JP4243466B2 - Cam-type automatic tool changer with shutter drive mechanism - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
Although the present invention has a simple configuration, the tool change operation and the shutter opening / closing operation in a short cycle time can be reliably synchronized, and the high-speed operation of the entire tool changing operation including the opening / closing operation of the shutter is ensured. The present invention relates to a cam type automatic tool changer equipped with a shutter drive mechanism that can handle the above.
[0002]
[Prior art]
Conventionally, as an automatic tool changer, it is possible to change tools with a high cycle time of 0.5 to 1 second, and the cam type automatic tool change with extremely high movement accuracy and stability of the change operation. Many devices are used. And between this automatic tool changer and the machining space of the machine tool that actually performs machining, the purpose is to prevent cutting scraps and oil generated in the machining space from scattering toward the automatic tool changer. A shutter is provided.
[0003]
The shutter is closed to partition the processing space and the automatic tool changer during processing in the processing space, and the tool changing arm of the automatic tool changer is placed in the processing space when changing tools. Opened so that it can be inserted into. In order to open and close the shutter, it is necessary to move the shutter with a considerable stroke. Therefore, a conventional drive of a cylinder type that can easily obtain a large stroke is used for driving the shutter. As a driving source, an air cylinder that uses air that does not contaminate the surroundings is employed. In this type of cylinder, the opening and closing stroke start and end points are detected by sensors such as limit switches.
[0004]
[Problems to be solved by the invention]
By the way, the cam type automatic tool changer is driven by a motor, whereas the shutter is driven by the air cylinder described above, and thus separate drive sources are used for both. However, it is extremely difficult to synchronize the opening / closing operation of the shutter and the tool changing operation of the tool changing arm. In addition, although the automatic tool changer is capable of high-speed operation, if the air cylinder-driven shutter does not wait for confirmation of the opening / closing stroke by the above sensor, especially "open" confirmation, tool change operation by the tool change arm Therefore, it has been difficult to achieve high speed as a whole tool change operation. Furthermore, since the shutter that is opened by the area where the tool can be changed needs to be large enough to cover the opened area, it has a considerable size, and the storage space when the shutter is opened. However, it is difficult to move the shutter at high speed.
[0005]
Further, in order to easily synchronize the opening / closing operation of the shutter with the tool changing operation, it is conceivable to drive the shutter with a rotary drive shaft that drives the cam of the automatic tool changing device. However, unlike a cylinder that performs a stroke operation, it is necessary to incorporate a complicated mechanism in order to create a stroke necessary for opening and closing the shutter from the rotation operation of the rotary drive shaft. For example, it is assumed that a mechanism such as a rack and pinion method is inserted between the rotation drive shaft and the shutter. To obtain a considerable stroke necessary for opening and closing the shutter even in such a configuration, Furthermore, it is necessary to incorporate a reduction gear capable of forward / reverse rotation with a considerable gear ratio.
[0006]
Eventually, the mechanism for opening and closing the shutter by sharing the rotary drive shaft for driving the cam of the automatic tool changer has a problem that it is extremely complicated as compared with the air cylinder system.
[0007]
The present invention was devised in view of such a conventional problem, and it is possible to reliably synchronize the tool change operation and the shutter opening / closing operation in a short cycle time with a simple configuration, and the shutter opening / closing operation. It is an object of the present invention to provide a cam type automatic tool changer equipped with a shutter drive mechanism that can ensure high-speed operation of the entire tool change operation including it.
[0008]
[Means for Solving the Problems]
A cam type automatic tool changer having a shutter drive mechanism according to the present invention includes a rotary motion conversion cam and a lift motion, which are rotationally driven by a single input rotation shaft and output a rotational motion and a lift motion, respectively, inside a housing. A cam type automatic tool changer having a generating cam and driving a tool changing arm provided outside the housing by each movement output from the cam to perform a tool changing operation. In order to open and close the shutter provided according to the tool changing operation of the tool changing arm, the opening and closing motion that is rotationally driven by the single input rotation shaft and outputs the swinging motion for opening and closing the shutter inside the housing A generating cam, and a swinging movement for shutter opening / closing of the opening / closing movement generating cam. The shutter driving rotary shaft for outputting the parts to the outside is provided, the shutter is constituted by a plurality of plate members, the plurality of plate members is opened are superimposed by rotation of the input rotary shaft, The shutter is slidably provided on a slide guide, and is coupled to the shutter driving rotary shaft via a crank mechanism to constitute a slider crank mechanism, and the crank mechanism is provided on the shutter driving rotary shaft. The swivel arm is connected to each of the swivel arm and the plurality of plate members, and is composed of a plurality of stroke rods having different lengths. It is arranged toward the rotating shaft for driving the shutter It is characterized by.
[0009]
Further, in order to transmit the shutter opening / closing swing motion of the opening / closing motion generating cam to the shutter driving rotating shaft, the cam follower is swingably supported by the housing and engaged with the opening / closing motion generating cam. And a driven gear that is provided on the rotating shaft for driving the shutter and meshed with the sector gear.
[0010]
Further, in order to make the rotation angle range of the rotation shaft for driving the shutter larger than the swing angle range of the swing arm, the rotation radius of the sector gear is formed larger than the rotation radius of the driven gear. It is characterized by.
[0013]
Further, in order to execute the tool changing operation of the tool changing arm in parallel during the opening / closing operation period of the shutter, the rotational motion converting cam, the lift motion generating cam, and the opening / closing motion generating cam are: The tool change operation timing and the opening / closing operation timing are formed by overlapping cam profiles.
[0014]
Further, the rotational motion converting cam, the lift motion generating cam, and the opening / closing motion generating cam are provided in a single cam body provided on the single input rotation shaft. .
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a preferred embodiment of a cam type automatic tool changer having a shutter drive mechanism according to the present invention will be described in detail with reference to the accompanying drawings. As shown in FIGS. 1 and 2, the housing 2 of the cam type automatic tool changer 1 has an input rotary shaft 3 that is rotated by a drive source such as a motor (not shown) and a grip 4 that grips the tool at both ends. An output shaft 6 for driving a tool changing arm 5 provided outside the housing 2 and performing a tool changing operation, and a shutter configured by two shutter plates 57a and 57b provided outside the housing 2 And a rotation shaft 11 for driving the shutter for driving the swing arm 51 of the crank mechanism 50 for opening and closing the shutter 57, which is configured by connecting the stroke rods 52, 53 connected to the switch 57 and the swing arm 51, respectively. Thus, by rotating the input rotary shaft 3, the tool changing operation and the opening / closing operation of the shutter 57 are performed simultaneously.
[0016]
FIG. 3 and FIG. 4 mainly show a mechanism part that creates a tool change operation. The housing 2 in which the lubricating oil is stored is mainly provided with a single input rotary shaft 3 rotatably supported by bearings 12 at both ends thereof, and the input rotary shaft 3 is rotated integrally therewith. A roller gear cam 13 that converts the shaft rotation of the input rotary shaft 3 into a rotational motion (oscillate index motion) necessary for the tool change operation and outputs it, and a cylindrical member 14 attached to the housing 2 can be freely rotated via a bearing 15. The tip side 6a is rotatable and slidable in a cylindrical turret 17 engaged with the roller gear cam 13 via a rotating cam follower 16 and a cylindrical guide member 18 attached to the cylindrical member 14. The base end side 6b inserted into the turret 17 engages with the turret 17 in the rotational direction and is slidable in the axial direction. The output shaft 6 fitted in a line, the lift groove cam 19 that is formed on one end face of the roller gear cam 13 and outputs the lift motion necessary for the tool changing operation from the shaft rotation of the input rotation shaft 3, and supported by the housing 2. Annular engagement supported by the pin 20 so as to be swingable and engaged with the lift groove cam 19 via the first lift cam follower 21 and the second lift cam follower 22 formed on the output shaft 6 A lifting arm 24 engaged with the portion 23 is provided.
[0017]
In the illustrated example, four rotating cam followers 16 are rotatably attached to the turret 17 at intervals along the direction of rotation, and a spline between the turret 17 and the base end side 6 b of the output shaft 6. The fitting is configured such that the contour shape of the inner peripheral surface of the turret 17 and the outer peripheral surface of the base end side 6b of the output shaft 6 is a square shape, and the first and second lift cam followers 21 and 22 are for lift. Further, the annular engagement portion 23 of the output shaft 6 is configured by a pair of flanges 25 that sandwich the second lift cam follower 22 from both sides. The roller gear cam 13 engaged with the rotatable turret 17 via the rotating cam follower 16 functions as a rotational motion converting cam, and is engaged with the swingable lifting arm 24 via the first lift cam follower 21. The lift groove cam 19 to be combined functions as a lift motion generating cam.
[0018]
The turret 17 rotated by the roller gear cam 13 rotates the spline-fitted output shaft 6 and rotationally drives the tool changing arm 5 attached to the output shaft 6. The lift arm 24 swung by the lift groove cam 19 is attached to the output shaft 6 by sliding the output shaft 6 splined to the turret 17 with respect to the turret 17 and the guide member 18. The obtained tool change arm 5 is lift-driven. The annular engagement portion 23 that links the second lift cam follower 22 of the lift arm 24 that only swings with respect to the output shaft 6 to be rotated is in a state of sandwiching the second lift cam follower 22. The output shaft 6 can be slid by the lift arm 24 without disturbing the rotation of the output shaft 6.
[0019]
The tool changing arm 5 attached to the output shaft 6 is rotated and lifted by the roller gear cam 13 and the lift groove cam 19 which are rotationally driven by the shaft rotation of the input rotating shaft 3. Thus, the tool change operation is performed.
[0020]
3 and 5 to 7 mainly show a mechanism portion that creates an opening / closing operation of the shutter 57. This mechanism is formed on the end surface of the roller gear cam 13 opposite to the end surface on which the lift groove cam 19 is formed, and performs a swinging motion for shutter opening / closing necessary for the opening / closing operation of the shutter 57 from the shaft rotation of the input rotating shaft 3. An opening / closing groove cam 26 to be output, and an opening / closing cam follower 28 engaged with the opening / closing groove cam 26 are rotatably provided at one end thereof. At the other end of the swing, the opening / closing swing arm 30 having a sector gear 29 formed thereon and a bearing 31 are rotatably supported by the housing 2 at both ends, and the shutter driving rotation passing through the inside and outside of the housing 2. A shaft 11 and a driven gear 32 provided on the shutter driving rotary shaft 11 and meshed with the sector gear 29 to rotationally drive the shutter driving rotary shaft 11. It is made.
[0021]
Therefore, in this embodiment, the roller gear cam 13, the lift groove cam 19 and the opening / closing groove cam 26 are provided in a single cam body 33 provided on the single input rotation shaft 3. As a result, the housing 2 containing the mechanical components can be made small, the entire apparatus 1 can be made compact, and high motion accuracy and operational stability can be ensured. However, it goes without saying that these cams 13, 19, 26 may be separately formed on separate cam bodies and then provided on a single input rotation shaft 3.
[0022]
The opening / closing groove cam 26 engaged with the swingable opening / closing swing arm 30 via the opening / closing cam follower 28 functions as an opening / closing motion generating cam for outputting the shutter opening / closing swing motion. The opening / closing groove cam 26 swings the opening / closing swing arm 30 in a reciprocating manner to swing the sector gear 29 up and down. The forward / reverse rotation of the driven gear 32 is transmitted to the shutter drive rotation shaft 11, and the shutter drive rotation shaft 11 outputs the shutter opening / closing swing motion as the forward / reverse rotation motion from the inside of the housing 2 to the outside. .
[0023]
The shutter driving rotary shaft 11 connected to the shutter 57 via the crank mechanism 50 is provided from an opening / closing groove cam 26 that is rotationally driven together with the roller gear cam 13 and the lift groove cam 19 that create the tool changing operation of the tool changing arm 5. The shutter 57 is opened / closed according to the tool changing operation by the output swinging movement for opening / closing the shutter.
[0024]
Furthermore, as shown in FIGS. 8 and 9, the shutter 57 connected to the shutter driving rotary shaft 11 of FIG. 1 via two stroke rods 52 and 53 of the crank mechanism 50 has slide guides at both ends. 54, the shutter 57 constitutes a slider crank mechanism 55 together with the crank mechanism 50. The slider crank mechanism (piston cylinder mechanism) 55 is a mechanism having a track record of high speed operation of, for example, about 20 rps in an automobile engine, for example. It is possible to sufficiently respond to a high-speed tool change operation of 5 to 1 second. In addition, by increasing the size of the crank mechanism 50 including the turning arm 51, the opening / closing stroke of the shutter 57 can be set sufficiently large while ensuring the compactness of the housing 2 itself.
[0025]
A suitable shutter 57 of the cam type automatic tool changer equipped with the shutter drive mechanism of the present embodiment has a first shutter plate 57a as a plate material in a region to be closed by the shutter 57 (hereinafter referred to as a closed region). The second shutter plate 57b can be closed. The first shutter plate 57a and the second shutter plate 57b are formed to have substantially the same size. In the opened state, that is, in the retracted state where the shutter 57 is retracted from the closed region, the two shutter plates 57a and 57b are provided. Are substantially arranged so as to be opposed to each other, arranged side by side in the sliding direction in the closed state, and partially overlapped at their boundary portions.
[0026]
For this reason, the slide guide 54 that supports the two shutter plates 57a and 57b at both ends of the shutter plates 57a and 57b, as shown in FIG. Rail portions 54a provided for each 57b are arranged in parallel.
[0027]
Here, the cam profile of the opening / closing groove cam 26 for swinging the sector gear 29 is set in consideration of the gear ratio between the sector gear 29 and the driven gear 32 as shown in FIGS. Is created by a reciprocating revolving operation of the revolving arm 51 of the crank mechanism 50 in a maximum 180 ° range, that is, a reciprocating revolving operation between the top dead center and the bottom dead center of the crank mechanism 50. The driven gear 32, and thus the shutter drive rotating shaft 11, is rotated forward and backward within a range of 180 ° (indicated by X and Y in the figure).
[0028]
In particular, the rotation radius R of the sector gear 29 is formed to be larger than the rotation radius r of the driven gear 32, so that the driven gear 32 can be moved over a large rotation angle range by the swinging motion of the sector gear 29 in a small angle range. The rotation angle range of the shutter drive rotating shaft 11 can be made larger than the swing angle range of the open / close swing arm 30. Therefore, the shutter 2 having the opening / closing swing arm 30 that swings and moves while the shutter drive rotating shaft 11 outputs a rotation having a large rotation angle range can be reduced in size.
[0029]
10 and 11 are explanatory views for explaining the operation of the shutter 57 by the crank mechanism 50, FIG. 10 is a view for explaining the operation of the first shutter plate 57a, and FIG. 11 is a view of the second shutter plate 57b. It is a figure for demonstrating operation | movement.
[0030]
The crank mechanism 50 includes a revolving arm 51 provided on the shutter driving rotary shaft 11 and two stroke rods 52 and 53 having different lengths provided on the revolving arm 51 so as to be rotatable. It consists of and. Of these stroke rods 52, 53, the shorter stroke rod 52 is provided on the distal end side of the revolving arm 51, and the longer stroke rod 53 is provided substantially at the center of the revolving arm 51. Then, in a state where the shutter 57 is closed, the shorter stroke rod 52 is rotatably coupled to the first shutter plate 57a located on the side close to the housing 2 of the cam type automatic tool changer 1. The longer stroke rod 53 is rotatably coupled to the second shutter plate 57b located on the far side.
[0031]
Then, the roller gear cam 13 is rotated by the rotation of the input rotation shaft 3, and the tip of the swing arm 51 swung along with this rotation is swung near the minimum radius portion of the opening / closing groove cam 26 shown in FIG. The first shutter plate 57a is pulled up most closely to the housing 2 side (FIG. 10-a), and the second shutter plate 57b is located between the first shutter plate 57a and the retreat area. Located (FIG. 11-a). On the other hand, the swivel arm 51 has a tip that reaches the lowest position in the swing range in the vicinity of the maximum radius of the opening / closing groove cam 26 shown in FIG. 6, and the two shutter plates 57a and 57b overlap in the retreat area. (Fig. 8-b). Therefore, the moving distance of the second shutter plate 57b by the crank mechanism 50 is set to be approximately half of the moving distance of the first shutter plate 57a, and the moving speed of the second shutter plate 57b is set to be the first shutter plate. It is set to be approximately half of the moving speed of 57a.
[0032]
The operation of the cam type automatic tool changer 1 having the shutter drive mechanism according to the present embodiment having the above-described configuration is the same as the output shaft of the roller gear cam 13, the lift groove cam 19 and the opening / closing groove cam 26 shown in FIG. 6 will be described based on an example of a timing diagram of the rotation (oscillate index) motion and lift motion of 6 and the shutter opening / closing motion by the shutter driving rotary shaft 11.
[0033]
In the tool changing operation of the present embodiment, the tool changing arm 5 in the initial state (ab in FIG. 24) is first turned 90 ° in one direction, whereby one grip 4 is the main spindle of a machine tool (not shown). At the same time, the other grip 4 grips a replacement tool Tb mounted in a tool magazine (not shown) (b to d in the figure).
Next, the tool changing arm 5 is lifted in one direction at that position, whereby the changing tool Tb and the used tool Ta are pulled out from the tool magazine and the spindle, respectively (d to f in the figure).
Next, the tool changing arm 5 is turned 180 ° in the opposite direction while maintaining the lift position, thereby transferring the changing tool Tb to the spindle side and the used tool Ta to the tool magazine side (in the figure, f to i).
Next, the tool changing arm 5 is lifted in the opposite direction at that position, so that the used tool Ta is returned to the tool magazine at the same time that the changing tool Tb is mounted on the spindle (i to j in the figure).
Finally, the tool changing arm 5 is turned 90 ° in the same direction as the 180 ° turning while maintaining its lift position, whereby each grip 4 is detached from the tools Ta and Tb and the tool changing arm 5 is in the initial state. (J to l in the figure).
[0034]
This tool change operation is achieved by one 360 ° rotation of the input rotary shaft 3. The shutter 57 is opened / closed once by the 360 ° rotation of the input rotating shaft 3 at the same time.
[0035]
When the tool changing arm 5 is in the initial state, the shutter 57 begins to open prior to the tool changing operation (a to in the figure), and rotates 180 ° to transfer the tools Ta and Tb. The started tool change arm 5 is fully opened immediately before crossing the shutter position for the first time (g in the figure). The fully open state of the shutter 57 is maintained until the tool changing arm 5 that rotates 180 ° crosses the shutter position again for the second time (g to h in the figure), and the tool changing arm 5 has passed the shutter position. Then, immediately after that, the shutter 57 starts to close (h in the figure), and after the tool changing arm 5 returns to the initial state, it is followed and fully closed (l to 360 ° in the figure). ).
[0036]
The correlation between the tool changing operation of the tool changing arm 5 and the opening / closing operation of the shutter 57 according to the timing diagram shown in FIG. 24 will be further described with reference to FIGS.
[0037]
In stage a shown in FIG. 12, one end of the sector gear 29 meshes with the driven gear 32, and the crank mechanism 50 is in a bent state near the bottom dead center, whereby the shutter 57 is closed and the tool The replacement arm 5 is in an initial state positioned parallel to the shutter 57.
[0038]
In stage b shown in FIG. 13, the shutter driving rotary shaft 11 starts to rotate, the crank mechanism 50 starts to extend, and both the shutter plates 57a and 57b of the shutter 57 begin to move, and the shutter 57 begins to open.
[0039]
In stage c shown in FIG. 14, the shutter 57 continues to open and falls below the height position of the tool changing arm 5, and the tool changing arm 5 that has started turning 90 ° crosses the shutter position diagonally and is used. Enter the spindle side of the machine tool on which the tool is mounted.
[0040]
In stage d shown in FIG. 15, the substantially central portion of the sector gear 29 is engaged with the driven gear 32, the crank mechanism 50 continues to extend and the shutter 57 continues to open, and the tool changing arm 5 rotates 90 °. Upon completion, the shutter position is crossed at a right angle, and the tools Ta and Tb are gripped accordingly.
[0041]
In step e shown in FIG. 16, the shutter 57 continues to open, and the tool changing arm 5 that has started the lift movement continues to descend and pulls out the tools Ta and Tb.
[0042]
In stage f shown in FIG. 17, the crank mechanism 50 continues to extend and the shutter 57 continues to open, and the tool replacement arm 5 completes the lift movement and completely pulls out the tools Ta and Tb.
[0043]
At the stage g shown in FIG. 18, the other end of the sector gear 29 is engaged with the driven gear 32, and the crank mechanism 50 is fully extended when reaching the top dead center. The two shutter plates 57a and 57b are Stopped overlapping in the evacuation area. As a result, the shutter 57 is fully opened to allow the passage of the tools Ta and Tb, and the tool changing arm 5 which has started to turn 180 ° approaches the shutter position as the first time, and the used tool Ta is moved to the tool magazine side. Enter.
[0044]
In the stage h shown in FIG. 19, the fully open state of the shutter 57 is maintained, and the tool changing arm 5 that turns 180 ° is now in the second position so that the changing tool Tb is inserted into the spindle side of the machine tool. Cross the shutter position as the second time.
[0045]
In the i stage shown in FIG. 20, the shutter 57 starts to close when both of the shutter plates 57a and 57b start to rise by the crank mechanism 50 which starts the folding operation by the shutter driving rotary shaft 11 which starts to rotate in the reverse direction. . At this time, the tool changing arm 5 completes the 180 ° turn and crosses the shutter position at a right angle.
[0046]
In step j shown in FIG. 21, the shutter 57 continues to close, and the lifting operation of the tool changing arm 5 across the shutter position is completed, and the tools Ta and Tb are mounted on the spindle and the tool magazine, respectively. .
[0047]
In the k stage shown in FIG. 22, the crank mechanism 50 further performs the bending operation to continue the closing operation of the shutter 57, and the tool replacement arm 5 that has started the 90 ° turn to be detached from the tools Ta and Tb is The shutter position in a closed state allowing the turning operation is crossed diagonally and returned to the initial state.
[0048]
In step l shown in FIG. 23, the tool changing arm 5 completes the return to the initial state, both the shutter plates 57a and 57b move in the direction of closing the closed region, and the shutter 57 moves toward the fully closed state. Furthermore, it is closed continuously. Finally, the tool changing arm 5 and the shutter 57 return to the stage a in FIG.
[0049]
As described above, the roller gear cam 13, the lift groove cam 19, and the opening / closing groove cam 26 of the first embodiment are cam profiles that overlap the tool change operation timing of the tool change arm 5 and the opening / closing operation timing of the shutter 57. Since it is formed, the tool change operation of the tool change arm 5 can be executed in parallel during the opening / closing operation of the shutter 57, thereby achieving high-speed operation of the apparatus.
[0050]
In the cam type automatic tool changer 1 having the shutter drive mechanism according to the present embodiment having the above-described configuration, the three cams 13, 19, and 26 can be driven by the single input rotary shaft 3. That is, the shutter 57 can be driven by the input rotary shaft 3 that drives the cams 13 and 19 of the automatic tool changer 1, and the opening / closing operation of the shutter 57 can be easily synchronized with the tool change operation. At this time, a rotational movement or a swinging movement is mainly generated inside the housing 2, and a shutter opening / closing swinging movement for opening / closing the shutter 57 is output from the housing 2 to the outside by the shutter driving rotary shaft 11. As a result, it is not necessary to secure the opening / closing stroke of the shutter 57 inside the housing 2, and it is possible to prevent the apparatus 1 from becoming complicated and simple. Yet formed, and a tool changing operation and the shutter opening and closing operation in a short cycle times can be reliably synchronized, it is possible to ensure high-speed operation of the whole tool change operation including opening and closing operations of the shutter 57.
[0051]
Furthermore, the shutter 57 is composed of two shutter plates 57a and 57b that are approximately half the size of the closed area, and when the shutter 57 is opened, they are overlapped and retracted, so as shown in FIG. Compared with the case where the shutter 77 composed of the plate material is used, the apparatus can be made compact and space can be saved.
[0052]
The weight M of the two shutter plates 57a and 57b constituting the shutter 57 is almost half the weight of the shutter 77 made of one plate material, and the movement amount X of the second shutter plate 57b is one. The distance is half of the moving amount of the shutter 77 having the configuration. For this reason, when the work amount between the case where the shutter 57 of the present embodiment is used and the case where the single shutter 77 is used is approximated, the work J1 when the single shutter 77 is used is J1. = 4MX, and the work amount J2 when using the two-sheet shutter 57 of this embodiment is J2 = 2MX + MX = 3MX. Therefore, the amount of work is smaller when the two-sheet shutter 57 is used. This makes it possible to further increase the speed of the shutter operation and to obtain a high braking performance. Therefore, the cam type automatic tool changer equipped with the shutter drive mechanism can be further improved in performance. It becomes possible to plan.
[0053]
Since the tool changing operation and the opening / closing operation of the shutter 57 can be reliably synchronized in this way, the tool using the tool changing arm can be used without waiting for the confirmation of the opening / closing stroke of the shutter, especially the confirmation of “opening” as in the prior art. The inconvenience that the exchange operation cannot be started can be solved.
[0054]
Further, since the entire operation of the device 1 is created uniformly by a mechanical power transmission mechanism including the cams 13, 19, 26, the gears 29, 32, the slider crank mechanism 55, etc., there is no uncertain movement, High reliability can be secured.
[0055]
In particular, the timing of the tool change operation and the shutter opening / closing operation in a short cycle time can be precisely synchronized by these mechanisms that have been proven in high-speed operations such as a cam mechanism and a crank mechanism.
[0056]
Further, the input rotary shaft 3 is rotated in one direction while being a simple mechanism of a crank mechanism 50 including an opening / closing groove cam 26, an opening / closing swing arm 30, a sector gear 29, a driven gear 32, and a turning arm 51. Therefore, a large reciprocating stroke required for opening and closing the shutter 57 can be efficiently created.
[0057]
In the present embodiment, the configuration using the slide guide 54 having the rail portion 54a that supports and slides the first shutter plate 57a and the second shutter plate 57b is shown, but as shown in FIGS. The second shutter plate 57b is provided in the vicinity of the slide guide 56 and on the retreat area side, and a support portion 58 having the same phase as the first shutter plate 57a is provided. The support portion 58 has the same rail as the first shutter plate 57a. It is good also as a structure which is supported by the part 54a and slides. In this case, a notch portion 59 is provided so that the support portion 58 does not interfere with the first shutter plate 57a when the two shutter plates 57a and 57b overlap in the retreat area. As described above, by supporting the two-sheet shutter by the single rail portion 54a, it is possible to further reduce the size.
[0058]
In the present embodiment, the number of plate members constituting the shutter 57 is two. However, the number of plate members is not limited to this, and the shutter may be formed of more plate members. At this time, the number and length of the stroke rods are appropriately set according to the configuration such as the number, size and arrangement of the shutter plates.
[0059]
In the present embodiment, an example is shown in which the shorter stroke rod is provided on the tip side of the swivel arm and the longer stroke rod is provided in the approximate center of the swivel arm. However, the arrangement of the stroke rod is not limited to this. is not. For example, among the multiple stroke rods, arrange the longest stroke rod from the tip side of the swivel arm so that the shortest stroke rod is on the rotation center side of the swivel arm and the longest stroke rod is on the tip side of the swivel arm. It is also possible to adopt a configuration that can be changed as appropriate, such as arranging stroke rods with different lengths according to the configuration of the shutter plate.
[0060]
【The invention's effect】
In short, in the cam type automatic tool changer equipped with the shutter drive mechanism according to the present invention, the tool change operation and the shutter opening / closing operation in a short cycle time can be reliably synchronized with a simple configuration. Thus, high-speed operation of the entire tool change operation including the opening / closing operation of the shutter can be ensured.
[0061]
In particular, the shutter is composed of a plurality of plates, and they are overlapped when the shutter is opened, so the device can be made more compact and space-saving compared to using a shutter composed of a single plate. It becomes.
[0062]
In addition, each plate member of the shutter constituted by a plurality of plate members is lighter than a single plate member of the shutter, and a moving distance of some plate members in the shutter opening / closing operation is also shortened. For this reason, a shutter composed of a plurality of plate members requires a smaller amount of work in the opening / closing operation than a shutter composed of one sheet. Therefore, the shutter operation can be further speeded up and high braking performance can be obtained.
[0063]
In addition, since the rotary movement or swinging motion is mainly generated inside the housing, the shutter opening / closing swinging motion for opening and closing the shutter is output from the inside of the housing to the outside by the shutter driving rotary shaft. The shutter opening / closing stroke does not need to be secured inside the housing, and the apparatus can be prevented from becoming complicated.
[0064]
In addition, since the operation of the entire apparatus is uniformly created by a mechanical power transmission mechanism including a cam, a gear, a crank mechanism, and the like, there is no uncertain movement, and the reliability of the apparatus can be ensured high.
[0065]
In particular, the crank mechanism has a plurality of stroke rods that respectively connect the plurality of swing arm plate members, and the stroke rods have different lengths. Since the shutter opening / closing operation is realized by a very simple method of arranging the plates toward the side, even a configuration using a plurality of plate members does not require complicated control and can be operated reliably.
[0066]
In addition, while it is a simple mechanism such as an opening / closing motion generation cam and swing arm, sector gear, driven gear, and crank mechanism, it obtains a large forward / reverse turning motion from the one-way rotational motion of the input rotation shaft, and The reciprocating stroke required for opening and closing can be created efficiently.
[0067]
In particular, since the rotation radius of the sector gear is made larger than the rotation radius of the driven gear, the driven gear can be rotated over a large rotation angle range by the swinging motion of the sector gear in a small angle range. The rotation angle range of the drive rotary shaft can be made larger than the swing angle range of the swing arm. Therefore, it is possible to reduce the size of the housing that incorporates the swing arm that swings while the rotation shaft for driving the shutter outputs a large rotation angle range.
[0068]
The shutter is configured as a slider crank mechanism together with the crank mechanism, and the shutter crank mechanism, which has a simple structure but has a track record of high-speed operation, fully supports the high-speed tool change operation in the cam type automatic tool changer. An opening / closing mechanism can be obtained. Also, by increasing the size of the crank mechanism, the shutter opening / closing stroke can be set sufficiently large while ensuring the compactness of the housing itself.
[0069]
The rotary motion conversion cam, lift motion generation cam, and open / close motion generation cam are formed with cam profiles that overlap the tool change operation timing of the tool change arm and the shutter open / close operation timing. The tool changing operation of the tool changing arm can be executed in parallel during the period, and the operation speed of the apparatus can be increased.
[0070]
The cam for rotary motion conversion, the cam for lift motion generation and the cam for open / close motion generation are provided in a single cam body provided on a single input rotary shaft, so the housing can be made small and the entire device is compact In addition, it is possible to ensure high motion accuracy and driving stability.
[Brief description of the drawings]
FIG. 1 is a schematic front view showing a preferred embodiment of a cam-type automatic tool changer equipped with a shutter drive mechanism according to the present invention.
FIG. 2 is a schematic bottom view of the cam type automatic tool changer provided with the shutter driving mechanism shown in FIG.
3 is a bottom cross-sectional view of the cam type automatic tool changer provided with the shutter drive mechanism shown in FIG. 1. FIG.
4 is a front sectional view of the cam type automatic tool changer provided with the shutter driving mechanism shown in FIG. 1. FIG.
5 is a rear sectional view of the cam type automatic tool changer provided with the shutter driving mechanism shown in FIG. 1;
6 is an explanatory view showing a mechanism from an opening / closing groove cam to a driven gear applied to the cam type automatic tool changer having the shutter drive mechanism of FIG. 1; FIG.
7 is an explanatory diagram for explaining the operation of the mechanism from the opening / closing groove cam to the driven gear in FIG. 6; FIG.
8 is a front view showing a shutter open state and a closed state of the cam type automatic tool changer having the shutter drive mechanism shown in FIG. 1; FIG.
9 is an explanatory diagram for explaining a slide guide applied to a cam type automatic tool changer having the shutter drive mechanism of FIG. 1; FIG.
FIG. 10 is an explanatory diagram for explaining the operation of the first shutter plate by the crank mechanism.
FIG. 11 is an explanatory diagram for explaining the operation of the second shutter plate by the crank mechanism.
12 is an explanatory diagram for explaining a first stage of operation of the cam type automatic tool changer having the shutter driving mechanism shown in FIG. 1; FIG.
13 is an explanatory diagram for explaining a second stage of the operation of the cam type automatic tool changer having the shutter driving mechanism shown in FIG. 1; FIG.
14 is an explanatory diagram for explaining a third stage of the operation of the cam type automatic tool changer having the shutter driving mechanism shown in FIG. 1; FIG.
15 is an explanatory view for explaining a fourth stage of the operation of the cam type automatic tool changer having the shutter drive mechanism shown in FIG. 1. FIG.
16 is an explanatory diagram for explaining a fifth stage of operation of the cam type automatic tool changer including the shutter driving mechanism shown in FIG. 1;
FIG. 17 is an explanatory diagram for explaining a sixth stage of the operation of the cam type automatic tool changer having the shutter drive mechanism shown in FIG. 1;
18 is an explanatory diagram for explaining a seventh stage of the operation of the cam type automatic tool changer having the shutter driving mechanism shown in FIG. 1; FIG.
19 is an explanatory diagram for explaining an eighth stage of operation of the cam type automatic tool changer having the shutter driving mechanism shown in FIG. 1; FIG.
20 is an explanatory diagram for explaining a ninth stage of operation of the cam type automatic tool changer including the shutter driving mechanism shown in FIG. 1; FIG.
21 is an explanatory diagram for explaining a tenth stage of operation of the cam type automatic tool changer having the shutter driving mechanism shown in FIG. 1; FIG.
22 is an explanatory view illustrating an eleventh stage of operation of the cam type automatic tool changer having the shutter driving mechanism shown in FIG. 1; FIG.
FIG. 23 is an explanatory diagram for explaining a twelfth stage of operation of the cam type automatic tool changer having the shutter driving mechanism shown in FIG. 1;
24 shows the rotation and lift movements of the output shaft and the rotation of the rotary shaft for driving the shutter by the roller gear cam, the lift groove cam and the open / close groove cam of the cam type automatic tool changer having the shutter drive mechanism shown in FIG. It is an exercise timing diagram.
FIG. 25 is an explanatory diagram for explaining an effect in the present embodiment;
FIG. 26 is an explanatory diagram for describing a modification of the present embodiment.
27 is an explanatory view showing a shutter open state in the cam type automatic tool changer having the shutter driving mechanism shown in FIG. 26. FIG.
[Explanation of symbols]
1 Cam type automatic tool changer
2 Housing
3 Input rotation axis
5 Tool change arm
11 Rotating shaft for shutter drive
13 Roller gear cam
19 Groove cam for lift
26 Groove cam for opening and closing
28 Cam follower for opening and closing
29 Sector gear
30 Swing arm for opening and closing
32 Driven gear
33 cam body
50 Crank mechanism
51 swivel arm
52 Stroke rod
53 Stroke Rod
54, 56 Slide guide
54a Rail part
55 Slider crank mechanism
57 Shutter
57a First shutter plate (plate material)
57b Second shutter plate (plate material)
58 Support
59 Notch

Claims (5)

The housing includes a rotary motion conversion cam and a lift motion generation cam that are rotationally driven by a single input rotary shaft and output rotational motion and lift motion, respectively. In the cam type automatic tool changer that drives the tool change arm provided for the
In order to open and close the shutter provided outside the housing in accordance with the tool changing operation of the tool changing arm, the shutter is rotated and driven by the single input rotation shaft inside the housing to perform a swinging movement for opening and closing the shutter. An opening / closing motion generating cam for output is provided, and a shutter driving rotary shaft for outputting the shutter opening / closing swing motion of the opening / closing motion generating cam from the inside of the housing to the outside is provided,
The shutter is composed of a plurality of plate members, and the plurality of plate members are overlapped and opened by a rotation operation of the input rotation shaft,
The shutter is slidably provided on a slide guide, and is connected to the shutter driving rotary shaft via a crank mechanism to constitute a slider crank mechanism.
The crank mechanism is composed of a revolving arm provided on a rotating shaft for driving a shutter, a revolving arm and the plurality of plate members, and a plurality of stroke rods having different lengths. , cam-type automatic tool changer having a shutter driving mechanism, characterized in that it is arranged toward said shutter-driving rotary shaft from the distal end of the pivot arm in a short length order.   In order to transmit the shutter opening / closing swinging motion of the opening / closing motion generating cam to the shutter driving rotating shaft, a cam follower that is swingably supported by the housing and engaged with the opening / closing motion generating cam is connected to one end. The shutter according to claim 1, further comprising: a swing arm having a sector gear at the other end, and a driven gear provided on the shutter driving rotary shaft and meshed with the sector gear. Cam type automatic tool changer with drive mechanism.   In order to make the rotation angle range of the rotation shaft for driving the shutter larger than the rotation angle range of the swing arm, the rotation radius of the sector gear is formed larger than the rotation radius of the driven gear. A cam type automatic tool changer comprising the shutter drive mechanism according to claim 2. In order to execute the tool changing operation of the tool changing arm in parallel during the shutter opening / closing operation period, the rotational motion converting cam, the lift motion generating cam, and the opening / closing motion generating cam are: The cam type automatic tool changer provided with the shutter drive mechanism according to any one of claims 1 to 3, wherein the exchange operation timing and the opening / closing operation timing are formed by overlapping cam profiles. The cam for rotational motion conversion, the cam for lift motion generation, and the cam for opening / closing motion generation are provided in a single cam body provided on the single input rotation shaft. The cam type automatic tool changer provided with the shutter drive mechanism in any one of 1-4 .

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