JPH0321313B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic tool feeding device, and more specifically to an automatic tool feeding device that supports tools on a movable block and enables machining and work at the required position. Regarding the supply device.

BACKGROUND ART In various automatic machines such as robots, it is necessary to move tools or workpieces such as drilling machines and welding equipment to arbitrary positions and accurately stop them at predetermined working positions.

In addition, in the past, the tools and other tools were moved and stopped by controlling the activation and deactivation of motors and hydraulic actuators, so the stopping position of the tools was not determined due to the inertia of these operations.
In order to accurately stop the motor at the set position, it is necessary to repeatedly activate and deactivate the motor, etc., resulting in a problem that the control speed becomes slow. In addition, if the control speed was to be increased, the control device would be large and expensive.

Furthermore, in order to perform the above-mentioned movement in any direction, a large number of motors, etc. are required, resulting in multiple configurations, and with conventional movement and stopping devices, the tool only performs one operation at the stop position of the moving block. I had a problem that it couldn't be executed.

The present invention has been made by focusing on these conventional problems, and it is a tool that has a plurality of independently movable blocks arranged side by side and that can arbitrarily and reliably hold the stopping position of each block. The purpose is to provide an automatic feeding device.

In order to achieve this objective, the present invention includes a plurality of slide frames provided on a fixed ceiling so as to be movable in the left and right directions, and these slide frames are provided with a motor and a ball nut driven by the motor. A ball nut is screwed into a first screw rod installed on the fixed ceiling, and a guide rail and a second screw rod are provided below the slide frame.
A screw rod is provided in the front-rear direction, and the second screw rod is provided in the front-rear direction.
A motor provided on a tool mounting block guided along the guide rail and an oar nut rotated by the motor are screwed into the screw, and the block is provided with suction means for the fixed ceiling. be.

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 show the entire structure, and show an example of a workbench unit.

In the same figure, 1 is a fixed ceiling, the lower surface of which is a smooth surface, and the upper surface is 3 which reinforces the fixed ceiling 1.
A book reinforcing rail 2 and one guide rail 3 which also serves as reinforcement are provided.

Reference numeral 4 denotes a pair of supporting members protruding from the left and right ends of the upper surface of the fixed ceiling 1, and the ends of the screw rods 5 are supported and fixed to the supporting members 4.

Reference numerals 6 and 7 denote slide frames, each including vertical guide plates 6a and 7a, and a pair of side plates 6b and 7, respectively.
b, consisting of horizontal guide plates 6c, 7c protruding from each side plate 6b, 7b, and connecting plates 6d, 7d holding each pair of side plates 6b, 7b.

Guide notches 6 are provided in the vertical guide plates 6a and 7a.
e and 7e are provided, and these are slidably fitted into the guide rail 3.

Further, the front and rear edges of the fixed ceiling 1 are slidably inserted between the lower surfaces of the vertical guide plates 6a, 7a and the horizontal guide plates 6c, 7c.

L-shaped mounting plates 8 and 9 are fixed to the connecting plates 6d and 7d, respectively, a motor 10 is attached to each of the mounting plates 8 and 9, and a pulley 12 is attached to the rotating shaft 11 of each motor 10. is fixed, and a belt 14 is stretched between each pulley 12 and a pulley-shaped ball nut 13 screwed onto the screw rod 5. Note that the ball nut 13 is attached to the mounting plates 8 and 9 so as to be rotatable and not displaced in the axial direction. Further, the screw rod 5 passes through the center of the lower part of the mounting plates 8 and 9.

Therefore, as the motor 10 rotates, the pulley 12, belt 14, and pulley 13 rotate, so the slide frames 6 and 7 move in the front and back direction, and the operation of each of these motors 10 is individually controlled. This makes it possible to move the slide frames 6, 7 in different directions and at different speeds.

On the other hand, guide rails 1 are provided at each pair of side plate ends 6b, 7b facing the lower part of the fixed ceiling 1.
5, 16 and screw rods 17, 18 are installed in a direction perpendicular to the screw rod 5 (front-back direction).

Each guide rail 15, 16 is grooved in cross section, and tool mounting blocks 19, 20 are provided so as to surround this and the screw rod 5.

The details of the tool mounting block 19 will be explained with reference to FIGS. 3 to 5.

That is, the block 19 is connected to the guide rail 1.
5, and side plates 21 located on both sides and extending to the bottom of the screw rod 17.
b, 21c and a bottom plate 21d,
Furthermore, a motor 22 is provided inside these.

This motor 22 has a protrusion 23 whose upper part slides and fits into the cross-sectional part of the guide rail 15, and a bottom plate 21.
It has an integral protrusion 24a that goes in and out of the notch 24 provided at d.

The motor 22 also includes a stator 26 that is a field winding attached to the inside of the case 25, a rotor 27 that is an armature, a cylindrical rotor shaft 28 that passes through the screw rod 17, and A bracket 30 that supports both ends via bearings 29
and a ball nut 32 which is fixed to one end of the rotor shaft 28 and has a screw hole 31 on its inner surface that is screwed into the screw rod 17.

Therefore, this motor 22 is fixed in the axial direction with respect to the block 19, but is movable in the vertical direction (actually, the block 19 moves up and down with respect to the motor 22 in a relative relationship). The ball nut 3 is rotated by the rotation of the rotor shaft 28.
By rotating block 2 in the same way, block 19
is along the guide rail 15 in the axial direction (front-back direction)
It is now possible to move to As a result, the block 19 can be moved by the motors 10 and 22 to move the lower part of the fixed ceiling 1 to any position in the front, rear, left and right directions.

Next, an intake hole 41 is provided on the upper surface of the block 19, specifically, on the upper surface of the upper plate 21a.
A flexible sealing material 42 that is in close contact with the lower surface of the fixed ceiling 1 is attached around the upper surface. This sealing material 42 has a tube shape, is normally in a contracted state, and when air is supplied inside, it expands and comes into close contact with the lower surface of the fixed ceiling 1. 43 is an air supply port to the sealing material 42.

In addition, air injection holes 4 are provided on the surfaces of the upper plate 21a and the side plates 21b and 21c that face the guide rail 15.
4, 45, and 46 are provided, and when the block 19 moves, air is injected between it and the guide rail 15 to create an air film, so that the block 19 can move with low friction with respect to the guide rail 15. .

Note that the same configuration is applied between the guide rail 3 and the guide notches 6e and 7e of the vertical guide plates 6a and 7a, or between the fixed ceiling 1 and the vertical guide plates 6a and 7a.
It is also preferable to apply it between the fixed ceiling 1 and the side plates 6b and 7b.

47 is an intake hose, 48 is an ejector pump serving as a vacuum source, 49 is a switching valve, 50 is an air supply source such as a compressor, 51 is an air supply hose, 5
2 is a switching valve, 53 is a regulator, 54 is an air supply source, 55, 55a are air supply hoses, 56 is a switching valve, 57 is a regulator, and 58 is an air supply source.

In the automatic tool supply device having the above configuration, in FIGS. 1 and 2, the block 1 in the left and right direction is
9 and 20 are moved by the motor 10 and the ball nut 13
The movement in the forward and backward direction is performed by moving the ball nut 32 along the screw rod 17 by the motor 22. In either case, each air injection port Air is injected from 44, 45, and 46, and the block 19 is moved along the guide rail 15 in a non-contact manner.

Next, when the block 19 is to be stopped at a predetermined position, the above-mentioned air injection is stopped when each motor 10, 22 is stopped.

Subsequently, the switching valve 56 is switched as shown in FIG. 5, and air is supplied from the air supply hose 55a to the air supply port 43 of the sealing material 42. Therefore, the sealing material 42 expands and its upper end comes into close contact with the lower surface of the fixed ceiling 1. After confirming this, compressed air is sent from the compressed air supply source 50 to the ejector pump 48, and the upper surface of the block 19 surrounded by the sealing material 42 is evacuated through the intake port 41 and the intake hose 47. It is raised to the fixed ceiling 1 side and brought into close contact with the lower surface thereof. Therefore, the position of the block 19 is kept completely stopped, and the press plate and other tools attached to the lower part of the block 19 can stably perform their work.

Furthermore, when releasing the stationary fixation of the block 19, the air supply from the compressed air supply source 50 to the ejector pump 48 is stopped, and the upper surface of the block 19 surrounded by the sealing material 13 is exposed to the atmosphere. If the air supply to the sealing material 42 is stopped, the block 19 will fall under its own weight and the fifth block will fall.
The figure returns to the state shown in FIG. 4, and subsequent movement becomes free.

As described above, in the present invention, a plurality of slide frames are movably attached to a fixed ceiling and guided in the front and rear directions thereof, and these slide frames are equipped with a motor and a ball nut driven by the motor. These ball nuts are screwed together with a first screw rod installed on the fixed ceiling, and guide rails and second screw rods are connected to the first screw rod on each slide frame facing the lower part of the fixed ceiling. The second screw rod is installed in a direction perpendicular to the screw rod, and a motor provided on a tool mounting block guided by the guide rail and a ball nut rotated by the motor are screwed into the second screw rod. By configuring the mounting blocks to be equipped with suction means for the fixed ceiling, each of the plurality of tool mounting blocks can be independently moved to any position in the front, back, left, or right direction, and the position after the transfer can be stably maintained. This provides effects such as being able to perform various operations using tools in a stable state.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is an overall perspective view of the automatic feeding device, FIG. 2 is a downward perspective view, FIG. 3 is a longitudinal cross-sectional view of the motor in the block, FIG. 5 is a sectional view showing the movable state of the main parts. 1... fixed ceiling, 5... first screw material,
6, 7...Slide rod, 10...Motor, 13...
...Ball nut, 15,16...Guide rail,
17, 18...Second screw rod, 19...Tool mounting block, 22...Motor, 32...Ball nut, 41...Intake hole, 47...Intake hose.

Claims (1)

[Claims] 1 A plurality of slide frames are attached to a fixed ceiling so as to be movable in the left and right direction, each of these slide frames is provided with a motor and a ball nut driven by the motor, and these ball nuts are installed on the fixed ceiling. A guide rail and a second screw rod are respectively installed in the front and back direction on each of the slide frames which are screwed onto the first screw rod and which face the lower part of the fixed ceiling. Automatic supply of tools, characterized in that a motor provided on a tool mounting block guided by a guide rail and a ball nut rotated by the motor are screwed together, and the tool mounting block is provided with suction means for the fixed ceiling. Device.