JPH07100272B2 - Drive device and tool changer equipped with this drive device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive device capable of switching output extraction to a hub or a block body of a planetary gear reduction mechanism, and a tool changing device including the drive device, such as a machining center.

[0002]

2. Description of the Related Art Recently, with the diversification of industrial machinery, a driving device for driving the vehicle is required to have a low speed and stable operation corresponding to the operation of the main body. A drive device including a planetary differential reduction gear having a reduction ratio is widely used.

As a conventional drive device of this type, there is known a drive device provided with a planetary differential speed reducer described in, for example, Japanese Patent Laid-Open No. 11210641. The above-mentioned planetary differential speed reducer has already been published by the applicant of the present application, and is basically provided with a displacement sensor and position detecting means for detecting the rotational position on the output side. The main component is an external gear that is eccentrically moved by the input shaft and an internal gear that meshes with the gear, and the relative rotational motion between the two gears based on the difference in the number of teeth of these gears is taken out as an output of high reduction ratio. It is a thing. Therefore, there is a method of fixing the internal gear to the fixed part and taking out the rotation of the external gear from the output shaft, or conversely, a method of fixing the output shaft and taking out the rotation from the internal gear. Even in such a case, a low speed and stable operation of the drive device can be ensured.

On the other hand, in machine tools, as a driven part which is required to operate at low speed and stably, a typical example thereof is an automatic tool changing device of a machining center. As is well known, the automatic tool changer of the machining center automatically takes out the necessary tools from the disc-shaped magazine plate holding a large number of tools on the outer circumference and replaces them with the tools held by the spindle. As a typical example thereof, there is one described in JP-A-57-114441. That is, in order to replace the tool on the spindle with the tool on the magazine plate, it is necessary to perform the back-and-forth movement and the rotation operation of the magazine plate. Type actuator and the rotation operation is performed via a gear train by a separately provided motor.

[0005]

However, of the conventional driving devices and automatic tool changing devices as described above, in the former driving device, the planetary differential speed reducer fixes the internal gear and external teeth. In either the case where the rotation of the gear is taken out from the output shaft or the case where the output shaft is fixed and the rotation is taken out from the internal gear, there is only one output section for one input. There was a problem that the application range of output was narrow.

On the other hand, in the latter automatic tool changer, since the magazine plate is required to move forward and backward and to rotate, it requires a mobile unit including a gear train and a gear train. Becomes complicated,
Further, there is a problem that the device itself becomes large.

According to the present invention, two different outputs can be taken out for one input, a drive device having a wide range of output applications, and a magazine having a simple structure and a small size while having two selectable outputs. An object of the present invention is to provide a tool changer capable of rotating and moving the plate back and forth.

[0008]

The object of the present invention is to provide a fixed case which is substantially cylindrical and rotatably supports a roller on the inner circumference thereof, and which is fitted to the outer side of the fixed case in the rotational and axial directions. And an outer rotating wheel having an inner groove extending in the axial direction formed in the inner periphery, and a hole and a spiral shape that are housed in the fixed case and are rotatable and axially movable with respect to the fixed case and extend in the radial direction. An inner rotating wheel that extends and has a cam groove for rolling the roller on the outer circumference, a motor mounted on a fixed case, a hub connected to the outer rotating wheel and having inner teeth formed on the inner circumference, and a hub on the outer circumference. The hub has a planetary gear having outer teeth meshing with the inner teeth of the hub, and a block body that is connected to the inner rotating wheel and supports the planetary gear. The hub decelerates the input from the motor by eccentric rotation of the planetary gear. Ah Or the planetary gear speed reduction mechanism that outputs from the block body and the inner case of the inner rotating wheel when it moves radially inward when it is inserted into the fixed case so that it can move radially and moves radially outward. A pin having an end inserted into the hole and a moving mechanism for moving the pin in the radial direction are provided.When the pin is inserted into the hole, the inner rotating wheel stops and the hub and the outer rotating wheel rotate. , When the pin is inserted into the inner groove, the inner rotating wheel moves axially while rotating due to the interaction of the pin, the inner groove, the cam groove, and the roller, while the outer rotating wheel moves axially with the inner rotating wheel. It can be achieved by a driving device adapted to move, and further comprises a column, a driving device attached to the column, and a magazine plate on the circumference of which a plurality of holding claws for holding a tool are provided. , The drive is Is fixed to the ram,
A fixed case that has a substantially cylindrical shape and rotatably supports the rollers on the inner circumference, and is fitted to the outside of the fixed case and is connected to the magazine plate, and is rotatable and axially movable with respect to the fixed case An outer rotating wheel having an inner groove extending in the axial direction, a hole that is housed in the fixed case and is rotatable and axially movable with respect to the fixed case, extends in the radial direction, and extends in a spiral shape and the roller rolls. An inner rotating wheel having a moving cam groove on the outer circumference, a motor mounted on a fixed case, a hub connected to the outer rotating wheel and having inner teeth formed on the inner circumference, and meshing with inner teeth of the hub on the outer circumference It has a planetary gear having external teeth and a block body connected to the inner rotating wheel and supporting the planetary gear.The input from the motor is decelerated by the eccentric rotation of the planetary gear to reduce a hub or block. The planetary gear speed reduction mechanism that outputs from the gear body and the inner case of the inner rotating wheel when it is inserted radially movably into the fixed case and moves radially outward, and the hole of the inner rotating wheel when moving radially inward. It includes a pin into which the end is inserted and a moving mechanism that moves the pin in the radial direction.When the pin is inserted into the hole, the magazine plate rotates, and when the pin is inserted into the inner groove, This can be achieved by a tool changing device in which the magazine plate is moved in the axial direction by the interaction of the pin, the inner groove, the cam groove and the roller.

[0009]

According to the invention of claim 1, when the pin is moved inward in the radial direction by the moving mechanism and the end portion of the pin is inserted into the hole of the inner rotating wheel, the inner rotating wheel and the block body are fixed via the pin. It is connected to the case and its rotation is restricted. When the motor is operated in this state to eccentrically rotate the planetary gear, the hub rotates and the rotational force is output from the hub to the outer rotating wheel. On the other hand, when the pin is radially outwardly moved by the moving mechanism to insert the end portion of the pin into the inner groove of the outer rotary wheel, the motor is operated to eccentrically rotate the planetary gear. Since the rotation is restricted, the torque is output from the block body to the inner rotating wheel. Here, since the pin is inserted in the inner groove extending in the axial direction and the roller is rolling in the cam groove extending in the spiral shape, the interaction between these causes the inner rotating wheel to move in the axial direction while rotating. As a result, the outer rotating wheel moves axially together with the inner rotating wheel without rotating. As described above, according to the first aspect of the present invention, the rotational force can be selectively extracted from either the hub or the block body by moving the pin, and the application range of the drive device is widened.

Further, according to the second aspect of the present invention, since the magazine plate is connected to the outer rotating wheel, the magazine plate is rotated and moved back and forth by the above-mentioned operation of the drive unit. Since such rotation and back-and-forth movement of the magazine plate can be achieved only by adding inner and outer rotating wheels to the planetary gear speed reduction mechanism, the structure is simplified and the size can be reduced.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. In FIGS. 1, 2, and 3, reference numeral 11 denotes a tool changing device for a machining center, and a drive device 13 is attached to an upper portion of a column 12 of the machining center.
This drive device 13 has a fixed case 16 having a substantially cylindrical shape,
The fixed case 16 has a rear end portion detachably attached to the column 12 by a plurality of bolts 17. Fixed case
An outer rotating wheel 21 having a substantially cylindrical shape is fitted to the outside of the front portion of 16, and the outer rotating wheel 21 is rotatable with respect to the fixed case 16 and is movable in the axial direction. Also, this outer rotating wheel
A plurality of inner grooves 22 extending in the axial direction on the inner periphery of 21
Are formed, and these inner grooves 22 are arranged equidistantly in the circumferential direction. Reference numeral 23 is a seal member interposed between the fixed case 16 and the rear end of the outer rotating wheel 21. 26 is an input shaft that is loosely fitted in the fixed case 16 and is coaxial with the fixed case 16. The input shaft 26 is rotatably supported at the rear end of the fixed case 16 via a pair of bearings 27. There is. 29 is a cylindrical inner rotating wheel that is housed in the fixed case 16 and is loosely fitted to the outside of the input shaft 26. The inner rotating wheel 29 can rotate on the input shaft 26 via a pair of bearings 30. Supported by. 31 is a bracket 32 on the inner circumference of the front end of the fixed case 16
A pair of rollers are rotatably supported through the rollers 31. These rollers 31 are arranged 180 degrees apart from each other as shown in FIG.

Further, as shown in FIG.
As shown in 2, 3, 4, and 5, a pair of spirally extending cam grooves 35 are formed, and these cam grooves 35 are also arranged 180 degrees apart in the circumferential direction of the inner rotating wheel. In this embodiment, these cam grooves 35 have a right twist direction, a lead angle of 45 degrees, and a lead of 238.76 mm. The rollers 31 are inserted into the cam grooves 35 and are rolling. As a result, when the inner rotating wheel 29 rotates, the inner rotating wheel 29 moves in the axial direction due to the interaction between the roller 31 and the cam groove 35. Thus, the inner rotating wheel 29 is rotatable with respect to the fixed case 16 and is movable in the axial direction. In addition, at the rear end of the inner rotating wheel 29, there is one through hole that extends in the radial direction.
36 are formed.

Reference numeral 39 denotes an AC servomotor with a braking function attached to the rear end surface of the fixed case 16. The output shaft 40 of the motor 39 is connected to the rear end of the input shaft 26 by a spline. Reference numeral 44 denotes a planetary gear reduction mechanism installed in front of the fixed case 16, the outer rotating wheel 21, and the inner rotating wheel 29,
The planetary gear reduction mechanism 44 is a substantially ring-shaped hub 46 detachably connected to the front end of the outer rotating wheel 21 by a plurality of bolts 45.
Have. A large number of inner teeth 47 formed of pins are formed on the inner circumference of the hub 46. 49 is a pair of planetary gears, and these planetary gears 49 have the above-mentioned hub on the outer periphery thereof.
The outer teeth 50 of the planetary gear 49 are meshed with the inner teeth 47 of the hub 46. Reference numeral 51 denotes a block body, and this block body 51 connects a pair of disc portions 52 and 53 located on both sides of the planetary gear 49 and the disc portions 52 and 53 and is loosely fitted in the planetary gear 49. A plurality of, here three pillars 54, and a plurality of crank-shaped discs 52, 53 of the block body 51, here, three eccentric pins 55 have bearings 56, 57 at both ends. Are rotatably supported via. The eccentric parts of the eccentric pins 55 are inserted into the planetary gears 49 via needle bearings, and as a result, the planetary gears 49 are supported by the block body 51 via the eccentric pins 55 and the eccentric pins 55.
Eccentric rotation by rotation of. Reference numeral 58 is a pair of bearings interposed between the hub 46 and the disk portions 52 and 53 of the block body 51. Then, the block body 51 has the inner rotating wheel 29.
It is detachably connected to the front end of the through an intermediate member 59. Reference numeral 62 is an external gear fixed to the rear end of each eccentric pin 55, and these external gears 62 mesh with external teeth 63 formed on the outer periphery of the front end of the input shaft 26. As a result, when the motor 39 operates and the input shaft 26 rotates, the eccentric pin 55 rotates and the planetary gear 49 rotates eccentrically. The hub 46 and the planetary gear 4 described above.
9, the block body 51, the eccentric pin 55, and the external gear 62 as a whole constitute the planetary gear reduction mechanism 44 that reduces the input from the motor 39 by the eccentric rotation of the planetary gear 49 and outputs it from the hub 46 or the block body 51. To do. Reference numeral 65 denotes a cover that covers the outside of the planetary gear reduction mechanism 44, and the cover 65 is attached to the front end of the outer rotating wheel 21.

Reference numeral 70 denotes a radially extending pin hole formed in the central portion of the fixed case 16 in the axial direction. A columnar pin 71 is inserted into the pin hole 70 so as to be movable in the radial direction. When this pin 71 moves radially outward,
The outer end of the pin 71 is inserted into the inner groove 22 of the outer rotating wheel 21,
On the other hand, when moving inward in the radial direction, the inner end portion of the pin 71 is inserted into the hole 36 of the inner rotating wheel 29.

Reference numeral 75 is a holder fixed to the rear end surface of the fixed case 16, and the tip of the output rod 77 of the electromagnetic actuator 76 housed in the holder 75 is the fixed case.
The piston 78 is movably accommodated in the axial direction 16 and is connected to the piston 78 via a split pin 79. Reference numeral 80 denotes an adjustment bolt screwed into the fixed case 16 in front of the piston 78. By adjusting the screwing position of the adjustment bolt 80, the forward movement limit of the piston 78 is adjusted. Reference numeral 82 denotes a storage hole formed in the fixed case 16 and extending in the axial direction. The storage hole 82 intersects the pin hole 70 at the center thereof. A push rod 83 is axially movably inserted into the storage hole 82 rearward of the pin hole 70. Reference numeral 84 is a lever loosely fitted in a cavity 85 formed in the fixed case 16, and the central portion of the lever 84 is rotatably connected to the fixed case 16 by a pin 86. One end of this lever 84 is inserted into a hole 87 formed in the piston 78, while the other end is a hole formed in the rear end of the push rod 83.
Inserted in 88. As a result, when the electromagnetic actuator 76 operates and the output rod 77 retracts, the lever 84 rotates clockwise about the pin 86, and the push rod 83 is pushed forward. Storage hole 82 in front of pin hole 70
A slider 91 having a bottomed cylindrical shape is housed therein so as to be movable in the axial direction, and the slider 91 is attached rearward between the slider 91 and a cap 92 fixed to the front end of the fixed case 16. A biasing spring 93 is interposed.

In FIGS. 2, 3 and 6, reference numeral 95 denotes a cam formed on the rear portion of the slider 91 and inclined toward the outer side in the radial direction toward the front. The cam 95 is formed on the center portion of the pin 71. It is inserted in an inclined hole 96 having a square cross section. The rear end of the cam 95 is in contact with the front end surface of the push rod 83. As a result, the push rod 83 becomes a spring.
As slider 91 moves forward while compressing 93,
71 moves inward in the radial direction due to the wedge action of the cam 95 and the inclined hole 96, while the biasing force of the spring 93 causes the slider to move.
When the 91 and push rod 83 move together as a unit, the cam 9
5. The wedge action of the inclined hole 96 causes the pin 71 to move radially outward. Electromagnetic actuator 76, piston 7 described above
8, the push rod 83, the lever 84, the slider 91, the cap 92, the spring 93, and the cam 95 together constitute a moving mechanism 97 that moves the pin 71 in the radial direction.

In FIGS. 1 and 2, 100 is an outer rotating wheel whose inner end is
It is a disc-shaped magazine plate integrally connected to 21, and a plurality of grip claws 101, that is, the same number as the inner grooves 22, are attached on the circumference of the magazine plate 100 at equal intervals in the circumferential direction. ing. Although each of the gripping claws 101 is well known, detailed illustration thereof is omitted. However, the gripping claws 101 have a pair of claws which can be rotated about a pin 102 as an axis and can be moved toward and away from each other. It is configured to be gripped. Note that the grip claw 101
The configuration is not limited to this, and may be of a type that holds a tool holder on which the tool 103 is mounted.

Next, the operation of the embodiment of the present invention will be described. When exchanging the tool 103 mounted on the spindle head of the machining center by the tool exchanging device 11 as described above, first, after moving the spindle head to the tool exchanging position, the empty gripping claw of the tool exchanging device 11 is moved. The used tool 103 is gripped by 101. At this time, the pin 71 is moved to the outside in the radial direction by the moving mechanism 97, and its outer end portion is moved to the inner groove.
It is inserted in 22. Next, the motor 39 is operated to rotate the output shaft 40 and the input shaft 26, here, to the right, to rotate each eccentric pin 55 of the planetary gear reduction mechanism 44. As a result, the planetary gear 49 rotates eccentrically, but at this time, since the outer rotating wheel 21 and the hub 46 are restricted in rotation by the pin 71 being inserted into the inner groove 22 as described above, the block body 51 rotates. , Here, it rotates counterclockwise. In this way, when the rotation of the motor 39 is reduced by the planetary gear reduction mechanism 44 and the rotational force is output from the block body 51 to the inner rotating wheel 29, the inner rotating wheel 29 rotates counterclockwise. Here, since the roller 31 is engaged with the spiral cam groove 35 formed on the outer periphery of the inner rotating wheel 29, the inner rotating wheel 29 is rotated by the interaction of the roller 31 and the cam groove 35. It will move forward in the axial direction. Here, the inner rotating wheel 29 is connected to the outer rotating wheel 21 via the planetary gear reduction mechanism 44, while
Since the rotation of the outer rotating wheel 21 is restricted by the pin 71 as described above, only the forward movement of the inner rotating wheel 29 is the outer rotating wheel.
The outer rotary wheel 21 and the magazine plate 100 are transmitted to the inner rotary wheel 21.
It moves forward together with 29 without rotating. As a result, the used tool 103 is extracted from the spindle head of the machining center. Then, when the magazine plate 100 advances to a predetermined position and the tool 103 completely retracts from the spindle head,
The operation of the motor 39 is stopped. At this time, the hole 36 of the inner rotating wheel 29 reaches the inner side of the pin 71 in the radial direction.

Next, the electromagnetic actuator 76 is actuated to retract the output rod 77, and the piston 78 moves rearward. As a result, the lever 84 rotates in the clockwise direction in FIG. 1 about the pin 86, and the push rod 83 and the slider 91 move forward while compressing the spring 93. When the slider 91 moves forward as described above, the pin 71 is moved to the cam 95 and the inclined hole.
The wedge action of 96 causes it to move radially inward so that its inner end is inserted into the hole 36, while its outer end emerges from the inner groove 22.
As a result, the inner rotating wheel 29 and the block body 51 are fixed to the fixed case 16
Is connected via a pin 71, and its rotation is regulated to stand still. When the motor 39 is operated again in this state and the planetary gear 49 of the planetary gear reduction mechanism 44 is eccentrically rotated, the rotation of the motor 39 is reduced by the planetary gear reduction mechanism 44 and then the hub 46 rotates to the outer rotating wheel 21. The force is output and only the outer rotating wheel 21 rotates. As described above, in this embodiment, the rotational force can be selectively taken out from either the hub 46 or the block body 51 by moving the pin 71, and the application range of the drive device is widened. When the outer rotating wheel 21 rotates as described above,
The tool 103 gripped by the magazine plate 100 and the grip claw 101 rotates integrally, the tool 103 taken out from the spindle head retracts from immediately before the spindle head, and the tool to be used next 1
03 is moved to just before the spindle head. Then, when the tool 103 to be used next reaches just before the spindle head and the indexing is completed, the operation of the motor 39 is stopped.

Next, when the operation of the electromagnetic actuator 76 is stopped, the slider 91 and the push rod 83 are pushed back by the urging force of the spring 93, whereby the pin 71 moves radially outward and the outer rotating wheel. The outer end is inserted into the inner groove 22 of 21, while the inner end comes out of the hole 36 of the inner rotating wheel 29. At this time, the lever 84 is pushed by the push rod 83 to rotate counterclockwise, and the piston 78 moves forward until it comes into contact with the adjustment bolt 80.

Next, the motor 39 is operated to rotate the input shaft 26 in the opposite direction to the above. At this time, the pin 71 is the outer rotating wheel.
Since it is inserted into the inner groove 22 of 21, the inner rotating wheel 29 rotates in the opposite direction, that is, to the right, and retracts. At this time, the outer rotating wheel 21 and the magazine plate 100 are also retracted without rotating together with the inner rotating wheel 29, as described above. As a result, the tool 103 to be used next is mounted on the spindle head. Then, the tool 103 to be used is fixed to the spindle head by a known means, and then the outer rotating wheel 21 is moved forward to release the grip claw 101 from the tool 103. As described above, in this embodiment, since the magazine plate 100 is connected to the outer rotating wheel 21 as described above, the magazine plate 100 is rotated and moved forward and backward by the above-described operation of the drive device 13, and Since such rotation and back-and-forth movement of the magazine plate 100 can be achieved only by adding the inner and outer rotating wheels 29, 21 and the like to the planetary gear speed reduction mechanism 44, the structure is simplified and downsized. You can also The above is one cycle of the operation of this embodiment, and thereafter, each time the tool 103 needs to be replaced, the above operation is performed and the tools 103 are replaced one after another.

[0022]

As described above, according to the present invention, two different outputs can be taken out for one input, a driving device having a wide range of output applications, and a simple structure and a small size. However, two selectable outputs allow the magazine plate to rotate and move back and forth.

[Brief description of drawings]

FIG. 1 is an overall sectional view showing an embodiment of the present invention.

FIG. 2 is a sectional view of the left half of FIG.

3 is a sectional view of the right half of FIG.

4 is a cross-sectional view taken along the line II of FIG.

FIG. 5 is a partial plan view of an inner rotating wheel.

6 is a sectional view taken along the line II-II in FIG.

[Explanation of symbols]

 12 ... Column 13 ... Drive device 16 ... Fixed case 21 ... Outer rotating wheel 29 ... Inner rotating wheel 31 ... Roller 35 ... Cam groove 36 ... Hole 39 ... Motor 44 ... Planet gear reduction mechanism 46 ... Hub 47 ... Internal teeth 49 ... Planetary Gear 50 ... External teeth 51 ... Block 71 ... Pin 97 ... Movement mechanism 100 ... Magazine plate 101 ... Gripping claw

Claims (2)

[Claims] 1. A fixed case, which is substantially cylindrical and rotatably supports a roller on its inner circumference, and a fixed case fitted outside the fixed case, rotatable and axially movable with respect to the fixed case, and axially directed to the inner circumference. An outer rotating wheel having an extending inner groove, a hole which is housed in a fixed case and is rotatable and axially movable with respect to the fixed case, and extends in the radial direction, and a cam groove in which the roller rolls while extending spirally. An inner rotating wheel having an outer circumference, a motor mounted on a fixed case, a hub connected to the outer rotating wheel and having inner teeth formed on the inner circumference, and outer teeth formed on the outer circumference to mesh with the inner teeth of the hub. A planetary gear that is connected to the inner rotating wheel and supports the planetary gear, and decelerates the input from the motor by the eccentric rotation of the planetary gear and outputs the planetary tooth from the hub or the block. A reduction mechanism and a pin that is inserted into a fixed case so as to be movable in the radial direction and is inserted into the inner groove of the outer rotating wheel when moved outward in the radial direction, and the end part is inserted into the hole of the inner rotating wheel when moved inward in the radial direction. A moving mechanism for moving the pin in the radial direction, and when the pin is inserted into the hole, the inner rotating wheel is stationary, the hub and the outer rotating wheel are rotated, and the pin is inserted into the inner groove. At times, the inner rotating wheel moves axially while rotating due to the interaction of the pin, the inner groove, the cam groove, and the roller, while the outer rotating wheel moves axially along with the inner rotating wheel. Drive device. 2. A column, a drive unit attached to the column, and a magazine plate having a plurality of grip claws for holding a tool provided on the circumference thereof, the drive unit being fixed to the column, A fixed case that has a substantially cylindrical shape and rotatably supports the rollers on the inner circumference, and is fitted to the outside of the fixed case and is connected to the magazine plate, and is rotatable and axially movable with respect to the fixed case An outer rotating wheel having an inner groove extending in the axial direction, a hole that is housed in the fixed case and is rotatable and axially movable with respect to the fixed case, extends in the radial direction, and extends in a spiral shape and the roller rolls. An inner rotating wheel having a moving cam groove on the outer circumference, a motor mounted on a fixed case, a hub connected to the outer rotating wheel and having inner teeth formed on the inner circumference, and meshing with inner teeth of the hub on the outer circumference Outside A planetary gear having a planetary gear formed with and a block body connected to the inner rotating wheel and supporting the planetary gear, and decelerating an input from the motor by eccentric rotation of the planetary gear to output from the hub or the block body. A reduction mechanism and a pin that is inserted into a fixed case so as to be movable in the radial direction and is inserted into the inner groove of the outer rotating wheel when moved outward in the radial direction, and the end part is inserted into the hole of the inner rotating wheel when moved inward in the radial direction. , A moving mechanism for moving the pin in the radial direction, when the pin is inserted into the hole, the magazine plate rotates, when the pin is inserted into the inner groove,
A tool changer equipped with a drive device characterized in that a magazine plate is moved in an axial direction by an interaction of a pin, an inner groove, a cam groove and a roller.