１５、１６をＹ方向にスムーズに且つ安定的に往復移動自在に支持できるよう構成され、例えば、図示例では、リニアプレート１０の上面に固定される一対（一つでも良いし、三つ以上でも良い）のレール１７と、このレール１７に摺動自在に装着されると共に、一対のスライドプレート１５、１６夫々に適数固定されるガイド体１８とで構成されている。
尚、レール１７は、固定ネジ等によって固定され、しかも、その左右側面部分には、適宜切欠溝が凹設され、ガイド体１８には、この切欠溝に合致する突起が突設されており、レール１７に対してガイド体１８が、Ｙ方向にのみ摺動して、他の方向にガタついたり、分離、逸脱しないように形成してある。
【００１９】
前記動作変換手段Ｇは、第１カム機構ＡのＹ方向用出力軸２の回転力を一対のスライドプレート１５、１６のＹ方向の往復移動にスムーズに且つ正確に変換できるよう構成され、例えば、図示例では、第１カム機構ＡのＹ方向用出力軸２に固定された揺動レバー２０と、この揺動レバー２０の両端部分に装着されるガイドピン２１と、このガイドピン２１が収容されるガイド溝２３を有すると共に、一対のスライドプレート１５、１６に装着されるガイドブロック２２とで構成されている。
すなわち、ガイドブロック２２のガイド溝２３は、Ｘ方向に対して平行となるように形成されており、方向用出力軸６が正逆回転してリニアプレート１０がＸ方向に移動すると、ガイドピン２１がガイドブロック２２のガイド溝２３内を通過するだけで、一対のスライドプレート１５、１６は、Ｙ方向には移動せずに、リニアプレート１０と共にＸ方向にのみ移動するように構成されている。
また、Ｙ方向用出力軸２が正逆回転すると、ガイドピン２１がガイド溝２３内壁を押圧して、ガイドブロック２２（一対のスライドプレート１５、１６）がＹ方向に移動するように構成されている。
【００２０】
ところで、前記リニアプレート１０は、例えば、図示例では一枚の矩形板によって構成してあるが、二枚（一対）の略細長矩形板によって構成してあっても良い（図示せず）。
すなわち、一対のリニアプレート１０をガイド手段ＥによってＸ方向に夫々移動自在となるよう形成し、更に、第２カム機構Ｂには一対のＸ方向用出力軸６を設け、この一対のＸ方向用出力軸６の回転力を動作変換手段Ｄを介して夫々のリニアプレート１０のＸ方向の往復運動にスムーズに且つ正確に変換できるように構成して、一対のリニアプレート１０が相互に異なる移動状態（例えば、移動範囲、移動タイミング等が異なる状態）となるように構成することもできる。
具体的には、一対のＸ方向用出力軸６に揺動アーム７を夫々固定し、一対のリニアプレート１０と揺動アーム７夫々の先端部分とを、ローラ８及びローラ受体９を介して夫々連繋するように形成される。そして、揺動アーム７の長さ（Ｘ方向用出力軸６からローラ８までの間隔）等を調節することにより、一対のリニアプレート１０を夫々独自にＸ方向に移動せしめられ、一対の作動体Ｓ１、Ｓ２の動作パターンの幅が広がるようになる。
【００２１】
また、一対のスライドプレート１５、１６は、そのどちらか一方のみを動作変換手段Ｇを介してＹ方向用出力軸２に連繋するように構成しても良い。すなわち、動作変換手段Ｇを介してＹ方向用出力軸２に連繋された一方のスライドプレート１５が、Ｙ方向には移動しないように形成してある他方のスライドプレート１６に対して離隔接近するようにＹ方向に移動できるよう構成しても良い。
更に、一対のスライドプレート１５、１６は、相互に異なる移動状態（例えば、移動範囲、移動タイミング等が異なる状態）となるように構成しても良い。具体的には、Ｙ方向用出力軸２から揺動レバー２０のガイドピン２１までの間隔等を調節することにより、一対のスライドプレート１５、１６夫々が独自のパターンでＹ方向を移動し、一対の作動体Ｓ１、Ｓ２の動作パターンの幅がより広がるようになる。
【００２２】
尚、ＸＹアクチュエーターの具体的構成、形状、寸法、第１カム機構Ａの具体的構成、形状、寸法、配設位置、第２カム機構Ｂの具体的構成、形状、寸法、配設位置、連繋手段Ｃの具体的構成、形状、寸法、配設位置、動作変換手段Ｄの具体的構成、形状、寸法、数、配設位置、ガイド手段Ｅの具体的構成、形状、寸法、数、配設位置、ガイド手段Ｆの具体的構成、形状、寸法、数、配設位置、動作変換手段Ｇの具体的構成、形状、寸法、数、配設位置、出力軸１の具体的構成、形状、寸法、配設位置、Ｙ方向用出力軸２の具体的構成、形状、寸法、配設位置、入力軸５の具体的構成、形状、寸法、配設位置、Ｘ方向用出力軸６の具体的構成、形状、寸法、数、配設位置、揺動アーム７の具体的構成、形状、寸法、材質、ローラ８の具体的構成、形状、寸法、材質、配設位置、ローラ受体９の具体的構成、形状、寸法、材質、配設位置、リニアプレート１０の具体的構成、形状、寸法、材質、数、配設位置、レール１１の具体的構成、形状、寸法、材質、数、配設位置、ガイド体１２の具体的構成、形状、寸法、材質、数、配設位置、スライドプレート１５、１６の具体的構成、形状、寸法、材質、配設位置、レール１７の具体的構成、形状、寸法、材質、数、配設位置、ガイド体１８の具体的構成、形状、寸法、材質、数、配設位置、揺動レバー２０の具体的構成、形状、寸法、材質、ガイドピン２１の具体的構成、形状、寸法、材質、数、配設位置、ガイドブロック２２の具体的構成、形状、寸法、材質、数、配設位置、ガイド溝２３の具体的構成、形状、寸法、数、配設位置、作動体Ｓ１、Ｓ２の具体的構成、形状、寸法、材質、配設位置等は、図示例のもの等に限定されることなく適宜自由に設定、変更できるものである。
特に、リニアプレート１０のガイド手段Ｅと、スライドプレート１５、１６のガイド手段Ｆにあっては、リニアプレート１０やスライドプレート１５、１６の形状や寸法や数等に応じて、その具体的手段や、これらの構成部材の形状や、これらの構成部材の固定手段等を適宜選択、決定できるものである。
加えて、第１カム機構ＡのＹ方向用出力軸２とスライドプレート１５、１６を連繋する動作変換手段Ｇや、第２カム機構ＢのＸ方向用出力軸６とリニアプレート１０を連繋する動作変換手段Ｄにあっては、その精度や、価格や、採用される構成部材等に応じて、その仕様や、方法等を適宜選択、決定できるものである。
【００２３】
本発明のＸＹアクチュエーターは、前述の如く構成されており、次に、これを例えば搬送装置して利用した場合について説明すると、先ず、ギャードモーター等による適宜駆動手段を作動させると、適宜駆動手段の駆動回転力が第１カム機構Ａの入力軸に伝達されて第１カム機構Ａが作動し、この第１カム機構Ａの出力軸１の回転力が適宜連繋手段Ｃを介して第２カム機構Ｂの入力軸５に伝達されて第２カム機構Ｂが作動する。
すると、第２カム機構ＢのＸ方向用出力軸６が回転し、このＸ方向用出力軸６の回転力が動作変換手段Ｄを介してリニアプレート１０に伝達される。すなわち、Ｘ方向用出力軸６に固定されている揺動アーム７と、この揺動アーム７先端のローラ８と、このローラ８を受けると共に、リニアプレート１０に固定されているローラ受体９とによって、リニアプレート１０がＸ方向に往復移動する。しかも、このリニアプレート１０の往復移動と共に、一対のスライドプレート１５、１６もＸ方向に往復移動する。
加えて、第１カム機構Ａが作動すると、Ｙ方向用出力軸２が回転し、このＹ方向用出力軸２の回転力が動作変換手段Ｇを介して一対のスライドプレート１５、１６に伝達される。すなわち、Ｙ方向用出力軸２に固定されている揺動レバー２０と、この揺動レバー２０の両端部分に装着されているガイドピン２１と、このガイドピン２１がＸ方向に於いてのみ移動自在となるガイド溝２３を備えると共に、一対のスライドプレート１５、１６に固定されるガイドブロック２２とによって、一対のスライドプレート１５、１６はＹ方向に往復移動する。
そして、第１カム機構ＡのＹ方向用出力軸２と第２カム機構ＢのＸ方向用出力軸６の正逆回転動作や停止状態のタイミングや、そのスピード等の組合せによって、一対のスライドプレート１５、１６（作動体Ｓ１、Ｓ２）は、例えば、図８に示すような種々の動作状態を実現できるようになる。
【００２４】
【発明の効果】
従って、本発明の請求項１記載のＸＹアクチュエーターは、一対の作動体Ｓ１、Ｓ２を、所定のＸ方向及びこのＸ方向に対して直交するＹ方向に移動せしめられるよう構成したＸＹアクチュエーターであって、適宜駆動手段によって作動する第１カム機構Ａと、この第１カム機構Ａの出力軸１の回転力が適宜連繋手段Ｃを介して伝達されて作動する第２カム機構Ｂと、第２カム機構ＢのＸ方向用出力軸６の所望正逆回転によって、Ｘ方向に往復移動可能となるリニアプレート１０と、このリニアプレート１０にガイド手段Ｆを介して装着されて、リニアプレート１０と共にＸ方向に往復移動し、且つ第１カム機構ＡのＹ方向用出力軸２の所望正逆回転によって、Ｙ方向に往復移動可能となる一対のスライドプレート１５、１６とを備え、前記第１カム機構Ａは、ケーシングから入力軸と、出力軸１と、Ｙ方向用出力軸２とが突設され、適宜駆動手段の駆動回転力が入力軸に伝達され、この入力軸の回転によって、出力軸１は、所定向きに一定回転し、Ｙ方向用出力軸２は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、前記第２カム機構Ｂは、ケーシングから入力軸５と、Ｘ方向用出力軸６とが突設され、第１カム機構Ａの出力軸１の回転力が連繋手段Ｃを介して入力軸５に伝達されると、Ｘ方向用出力軸６は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、一対のスライドプレート１５、１６に一対の作動体Ｓ１、Ｓ２を付設、或いは、一対のスライドプレート１５、１６自体が一対の作動体Ｓ１、Ｓ２となるように構成し、一対の作動体Ｓ１、Ｓ２のＹ方向の動作によって、ワークを挟持したり、或いは、離したりでき、一対の作動体Ｓ１、Ｓ２のＸ方向の動作によって、挟持したワークをＸ方向に搬送したり、或いは、次のワークを搬送すべく元の位置に移動できるように構成したので、例えば、各種商品の組立機や、印刷機や、検査機等による作業工程中に於いて、適宜ワーク（被搬送物）を、一対の作動体Ｓ１、Ｓ２で挟持して正確に且つ円滑に搬送することができ、加えて、安定した動作が可能で、作業の高速化にも対応できるＸＹアクチュエーターとなる。そして、一対の作動体Ｓ１、Ｓ２の動作特性や、動作精度等も優れたものとなる。
しかも、自身の構成がより簡素となり、その組立てが簡単で、小型コンパクトに構成でき、省スペース化が図り易く、設置が容易で、生産ライン等への組込みも容易となり、耐久性に優れ、故障し難く、メンテナンスも容易で、コストの低減が可能となり、経済的で、汎用性の優れたＸＹアクチュエーターとなる。
【００２５】
また、本発明の請求項２記載のＸＹアクチュエーターは、一対の作動体Ｓ１、Ｓ２を、所定のＸ方向及びこのＸ方向に対して直交するＹ方向に移動せしめられるよう構成したＸＹアクチュエーターであって、適宜駆動手段によって作動する第１カム機構Ａと、この第１カム機構Ａの出力軸１の回転力が適宜連繋手段Ｃを介して伝達されて作動する第２カム機構Ｂと、第２カム機構ＢのＸ方向用出力軸６の所望正逆回転によって、Ｘ方向に往復移動可能となるリニアプレート１０と、このリニアプレート１０にガイド手段Ｆを介して装着されて、リニアプレート１０と共にＸ方向に往復移動する一対のスライドプレート１５、１６とを備え、この一対のスライドプレート１５、１６のどちらか一方は、第１カム機構ＡのＹ方向用出力軸２の所望正逆回転によって、Ｙ方向に往復移動可能となるように構成し、前記第１カム機構Ａは、ケーシングから入力軸と、出力軸１と、Ｙ方向用出力軸２とが突設され、適宜駆動手段の駆動回転力が入力軸に伝達され、この入力軸の回転によって、出力軸１は、所定向きに一定回転し、Ｙ方向用出力軸２は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、前記第２カム機構Ｂは、ケーシングから入力軸５と、Ｘ方向用出力軸６とが突設され、第１カム機構Ａの出力軸１の回転力が連繋手段Ｃを介して入力軸５に伝達されると、Ｘ方向用出力軸６は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、一対のスライドプレート１５、１６に一対の作動体Ｓ１、Ｓ２を付設、或いは、一対のスライドプレート１５、１６自体が一対の作動体Ｓ１、Ｓ２となるように構成し、どちらか一方の作動体Ｓ１、Ｓ２のＹ方向の動作によって、ワークを挟持したり、或いは、離したりでき、一対の作動体Ｓ１、Ｓ２のＸ方向の動作によって、挟持したワークをＸ方向に搬送したり、或いは、次のワークを搬送すべく元の位置に移動できるように構成したので、例えば、各種商品の組立機や、印刷機や、検査機等による作業工程中に於いて、適宜ワーク（被搬送物）を、一対の作動体Ｓ１、Ｓ２で挟持して正確に且つ円滑に搬送することができ、加えて、安定した動作が可能で、作業の高速化にも対応できるＸＹアクチュエーターとなる。そして、一対の作動体Ｓ１、Ｓ２の動作特性や、動作精度等も優れたものとなる。
しかも、自身の構成がより簡素となり、その組立てが簡単で、小型コンパクトに構成でき、省スペース化が図り易く、設置が容易で、生産ライン等への組込みも容易となり、耐久性に優れ、故障し難く、メンテナンスも容易で、コストの低減が可能となり、経済的で、汎用性の優れたＸＹアクチュエーターとなる。
【００２６】
更に、本発明の請求項３記載のＸＹアクチュエーターは、一対の作動体Ｓ１、Ｓ２を、所定のＸ方向及びこのＸ方向に対して直交するＹ方向に移動せしめられるよう構成したＸＹアクチュエーターであって、適宜駆動手段によって作動する第１カム機構Ａと、この第１カム機構Ａの出力軸１の回転力が適宜連繋手段Ｃを介して伝達されて作動する第２カム機構Ｂと、第２カム機構ＢのＸ方向用出力軸６の所望正逆回転によって、Ｘ方向に往復移動可能となる一対のリニアプレート１０と、このリニアプレート１０夫々にガイド手段Ｆを介して装着されて、リニアプレート１０夫々と共にＸ方向に往復移動し、且つ第１カム機構ＡのＹ方向用出力軸２の所望正逆回転によって、Ｙ方向に往復移動可能となる一対のスライドプレート１５、１６とを備え、前記第１カム機構Ａは、ケーシングから入力軸と、出力軸１と、Ｙ方向用出力軸２とが突設され、適宜駆動手段の駆動回転力が入力軸に伝達され、この入力軸の回転によって、出力軸１は、所定向きに一定回転し、Ｙ方向用出力軸２は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、前記第２カム機構Ｂは、ケーシングから入力軸５と、Ｘ方向用出力軸６とが突設され、第１カム機構Ａの出力軸１の回転力が連繋手段Ｃを介して入力軸５に伝達されると、Ｘ方向用出力軸６は、予め設定された正回転、逆回転、停止等を適宜組合せた動きをするように構成され、一対のスライドプレート１５、１６に一対の作動体Ｓ１、Ｓ２を付設、或いは、一対のスライドプレート１５、１６自体が一対の作動体Ｓ１、Ｓ２となるように構成し、一対の作動体Ｓ１、Ｓ２のＹ方向の動作によって、ワークを挟持したり、或いは、離したりでき、一対の作動体Ｓ１、Ｓ２夫々のＸ方向の動作によって、挟持したワークをＸ方向に搬送したり、或いは、次のワークを搬送すべく元の位置に移動できるように構成したので、例えば、各種商品の組立機や、印刷機や、検査機等による作業工程中に於いて、適宜ワーク（被搬送物）を、一対の作動体Ｓ１、Ｓ２で挟持して正確に且つ円滑に搬送することができ、加えて、安定した動作が可能で、作業の高速化にも対応できるＸＹアクチュエーターとなる。そして、一対の作動体Ｓ１、Ｓ２の動作特性や、動作精度等も優れたものとなる。
しかも、自身の構成がより簡素となり、その組立てが簡単で、小型コンパクトに構成でき、省スペース化が図り易く、設置が容易で、生産ライン等への組込みも容易となり、耐久性に優れ、故障し難く、メンテナンスも容易で、コストの低減が可能となり、経済的で、汎用性の優れたＸＹアクチュエーターとなる。
特に、Ｘ方向に往復移動可能となる一対のリニアプレート１０と、このリニアプレート１０夫々にガイド手段Ｆを介して装着されて、リニアプレート１０夫々と共にＸ方向に往復移動し、且つ第１カム機構ＡのＹ方向用出力軸２の所望正逆回転によって、Ｙ方向に往復移動可能となる一対のスライドプレート１５、１６とを備えているので、一対のスライドプレート１５、１６を夫々独自にＸ方向に移動せしめられるようになり、一対の作動体Ｓ１、Ｓ２の動作パターンの幅が広がるものとなる。
【図面の簡単な説明】
【図１】本発明のＸＹアクチュエーターに於ける一対の作動体の動作例を示す概略平面図である。
【図２】本発明のＸＹアクチュエーターの一部を例示する概略正面図である。
【図３】本発明のＸＹアクチュエーターの一部を例示する概略側面図である。
【図４】本発明のＸＹアクチュエーターの一部を例示する概略平面図である。
【図５】本発明のＸＹアクチュエーターを例示する概略正面図である。
【図６】本発明のＸＹアクチュエーターを例示する概略側面図である。
【図７】本発明のＸＹアクチュエーターを例示する概略平面図である。
【図８】本発明のＸＹアクチュエーターに於ける一対の作動体の動作例を示す概略図である。
【符号の説明】
Ａ第１カム機構Ｂ第２カム機構
Ｃ連繋手段Ｄ動作変換手段
Ｅガイド手段Ｆガイド手段
Ｇ動作変換手段
１出力軸２Ｙ方向用出力軸
５入力軸６Ｘ方向用出力軸
７揺動アーム８ローラ
９ローラ受体
１０リニアプレート１１レール
１２ガイド体
１５スライドプレート１６スライドプレート
１７レール１８ガイド体
２０揺動レバー２１ガイドピン
２２ガイドブロック２３ガイド溝
Ｓ１作動体Ｓ２作動体[0001]
BACKGROUND OF THE INVENTION
In the present invention, for example, in the work process by various product assembly machines, printing machines, inspection machines, etc., the work (conveyed object) can be appropriately conveyed at high speed accurately, The present invention relates to an XY actuator devised so that the configuration of the apparatus itself is simpler and more compact.
[0002]
[Prior art]
Conventionally, as this type of apparatus, for example, there is a conveying apparatus as shown in Patent Document 1. And this is arranged in parallel with a pair of input shafts to which rotational driving force is input, opposite to each other, and can be reciprocated in a direction approaching and separating from each other and in a direction perpendicular thereto, and each is moved in a rectangular motion. 1, a second feed bar and the input shaft provided coaxially and integrally rotatable therewith, and having a cam shape that is 180 ° symmetrical about the rotation center, one is at least one and the other is at least two; A total of three or more feed cams and clamp cams, and the feed cams and the clamp cams are respectively engaged at 180 ° symmetrical positions with the input shaft rotations orthogonal to each other. A pair of feed turrets and a pair of clamping turrets that convert to oscillating rotation, and between each of the feed turrets and the first and second feed bars. Provided between the feed turret and the feed motion conversion mechanism for converting the rotation of the feed turret into the feed motion of the first and second feed bars, and between the clamp turret and the first and second feed bars. And a clamp motion converting mechanism for converting the swinging rotation of the clamping turret into the clamp motion of the first and second feed bars, and clamping the workpiece by the clamp motion of the first and second feed bars. At the same time, it is a conveying device that employs means for conveying the clamped workpiece by the feed movement of the first and second feed bars.
[0003]
[Patent Document 1]
JP-A-10-139125 (FIG. 1)
[0004]
[Problems to be solved by the invention]
However, in the transport apparatus as described above, two turrets are used for one cam, and at least three cams (six turrets) are used for the rectangular motion, so the apparatus itself is complicated. In addition, the apparatus is expensive, and the apparatus itself is relatively large, requiring a large installation space.
Furthermore, the turret is installed at a 180 ° symmetrical position with a cam that is 180 ° point symmetric, and there is a problem that the movement accuracy is likely to be lowered due to cam accuracy and cam / turret assembly error.
Therefore, the present invention can appropriately and smoothly transport a workpiece (conveyed object), can perform a stable operation, can cope with a high-speed operation, and further has a configuration of the apparatus itself. XY that is simple, compact, easy to install, easy to integrate into production lines, etc., excellent in durability, hard to break down, easy to maintain, cost-saving, economical and versatile It was created to provide an actuator.
[0005]
[Means for Solving the Problems]
Therefore, in order to achieve the above-described problems, in the XY actuator according to the first aspect of the present invention, the pair of operating bodies S1 and S2 are moved in a predetermined X direction and a Y direction orthogonal to the X direction. The XY actuator is configured to be moved in the direction, and the first cam mechanism A that is appropriately operated by the driving means and the rotational force of the output shaft 1 of the first cam mechanism A are transmitted through the connecting means C as appropriate. The linear plate 10 that can be reciprocated in the X direction by the desired forward / reverse rotation of the X direction output shaft 6 of the second cam mechanism B, and a guide means F on the linear plate 10. A pair of springs that can be reciprocated in the X direction together with the linear plate 10 and can be reciprocated in the Y direction by the desired forward / reverse rotation of the Y direction output shaft 2 of the first cam mechanism A. The first cam mechanism A includes an input shaft, an output shaft 1, and an output shaft 2 for Y direction projecting from the casing, and the driving rotational force of the driving means is appropriately applied to the input shaft. The rotation of the input shaft causes the output shaft 1 to rotate at a constant rate in a predetermined direction, and the Y-direction output shaft 2 moves by appropriately combining preset forward rotation, reverse rotation, stop, and the like. In the second cam mechanism B, the input shaft 5 and the X-direction output shaft 6 protrude from the casing, and the rotational force of the output shaft 1 of the first cam mechanism A is connected via the connecting means C. When transmitted to the input shaft 5, the X-direction output shaft 6 is configured to move in a suitable combination of preset forward rotation, reverse rotation, stop, etc., and is connected to the pair of slide plates 15, 16. A pair of operating bodies S1 and S2 is attached, or a pair of slide plates 5 and 16 themselves are configured as a pair of operating bodies S1 and S2, and the workpieces can be sandwiched or separated by the movement of the pair of operating bodies S1 and S2 in the Y direction. A means is adopted in which the clamped workpiece is transported in the X direction by the operation in the X direction of S2, or moved to the original position to transport the next workpiece.
[0006]
The XY actuator according to claim 2 is an XY actuator configured to move a pair of operating bodies S1 and S2 in a predetermined X direction and a Y direction perpendicular to the X direction. A first cam mechanism A that is actuated by an appropriate driving means, a second cam mechanism B that is actuated by appropriately transmitting the rotational force of the output shaft 1 of the first cam mechanism A via a linking means C, and a second cam. A linear plate 10 that can be reciprocated in the X direction by the desired forward / reverse rotation of the output shaft 6 for the X direction of the mechanism B, and is mounted on the linear plate 10 via the guide means F, and together with the linear plate 10 in the X direction A pair of slide plates 15 and 16 that reciprocally move, and one of the pair of slide plates 15 and 16 is desired for the Y-direction output shaft 2 of the first cam mechanism A. The first cam mechanism A is configured such that an input shaft, an output shaft 1, and a Y-direction output shaft 2 project from a casing and are driven as appropriate. The driving rotational force of the means is transmitted to the input shaft, and the rotation of the input shaft causes the output shaft 1 to rotate in a predetermined direction and the Y-direction output shaft 2 to rotate in the forward, reverse, and stop directions set in advance. The second cam mechanism B has an input shaft 5 and an X-direction output shaft 6 projecting from the casing so that the output shaft 1 of the first cam mechanism A is connected to the second cam mechanism B. When the rotational force is transmitted to the input shaft 5 via the linking means C, the X-direction output shaft 6 is configured to move appropriately combining preset forward rotation, reverse rotation, stop, and the like. A pair of operating bodies S1 and S2 are attached to the pair of slide plates 15 and 16, or The pair of slide plates 15 and 16 themselves are configured as a pair of operating bodies S1 and S2, and the work can be clamped or separated by the operation of one of the operating bodies S1 and S2 in the Y direction. Further, a means is adopted in which the clamped workpiece is transported in the X direction by the operation of the pair of operating bodies S1 and S2 in the X direction, or moved to the original position to transport the next workpiece.
[0007]
Further, the XY actuator according to claim 3 is an XY actuator configured to move a pair of actuating bodies S1 and S2 in a predetermined X direction and a Y direction perpendicular to the X direction. A first cam mechanism A that is actuated by an appropriate driving means, a second cam mechanism B that is actuated by appropriately transmitting the rotational force of the output shaft 1 of the first cam mechanism A via a linking means C, and a second cam. A pair of linear plates 10 that can reciprocate in the X direction by the desired forward / reverse rotation of the output shaft 6 for the X direction of the mechanism B, and the linear plates 10 are attached to the linear plates 10 via the guide means F. A pair of slide plates 15, 16 that reciprocate in the X direction together with each of the slide plates 15, 16 that can reciprocate in the Y direction by the desired forward / reverse rotation of the Y-direction output shaft 2 of the first cam mechanism A The first cam mechanism A includes an input shaft, an output shaft 1 and a Y-direction output shaft 2 projecting from a casing, and the driving rotational force of the driving means is appropriately transmitted to the input shaft. The rotation of the output shaft 1 makes a constant rotation in a predetermined direction, and the Y-direction output shaft 2 is configured to move appropriately combining a preset forward rotation, reverse rotation, stop, etc. In the two-cam mechanism B, an input shaft 5 and an X-direction output shaft 6 project from the casing, and the rotational force of the output shaft 1 of the first cam mechanism A is transmitted to the input shaft 5 via the connecting means C. Then, the X-direction output shaft 6 is configured to move by appropriately combining preset forward rotation, reverse rotation, stop, and the like, and a pair of slide plates 15 and 16 and a pair of operating bodies S1 and S2. Or a pair of slide plates 15 and 16 themselves are operated as a pair. S1 and S2 are configured so that the workpiece can be held or released by the operation in the Y direction of the pair of operating bodies S1 and S2, and the operation in the X direction of each of the pair of operating bodies S1 and S2 In addition, a means is adopted in which the clamped work is transported in the X direction or moved to the original position to transport the next work.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described based on illustrated examples as follows.
In the present invention, for example, a work (conveyed object) can be accurately and quickly moved as appropriate during a work process (or supply or discharge) by an assembly machine, a printing machine, an inspection machine, or the like. An XY actuator that can be transported. The XY actuator moves a pair of operating bodies S1 and S2 in the X direction that is the transport direction and the Y direction that is orthogonal to the transport direction (reciprocating movement). ) It is configured to be damped.
That is, the workpiece is clamped by the movement of the pair of operating bodies S1, S2 in the Y direction (for example, the movement of approaching, separating, or relatively approaching or separating each other), or In addition, the clamped work can be transported in the X direction (conveyance direction) by the operation in the X direction (reciprocating motion in the transport direction) of the pair of operating bodies S1 and S2, or the next work can be moved It is configured to be able to move to the original position to be conveyed.
[0009]
The XY actuator is operated by an appropriate drive means such as a geared motor, the drive rotational force of the appropriate drive means is transmitted to the input shaft, and has an output shaft 1 and an output shaft 2 for Y direction. 1 cam mechanism A, the second cam mechanism B having the input shaft 5 and the output shaft 6 for X direction, and the rotational force of the output shaft 1 of the first cam mechanism A are transmitted to the input shaft 5 of the second cam mechanism B. The linear plate 10 configured to be reciprocally movable in the X direction via the connecting means C, the guide means E, and the rotational force of the output shaft 6 for the X direction of the second cam mechanism B is used as the X direction of the linear plate 10. Motion conversion means D for converting the reciprocal movement into the reciprocating movement, a pair of slide plates 15 and 16 configured to reciprocate in the X direction together with the linear plate 10 and reciprocating in the Y direction, and a pair of slide plays. 15 and 16 is supported by the linear plate 10 so as to be reciprocally movable in the Y direction, and the rotational force of the Y-direction output shaft 2 of the first cam mechanism A is used in the Y direction of the pair of slide plates 15 and 16. Motion converting means G that converts the reciprocating motion into
[0010]
Further, a pair of operating bodies S1, S2 is attached to the pair of slide plates 15, 16, or the pair of slide plates 15, 16 themselves are configured as a pair of operating bodies S1, S2.
[0011]
The first cam mechanism A uses, for example, an oscillator or the like, and is appropriately connected to an input shaft from a box-shaped casing made of metal or the like, and an output shaft directly connected to the input shaft (or may not be directly connected). 1 and an output shaft 2 for Y direction project, and an oscillator cam, a groove cam, a rib cam, or the like is built in the casing, and a driving rotational force of a suitable driving means such as a guard motor is provided. The output shaft 1 is rotated in a predetermined direction by the rotation of the input shaft, and the Y-direction output shaft 2 is appropriately combined with preset forward rotation, reverse rotation, stop, and the like. It is configured to
[0012]
The second cam mechanism B uses, for example, an oscillator or the like, and an input shaft 5 and an X-direction output shaft 6 project from a box-like casing made of metal as appropriate. When the rotational force of the output shaft 1 is transmitted to the input shaft 5 via the linking means C, the X-direction output shaft 6 moves in a suitable combination of preset forward rotation, reverse rotation, stop, and the like. It is configured.
[0013]
The linking means C can use, for example, a chain mechanism, a toothed belt mechanism, a link mechanism, a gear mechanism, and the like, and the rotational force of the output shaft 1 is reliably and accurately applied to the input shaft 5. And what is necessary is just to be able to transmit smoothly. In the illustrated example, a sprocket fixed to the output shaft 1 and the input shaft 5 and a chain, a toothed belt or the like wound around the sprocket is used.
[0014]
The motion converting means D is configured to smoothly and accurately convert the rotational force of the X-direction output shaft 6 of the second cam mechanism B into the reciprocating movement of the linear plate 10 in the X direction. Then, the swing arm 7 fixed to the output shaft 6 for the X direction of the second cam mechanism B, the roller 8 attached to the tip portion of the swing arm 7, and the groove portion in which the roller 8 is accommodated. And a roller receiver 9 fixed to the lower surface of the linear plate 10.
By the way, the motion conversion means D is composed of, for example, a pinion fixed to the X-direction output shaft 6 of the second cam mechanism B, and a rack that meshes with the pinion and is fixed to the lower surface of the linear plate 10. It is also possible (not shown) to adopt other means as appropriate.
[0015]
The linear plate 10 is formed, for example, in a substantially rectangular plate shape in which an oblong hole is formed in the approximate center so as not to interfere with the Y-direction output shaft 2 portion of the first cam mechanism A. .
[0016]
The guide means E is configured to support the linear plate 10 smoothly and stably in a reciprocating manner in the X direction. For example, in the illustrated example, the first cam mechanism A and the second cam mechanism B are used. A pair of rails 11 (one or three or more) fixed to the rail 11 and a guide body 12 that is slidably mounted on the rail 11 and fixed to the linear plate 10 by an appropriate number. It is configured.
In addition, the rail 11 is fixed by a fixing screw or the like, and further, a notch groove is appropriately provided in the left and right side portions thereof, and the guide body 12 is provided with a protrusion that matches the notch groove, The guide body 12 is slid relative to the rail 11 only in the X direction so that it does not rattle, separate, or deviate in other directions.
[0017]
Further, the pair of slide plates 15 and 16 are formed in a substantially elongated rectangular plate shape, for example.
[0018]
The guide means F is configured to support the pair of slide plates 15 and 16 so as to be able to reciprocate smoothly and stably in the Y direction. For example, in the illustrated example, the guide means F is fixed to the upper surface of the linear plate 10. A pair of rails 17 (one or three or more) and a guide body 18 that is slidably mounted on the rails 17 and fixed to the pair of slide plates 15 and 16 respectively. It consists of
In addition, the rail 17 is fixed by a fixing screw or the like, and further, a notch groove is appropriately provided in the left and right side portions thereof, and a protrusion that matches the notch groove is protruded from the guide body 18. The guide body 18 is formed so as to slide only in the Y direction relative to the rail 17 so as not to rattle, separate, or deviate in other directions.
[0019]
The motion conversion means G is configured to smoothly and accurately convert the rotational force of the Y-direction output shaft 2 of the first cam mechanism A into the reciprocating movement of the pair of slide plates 15 and 16 in the Y direction. In the illustrated example, a swing lever 20 fixed to the Y-direction output shaft 2 of the first cam mechanism A, guide pins 21 attached to both ends of the swing lever 20, and the guide pins 21 are accommodated. And a guide block 22 mounted on the pair of slide plates 15 and 16.
That is, the guide groove 23 of the guide block 22 is formed so as to be parallel to the X direction, and when the direction output shaft 6 rotates forward and backward and the linear plate 10 moves in the X direction, the guide pin 21 Is configured to move only in the X direction together with the linear plate 10 without moving in the Y direction only by passing through the guide groove 23 of the guide block 22.
Further, when the Y-direction output shaft 2 rotates forward and backward, the guide pin 21 presses the inner wall of the guide groove 23 and the guide block 22 (the pair of slide plates 15 and 16) moves in the Y direction. Yes.
[0020]
By the way, the linear plate 10 is composed of, for example, one rectangular plate in the illustrated example, but may be composed of two (a pair) of substantially elongated rectangular plates (not shown).
That is, the pair of linear plates 10 is formed so as to be movable in the X direction by the guide means E, and the second cam mechanism B is provided with a pair of output shafts 6 for the X direction. The rotational force of the output shaft 6 can be smoothly and accurately converted to the reciprocating motion in the X direction of each linear plate 10 via the motion converting means D, so that the pair of linear plates 10 are in different moving states. (For example, the movement range, the movement timing, and the like are different).
Specifically, the swing arm 7 is fixed to each of the pair of X-direction output shafts 6, and the pair of linear plates 10 and the tip ends of the swing arms 7 are connected via the roller 8 and the roller receiver 9. Each is formed to be connected. Then, by adjusting the length of the swing arm 7 (interval from the X-direction output shaft 6 to the roller 8) and the like, the pair of linear plates 10 can be independently moved in the X direction, and the pair of operating bodies The width of the operation pattern of S1 and S2 becomes wider.
[0021]
Further, only one of the pair of slide plates 15 and 16 may be configured to be linked to the Y-direction output shaft 2 via the motion conversion means G. That is, one slide plate 15 connected to the Y-direction output shaft 2 via the motion converting means G is moved away from the other slide plate 16 formed so as not to move in the Y direction. Alternatively, it may be configured to be movable in the Y direction.
Further, the pair of slide plates 15 and 16 may be configured to have different movement states (for example, different movement ranges, movement timings, and the like). Specifically, by adjusting the distance from the Y-direction output shaft 2 to the guide pin 21 of the swing lever 20, the pair of slide plates 15 and 16 each move in the Y direction in a unique pattern, and the pair The width of the operation pattern of the actuating bodies S1 and S2 becomes wider.
[0022]
It should be noted that the specific configuration, shape and dimensions of the XY actuator, the specific configuration, shape, dimensions and arrangement position of the first cam mechanism A, the specific configuration, shape, dimensions, arrangement position and connection of the second cam mechanism B Specific configuration, shape, dimensions, arrangement position of means C, specific configuration of motion conversion means D, shape, dimensions, number, arrangement position, specific configuration of guide means E, shape, dimensions, number, arrangement Position, specific configuration of guide means F, shape, dimensions, number, arrangement position, specific configuration of motion conversion means G, shape, dimensions, number, arrangement position, specific configuration of output shaft 1, shape, dimensions , Arrangement position, specific configuration of Y-direction output shaft 2, shape, dimensions, arrangement position, specific configuration of input shaft 5, shape, dimensions, arrangement position, specific configuration of X-direction output shaft 6 , Shape, dimensions, number, arrangement position, specific configuration of swing arm 7, shape, dimensions, material, specific configuration of roller 8 , Shape, dimensions, material, arrangement position, specific configuration of roller receiver 9, shape, dimensions, material, arrangement position, specific configuration of linear plate 10, shape, dimensions, material, number, arrangement position, Specific configuration, shape, dimensions, material, number, arrangement position of rail 11, specific configuration of guide body 12, shape, dimensions, material, number, arrangement position, specific configuration, shape of slide plates 15, 16 , Dimensions, material, arrangement position, specific configuration of rail 17, shape, dimensions, material, number, arrangement position, specific configuration of guide body 18, shape, dimensions, material, number, arrangement position, swing Specific configuration, shape, dimensions, material of lever 20, specific configuration, shape, dimensions, material, number, arrangement position of guide pin 21, specific configuration, shape, dimensions, material, number, arrangement of guide block 22 Installation position, specific configuration of guide groove 23, shape, dimensions, number, arrangement position Specific structure of the operating member S1, S2, shape, size, material, installation position, etc., appropriately and freely set without being limited such to the illustrated example, but can be changed.
In particular, in the guide means E of the linear plate 10 and the guide means F of the slide plates 15 and 16, specific means or The shape of these constituent members, the fixing means for these constituent members, and the like can be appropriately selected and determined.
In addition, the operation converting means G for connecting the Y-direction output shaft 2 of the first cam mechanism A and the slide plates 15 and 16, and the operation for connecting the X-direction output shaft 6 of the second cam mechanism B and the linear plate 10. In the conversion means D, its specification, method, etc. can be selected and determined as appropriate according to its accuracy, price, components employed, and the like.
[0023]
The XY actuator of the present invention is configured as described above. Next, description will be given of a case where the XY actuator is used as, for example, a conveying device. First, when an appropriate driving means such as a geared motor is operated, an appropriate driving means is provided. Is transmitted to the input shaft of the first cam mechanism A to actuate the first cam mechanism A, and the rotational force of the output shaft 1 of the first cam mechanism A is appropriately connected via the connecting means C to the second cam. The second cam mechanism B is operated by being transmitted to the input shaft 5 of the mechanism B.
Then, the X-direction output shaft 6 of the second cam mechanism B rotates, and the rotational force of the X-direction output shaft 6 is transmitted to the linear plate 10 via the motion conversion means D. That is, a swing arm 7 fixed to the X-direction output shaft 6, a roller 8 at the tip of the swing arm 7, and a roller receiver 9 fixed to the linear plate 10 while receiving the roller 8. As a result, the linear plate 10 reciprocates in the X direction. Moreover, as the linear plate 10 reciprocates, the pair of slide plates 15 and 16 also reciprocate in the X direction.
In addition, when the first cam mechanism A is actuated, the Y-direction output shaft 2 rotates, and the rotational force of the Y-direction output shaft 2 is transmitted to the pair of slide plates 15 and 16 via the operation converting means G. The That is, the swing lever 20 fixed to the Y-direction output shaft 2, the guide pins 21 attached to both ends of the swing lever 20, and the guide pins 21 are movable only in the X direction. The pair of slide plates 15 and 16 are reciprocated in the Y direction by the guide block 22 fixed to the pair of slide plates 15 and 16.
Then, a pair of slide plates can be selected depending on the combination of forward / reverse rotation operation, stop timing, speed, etc. of the Y-direction output shaft 2 of the first cam mechanism A and the X-direction output shaft 6 of the second cam mechanism B. 15 and 16 (actuators S1 and S2) can realize various operating states as shown in FIG. 8, for example.
[0024]
【The invention's effect】
Therefore, the XY actuator according to claim 1 of the present invention is an XY actuator configured to move the pair of operating bodies S1 and S2 in a predetermined X direction and a Y direction orthogonal to the X direction. A first cam mechanism A that is actuated by an appropriate driving means, a second cam mechanism B that is actuated by appropriately transmitting the rotational force of the output shaft 1 of the first cam mechanism A via a linking means C, and a second cam. A linear plate 10 that can be reciprocated in the X direction by the desired forward / reverse rotation of the output shaft 6 for the X direction of the mechanism B, and is mounted on the linear plate 10 via the guide means F, and together with the linear plate 10 in the X direction And a pair of slide plates 15 and 16 that can reciprocate in the Y direction by the desired forward / reverse rotation of the Y-direction output shaft 2 of the first cam mechanism A, The one cam mechanism A has an input shaft, an output shaft 1 and a Y-direction output shaft 2 projecting from the casing, and the driving rotational force of the driving means is appropriately transmitted to the input shaft. By the rotation of the input shaft, The output shaft 1 rotates in a predetermined direction and the Y-direction output shaft 2 is configured to move appropriately combining preset forward rotation, reverse rotation, stop, and the like, and the second cam mechanism B When the input shaft 5 and the output shaft 6 for X direction project from the casing and the rotational force of the output shaft 1 of the first cam mechanism A is transmitted to the input shaft 5 via the connecting means C, X The directional output shaft 6 is configured to move in a suitable combination of preset forward rotation, reverse rotation, stop, and the like, and a pair of operating bodies S1, S2 are attached to the pair of slide plates 15, 16, or The pair of slide plates 15 and 16 themselves are a pair of operating bodies S1 and S2. The workpiece can be clamped or separated by the movement of the pair of operating bodies S1, S2 in the Y direction, and the workpiece clamped by the movement of the pair of operating bodies S1, S2 in the X direction Since it is configured so that it can be transported in the X direction or moved to its original position to transport the next workpiece, for example, during the work process of various product assembly machines, printing machines, inspection machines, etc. In addition, the workpiece (conveyed object) can be properly sandwiched between the pair of operating bodies S1 and S2 and accurately and smoothly transported. In addition, stable operation is possible and high-speed operation is possible. It becomes an XY actuator that can. In addition, the operation characteristics and operation accuracy of the pair of operating bodies S1 and S2 are excellent.
In addition, its own configuration is simpler, its assembly is simple, it can be configured in a compact and compact configuration, it is easy to save space, it is easy to install, it can be easily installed in production lines, etc. It is difficult to perform, maintenance is easy, cost can be reduced, and the XY actuator is economical and versatile.
[0025]
An XY actuator according to claim 2 of the present invention is an XY actuator configured to move a pair of operating bodies S1 and S2 in a predetermined X direction and a Y direction perpendicular to the X direction. A first cam mechanism A that is actuated by an appropriate driving means, a second cam mechanism B that is actuated by appropriately transmitting the rotational force of the output shaft 1 of the first cam mechanism A via a linking means C, and a second cam. A linear plate 10 that can be reciprocated in the X direction by the desired forward / reverse rotation of the output shaft 6 for the X direction of the mechanism B, and is mounted on the linear plate 10 via the guide means F, and together with the linear plate 10 in the X direction A pair of slide plates 15 and 16 that reciprocally move, and one of the pair of slide plates 15 and 16 is desired for the Y-direction output shaft 2 of the first cam mechanism A. The first cam mechanism A is configured such that an input shaft, an output shaft 1, and a Y-direction output shaft 2 project from a casing and are driven as appropriate. The driving rotational force of the means is transmitted to the input shaft, and the rotation of the input shaft causes the output shaft 1 to rotate in a predetermined direction and the Y-direction output shaft 2 to rotate in the forward, reverse, and stop directions set in advance. The second cam mechanism B has an input shaft 5 and an X-direction output shaft 6 projecting from the casing so that the output shaft 1 of the first cam mechanism A is connected to the second cam mechanism B. When the rotational force is transmitted to the input shaft 5 via the linking means C, the X-direction output shaft 6 is configured to move appropriately combining preset forward rotation, reverse rotation, stop, and the like. A pair of operating bodies S1 and S2 are attached to the pair of slide plates 15 and 16, or The pair of slide plates 15 and 16 themselves are configured as a pair of operating bodies S1 and S2, and the work can be clamped or separated by the operation of one of the operating bodies S1 and S2 in the Y direction. Since the paired operating bodies S1, S2 are configured so that the clamped work can be transported in the X direction or moved to the original position to transport the next work, In a work process by a product assembling machine, a printing machine, an inspection machine, etc., a work (conveyed object) can be appropriately sandwiched between a pair of operating bodies S1 and S2 and conveyed accurately and smoothly. In addition, the XY actuator can operate stably and can cope with high-speed work. In addition, the operation characteristics and operation accuracy of the pair of operating bodies S1 and S2 are excellent.
In addition, its own configuration is simpler, its assembly is simple, it can be configured in a compact and compact configuration, it is easy to save space, it is easy to install, it can be easily installed in production lines, etc. It is difficult to perform, maintenance is easy, cost can be reduced, and the XY actuator is economical and versatile.
[0026]
Furthermore, the XY actuator according to claim 3 of the present invention is an XY actuator configured to move a pair of operating bodies S1 and S2 in a predetermined X direction and a Y direction perpendicular to the X direction. A first cam mechanism A that is actuated by an appropriate driving means, a second cam mechanism B that is actuated by appropriately transmitting the rotational force of the output shaft 1 of the first cam mechanism A via a linking means C, and a second cam. A pair of linear plates 10 that can reciprocate in the X direction by the desired forward / reverse rotation of the output shaft 6 for the X direction of the mechanism B, and the linear plates 10 are attached to the linear plates 10 via the guide means F. A pair of slide plates 15, 16 that reciprocate in the X direction together with each of the slide plates 15, 16 that can reciprocate in the Y direction by the desired forward / reverse rotation of the Y-direction output shaft 2 of the first cam mechanism A The first cam mechanism A includes an input shaft, an output shaft 1 and a Y-direction output shaft 2 projecting from a casing, and the driving rotational force of the driving means is appropriately transmitted to the input shaft. The rotation of the output shaft 1 makes a constant rotation in a predetermined direction, and the Y-direction output shaft 2 is configured to move appropriately combining a preset forward rotation, reverse rotation, stop, etc. In the two-cam mechanism B, an input shaft 5 and an X-direction output shaft 6 project from the casing, and the rotational force of the output shaft 1 of the first cam mechanism A is transmitted to the input shaft 5 via the connecting means C. Then, the X-direction output shaft 6 is configured to move by appropriately combining preset forward rotation, reverse rotation, stop, and the like, and a pair of slide plates 15 and 16 and a pair of operating bodies S1 and S2. Or a pair of slide plates 15 and 16 themselves are operated as a pair. S1 and S2 are configured so that the workpiece can be held or released by the operation in the Y direction of the pair of operating bodies S1 and S2, and the operation in the X direction of each of the pair of operating bodies S1 and S2 Since the clamped work can be transported in the X direction or moved to the original position to transport the next work, for example, by various product assembly machines, printing machines, inspection machines, etc. During the work process, the work (conveyed object) can be properly sandwiched between the pair of operating bodies S1 and S2 and conveyed accurately and smoothly. In addition, stable operation is possible. It will be an XY actuator that can handle high speeds. In addition, the operation characteristics and operation accuracy of the pair of operating bodies S1 and S2 are excellent.
In addition, its own configuration is simpler, its assembly is simple, it can be configured in a compact and compact configuration, it is easy to save space, it is easy to install, it can be easily installed in production lines, etc. It is difficult to perform, maintenance is easy, cost can be reduced, and the XY actuator is economical and versatile.
In particular, a pair of linear plates 10 that can reciprocate in the X direction, and the linear plates 10 are attached to the linear plates 10 via guide means F, reciprocate in the X direction together with the linear plates 10, and the first cam mechanism. A pair of slide plates 15 and 16 that can be reciprocated in the Y direction by the desired forward and reverse rotation of the Y-direction output shaft 2 of A are provided. As a result, the width of the operation pattern of the pair of operating bodies S1 and S2 is widened.
[Brief description of the drawings]
FIG. 1 is a schematic plan view showing an operation example of a pair of actuating bodies in an XY actuator of the present invention.
FIG. 2 is a schematic front view illustrating a part of the XY actuator of the present invention.
FIG. 3 is a schematic side view illustrating a part of the XY actuator of the present invention.
FIG. 4 is a schematic plan view illustrating a part of the XY actuator of the present invention.
FIG. 5 is a schematic front view illustrating an XY actuator of the present invention.
FIG. 6 is a schematic side view illustrating an XY actuator of the present invention.
FIG. 7 is a schematic plan view illustrating an XY actuator of the present invention.
FIG. 8 is a schematic view showing an operation example of a pair of operating bodies in the XY actuator of the present invention.
[Explanation of symbols]
A 1st cam mechanism B 2nd cam mechanism
C connection means D motion conversion means
E Guide means F Guide means
G motion conversion means
1 Output shaft 2 Output shaft for Y direction
5 Input shaft 6 Output shaft for X direction
7 Swing arm 8 Roller
9 Roller receptacle
10 Linear plate 11 Rail
12 Guide body
15 Slide plate 16 Slide plate
17 rail 18 guide body
20 Swing lever 21 Guide pin
22 Guide block 23 Guide groove
S1 Actuator S2 Actuator

Claims

An XY actuator configured to move a pair of operating bodies in a predetermined X direction and a Y direction orthogonal to the X direction, and a first cam mechanism that is appropriately operated by a driving unit, and the first cam The rotational force of the output shaft of the mechanism is appropriately transmitted via the connecting means, and the desired forward / reverse rotation of the X direction output shaft of the second cam mechanism enables the reciprocating movement in the X direction. A linear plate is mounted on the linear plate via guide means, reciprocates in the X direction together with the linear plate, and reciprocates in the Y direction by the desired forward / reverse rotation of the Y direction output shaft of the first cam mechanism. possible and a pair of slide plates consisting, said first cam mechanism includes an input shaft from the casing, an output shaft, and a Y-direction output shaft is projected, the driving rotational force of appropriate driving means ON The output shaft is rotated in a predetermined direction by the rotation of the input shaft, and the Y-direction output shaft moves in a suitable combination of preset forward rotation, reverse rotation, stop, etc. In the second cam mechanism, an input shaft and an X-direction output shaft project from the casing, and the rotational force of the output shaft of the first cam mechanism is transmitted to the input shaft via the connecting means. The X-direction output shaft is configured to move in a suitable combination of preset forward rotation, reverse rotation, stop, etc., and a pair of operating members are attached to a pair of slide plates, or a pair of slides The plate itself is configured as a pair of operating bodies, and the workpiece can be clamped or separated by the movement of the pair of operating bodies in the Y direction, and the workpiece is clamped by the movement of the pair of operating bodies in the X direction. Transport the workpiece in the X direction, or Is, XY actuator, characterized by being configured so as to be movable to its original position so as to carry the next work.

An XY actuator configured to move a pair of operating bodies in a predetermined X direction and a Y direction orthogonal to the X direction, and a first cam mechanism that is appropriately operated by a driving unit, and the first cam The rotational force of the output shaft of the mechanism is appropriately transmitted via the connecting means, and the desired forward / reverse rotation of the X direction output shaft of the second cam mechanism enables the reciprocating movement in the X direction. A linear plate and a pair of slide plates mounted on the linear plate via guide means and reciprocatingly moved in the X direction together with the linear plate, one of the pair of slide plates being one of the first cam mechanism the desired forward and reverse rotation of the Y-direction output shaft, and configured to be reciprocated in the Y direction, the first cam mechanism includes an input shaft from the casing, an output shaft, Y And an output shaft for the direction, and the driving rotational force of the driving means is appropriately transmitted to the input shaft. The rotation of the input shaft causes the output shaft to rotate constantly in a predetermined direction. The second cam mechanism has a configuration in which an input shaft and an output shaft for X direction project from the casing, and the first cam is configured so as to move appropriately combining set forward rotation, reverse rotation, stop, and the like. When the rotational force of the output shaft of the mechanism is transmitted to the input shaft through the connecting means, the X-direction output shaft is configured to move appropriately combining preset forward rotation, reverse rotation, stop, etc. A pair of operating bodies are attached to a pair of slide plates, or the pair of slide plates themselves are configured as a pair of operating bodies, and the work is clamped by the operation of one of the operating bodies in the Y direction. A pair of actuators that can be separated or separated The X-direction of the operation, or to convey the nipped workpiece in the X direction, or, XY actuator, characterized by being configured so as to be movable to its original position so as to carry the next work.

An XY actuator configured to move a pair of operating bodies in a predetermined X direction and a Y direction orthogonal to the X direction, and a first cam mechanism that is appropriately operated by a driving unit, and the first cam The rotational force of the output shaft of the mechanism is appropriately transmitted via the connecting means, and the desired forward / reverse rotation of the X direction output shaft of the second cam mechanism enables the reciprocating movement in the X direction. A pair of linear plates, each of which is attached to each of the linear plates via guide means F, reciprocates in the X direction together with each of the linear plates, and by the desired forward and reverse rotation of the Y direction output shaft of the first cam mechanism, and a pair of slide plates in the Y direction becomes reciprocally movable, said first cam mechanism includes an input shaft from the casing, an output shaft, and a Y-direction output shaft is protruded, appropriate driving means Driving rotational force is transmitted to the input shaft, the rotation of the input shaft, output shaft, and a fixed rotated in a predetermined direction, the output shaft for the Y direction, combined forward rotation previously set, reverse rotation, stopping, or the like as appropriate The second cam mechanism is configured such that an input shaft and an output shaft for X direction project from the casing, and the rotational force of the output shaft of the first cam mechanism is input via a connecting means. When transmitted to the shaft, the X-direction output shaft is configured to move appropriately combining preset forward rotation, reverse rotation, stop, etc., and a pair of operating members are attached to a pair of slide plates, Alternatively, the pair of slide plates themselves are configured as a pair of actuating bodies, and the workpiece can be clamped or separated by the movement of the pair of actuating bodies in the Y direction. X Or transported in direction, or, XY actuator, characterized by being configured so as to be movable to its original position so as to carry the next work.