JPS61209856A - Rotary indexing system automatic operation device - Google Patents

Abstract

PURPOSE:To provide accurate indexing rotation by enabling the indexing position of a rotary table to be finely adjusted while stopping the rotary table at a position corresponding accurately to an operative unit provided on a fixed table by a work. CONSTITUTION:When each jig 13 is in a position corresponding to an operative unit 14, rollers 35, 35 of a rotor 3 sandwich a gently sloping portion 24 of a projecting streak 23 and a horizontal shaft 21 is rotated in a direction of arrow A by the rotation of a servo motor 4, the rollers 35, 35 are urged by said portion 24 to rotate the rotor 3 in the direction of arrow B. Next, when the rollers 35, 35 reach a steeply sloping portion 25 of the projecting streak 23, they rotate with rapid speed. When the rapid speed rotation approaches the completion, a large diameter portion 71 of a plate cam engages a switch 72 to generate the ON signal and a piston rod 55 of an air cylinder 54 is extended to advance a touch sensor 5 to an advanced position capable of contacting the jig 13. Thereafter, the rotor 3 and rotary table 12 are rotated by the gently sloping portion 24 with low speed, and when the jig 13 reaches a position corresponding to an operative unit 14a, a motor 4 is stopped by the signal of a sensor 5.

Description

DETAILED DESCRIPTION OF THE INVENTION Industrial Application Field The present invention is capable of indexing and rotating a rotary table so that a workpiece attached to the rotary table stops at a position that exactly corresponds to a work unit installed on a fixed table. The present invention relates to an indexing rotary automatic working device.

Conventional techniques and problems to be solved by the invention Conventionally, a rotary table on which a plurality of jigs are arranged at regular angular intervals is indexed and rotated, and each jig is sequentially made to correspond to a work unit installed on a fixed table. For indexing rotation of a rotary table in an indexing rotary automatic work device that automatically performs operations such as machining, assembling or removing parts, or measuring workpieces held in each jig by stopping the table. , roller gear cam, barrel cam,
Indexing devices such as a curvic coupling, a Geneva cam, or a worm gear type numerical control device are used, but each has a certain indexing accuracy, and it is impossible to improve the indexing accuracy of the rotary table beyond that accuracy. Impossible and also.

Even if the accuracy of the calculation is sufficiently high, 1
If there is an error in the mounting position of the jig with respect to the rotating table and the mounting position of the work unit with respect to the fixed table, it will not be possible to accurately match the workpiece held in the jig to the work unit, and the workpiece will not be aligned with the work unit. In order to accurately index and rotate the workpiece, the entire working device must be manufactured with extremely high precision and must have a structure that does not suffer from thermal deformation or wear during operation, which is extremely expensive and reduces the amount of work that can be done on the workpiece. There were certain limits to improving the accuracy of unit indexing.

Purpose of the Invention The present invention improves an indexing device using a peripheral cam such as a roller gear cam or a barrel cam so that the indexing position of a rotary table can be finely adjusted. The rotary table is configured to detect the position of a fixed jig or a workpiece held in each jig and stop the rotary table at a position where the workpiece accurately corresponds to a work unit installed on a fixed table. , an indexing rotation type that can always perform accurate indexing rotation even if there is an indexing error of the indexing device, an error in attaching the jig to the rotary table, or even a repeating error due to thermal deformation or wear due to operation. The purpose is to provide an automatic working device.

Embodiment One embodiment of the present invention will be described below with reference to the accompanying drawings.

In FIG. 1, a rotary table 12 that is indexed and rotated at intervals of 60 degrees is mounted on a horizontal fixed table 11 stretched over the upper surface of a base 1.

A workpiece (not shown) is held on this rotary table 12 6
jigs 13 are installed at intervals of 60 degrees, and one part is machined on the workpiece held by each jig 13 at a position corresponding to the stop position of each of the jigs 13 on the fixed table 11. A work unit 14 is installed to perform work such as assembly or removal, or measurement.

A rectangular housing 10 installed on the lower surface of the rotary table 12 houses an outer circumferential cam 2 fixed to a horizontal shaft 21 and a rotating body 3 fixed to a vertical shaft 31 at a height corresponding to the horizontal shaft 21. The respective shafts 21.3I are supported by bearings (not shown) so as to be freely rotatable. The outer circumferential cam 2 is attached to the outer circumference of a cylindrical main body 22 that is fitted onto the horizontal shaft 21.
A protrusion 23 with a trapezoidal cross section of the book is wound in a spiral shape, and as shown in the expanded view in FIG. Steep slopes 25 and 26 are formed at both ends of the gently sloped part 24 and are largely sloped in the same direction, and the steep slopes 25 and 26 at both ends are parallel to each other and correspond to each other.

The rotating body 3 has six pins 33 radially implanted at equal angular intervals of 60° on the outer periphery of a main body 32 fitted onto a vertical shaft 31, and each pin 33 is connected to a follower via a needle bearing. A certain roller 35 is fitted to rotate freely, and this roller 35 is arranged in pairs of adjacent rollers 35 on the protrusion 23 of the outer cam 2.
tightly sandwiched, and steeply sloped parts 25 and 26 at both ends.
The portion of the vertical shaft 31 that protrudes toward the upper surface of the housing 10 serves as an output shaft 30 and is fixed to the rotation center of the rotary table 12. An output shaft of a reducer 45 is connected to the end of the horizontal shaft 21 that forms the center of rotation of the outer cam 2 that protrudes from one side of the housing 10 . An output shaft 41 of a servo motor 4 driven by an output signal of is connected by a timing belt 43.

One of the working units 14a described above requires extremely high precision in the positional relationship between the working unit 14a and the jig 13. A touch sensor 5 is attached to the tip of a piston rod 55 of an air cylinder 54 fixed to the side surface of one work unit 14a to detect the position of the jig 13. This touch sensor 5 is a device that can move forward and backward between the positions.

A high-precision touch sensor sold by Daishowa Seiki Co., Ltd. under the product name ``Zero Sensor'' is suitable.
This touch sensor 5 has a shank 52 at the tip of the main body 51.
The shank 52 is attached to be swingable, and the repeat detection accuracy is within 0.5 microns.The shank 52 is always held in a straight position by the spring elasticity, and the jig I3 is not moved in the forward direction. When the jig 13 comes into contact with the shank 52 and the shank 52 swings, an ON signal is sent out, and when the jig 13 moves in the opposite direction, the shank 52 moves back with the spring force and returns to a straight position, then it turns OFF. The position of the jig 13 is set so that it comes into contact with the shank 52 exactly when the jig 13 comes to a position that corresponds exactly to the work unit 14a, and the touch sensor 5 acts to send out a signal. is connected to a control device 6 that receives signals from the touch sensor 5 and controls the output voltage of the motor drive circuit 42 .

Further, at the end of the horizontal shaft 21 of the outer cam 2 opposite to the side connected to the reducer 45, there is a plate having a large diameter portion 71 in an area substantially corresponding to the gently sloped portion 24 of the protrusion 23. A cam 7 is integrally fixed, and a large diameter portion 7 is attached to the outer periphery of this plate cam 7.
A proximity switch 72 is provided which is turned on when engaged with the proximity switch 72, and the ON/OFF signal of this proximity switch 72 is input to the control device 6 described above, and the air cylinder is driven by a signal from the control device 6 based on the signal. The circuit 73 is controlled so that the piston rod 55 of the air cylinder 54 to which the touch sensor 5 described above is attached is expanded or contracted.

Next, the operation of this embodiment will be explained.

First, the rotary table 12 is moved without using the touch sensor 5.
To briefly explain the action of indexing and rotating, each jig 1
3 is located at a position corresponding to the working unit 14, and the rotating body 3
adjacent rollers 35a.

When the horizontal shaft 21 rotates in the direction of the arrow A due to the positive rotation of the servo motor 4 while the rollers 35b sandwich the approximate center of the gently inclined portion 24 of the protrusion 23, the pair of rollers 35a and 35b rotates. By being pushed along the slope of the gently sloped portion 24, the rotating body 3 rotates at a very low speed in the direction of the arrow B,
The rollers 35a and 35b form the steeply inclined part 25 at one end of the protrusion 23.
When the rollers 35a and 35b rotate at a rapid speed along the inclination, a pair of primary adjacent rollers 35b and 35e sandwich the steeply sloped part 26 at the other end of the protrusion 23, When the outer cam 2 continues to rotate further, the pair of rollers 35b and 35c clamp the gently inclined part 24 of the protrusion 23, and the rotating body 3 rotates in the same direction at a very low speed.
When rotated, the output shaft 30 and rotary table 12 rotate by 60 degrees together with the rotating body 3, and each jig 13 reaches a position corresponding to the next working unit 14, respectively.

Next, the operation of this embodiment to which the touch sensor 5 is applied will be explained.

In the above action, when the rapid rotation of the rotating body 3 approaches the end and the rollers 35b and 35c approach the connecting portion with the gently sloped portion 24, the large diameter portion 71 of the plate cam 7 engages with the proximity switch 72. At the same time, an ON signal is sent, which causes the piston rod 55 of the air cylinder 54 to extend, and the touch sensor 5 advances to the forward position where it can come into contact with the jig 13.
After that, the rollers 35b and 35c enter the gently inclined part 24, the rotating body 3 and the rotating table 12 rotate at a very low speed, and the jig 13 moves to the work unit 14 to which the touch sensor 5 is attached.
When we reach the position exactly corresponding to a.

As shown in FIG. 4(a), the jig 13 is connected to the touch sensor 5.
When the touch sensor 5 contacts the shank 52 of the touch sensor 5, an ON signal is output, and in response to the control signal from the control device 6, the rotation of the servo motor 4 is stopped.

Thereafter, due to its inertia, the rotary table 12 causes the jig 13 to push the shank 52 and swing overrun as shown in FIG. The roller 35b is driven to rotate at a low speed in the direction.

35c moves in the opposite direction along the gently inclined part 24, the rotary table 12 rotates in the opposite direction at a very low speed, and the jig 13 returns while moving the shank 52 backwards, as shown in FIG.
As shown in FIG. 2, when the jig 13 returns to the position exactly corresponding to the work unit 14a, the shank 52 assumes a straight posture and the touch sensor 52 sends an OFF signal.
As a result, the rotation of the servo motor 4 is stopped and the rotary table 12
By stopping the rotation, the jig 13 stops at a position that exactly corresponds to the work unit 14a. Furthermore, in response to the stop signal from the servo motor 4 at this time, the piston rod 55 of the air cylinder 54 contracts, causing the touch sensor 5 to retreat.

When the work by the work unit 14 is completed, the servo motor 4 is rotated in the forward direction again, and the rollers 35b, 35
c moves along the gently inclined portion 24, causing the one-turn table 12 to rotate at a very slow speed in the forward direction, and then the roller 3
5b and 35c enter the steeply inclined part 25, the rotary table 12 is rotated at a rapid speed, and thereafter, by repeating the above operation, each jig 13 is sequentially stopped at a position exactly corresponding to the work unit 14a. .

In the above embodiment, a roller gear cam that engages with a follower 35 radially protruding from the outer periphery of the rotating body 3 was used as an outer peripheral cam for indexing and rotating the one-turn table 12. It is also possible to apply a barrel cam that engages with a protruding follower.

In addition, the position of the jig 13 may be detected by a sensor other than the touch sensor 5.
The detection may be performed using a high-precision proximity switch, a laser device, or image processing, and instead of detecting the position of the jig 13, the position of the workpiece held by the jig 13 may be directly detected. Also good.

Structure and Effects of the Invention As specifically explained in the above embodiments, the indexing rotary automatic working device of the present invention has a gentle slope with a small lead angle and a steep slope with a large lead angle on both ends of the outer peripheral surface. an outer circumferential cam in which a protrusion having interconnected sections is spirally wound so that the steeply inclined sections correspond to each other in parallel, and the outer circumferential cam is driven and stopped at an arbitrary angle. a control motor capable of controlling the protrusion, and a plurality of followers protrudingly provided at equal intervals so that the protrusion is sandwiched between the two followers, and the follower moves the steep inclination of the protrusion by rotation of the outer cam. a rotating body that rotates at a high speed while engaging the portion and rotating at a slow speed while engaging the gently sloped portion; and an output shaft connected to the rotating body;
a rotary table connected to the output shaft and having a plurality of jigs arranged at regular angular intervals; and a fixed table installed in a position corresponding to the jigs in a slow rotation range of the rotary table; to the workpiece held in the jig.

Assembling or removing a processed part, or.

at least one work unit that performs work such as measurement, a detection device that detects the position of the jig or the workpiece held by the jig in a slow rotation range of the jig, and a detection signal of the detection device; and a control device that controls rotation and stop of the control motor based on the control device.

It is possible to finely adjust the indexing position of an indexing device using a peripheral cam such as a roller gear cam or a barrel cam, and also to detect the position of a jig placed on the rotary table 12 or a workpiece held in each jig. Since the rotary table can be stopped at a position where the workpiece accurately corresponds to the work unit installed on the fixed table, 2. The indexing error of the indexing device 1. The attachment error of the jig to the rotary table.

Even if there are repeatable errors due to thermal deformation or wear caused by operation, accurate indexing rotation can be performed at all times6.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an embodiment of the present invention, FIG. 2 is a developed view of an outer cam, FIG. 3 is a block diagram of a control system, and FIG. 4 is an explanatory diagram of the operation of a touch sensor.

Claims (1)

[Scope of Claims] 1. On the outer circumferential surface, a protrusion is formed by connecting a gently sloped part with a small lead angle and a steeply sloped part with a large lead angle at both ends, with the steeply sloped parts being parallel to each other. A spirally wound outer cam, a control motor that can drive the outer cam and stop it at any angle, and a plurality of followers protruding at equal intervals to create two The protrusion is held between the follower, and the follower rotates at a high speed while engaging the steeply sloped portion of the protrusion due to the rotation of the outer cam, and rotates at a high speed while engaging the gently sloped portion. includes a rotating body that rotates at a very low speed, an output shaft connected to the rotating body, a rotating table connected to the output shaft and having a plurality of jigs arranged at regular angular intervals, and the rotating table. is installed on a fixed table so as to correspond to the jig in the slow rotation range of the jig, and performs work such as machining, assembly or removal of parts, or measurement on the workpiece held by the jig. a work unit; a detection device that detects the position of the jig or the workpiece held by the jig in a slow rotation range of the jig; and rotation and stopping of the control motor based on a detection signal from the detection device. and a control device for controlling the indexing rotary type automatic working device 2. The indexing rotary type automatic working device 2 according to claim 1, wherein the detection device is attached to the work unit. Automatic working device 3 An indexing rotary automatic working device 4 according to claim 1, wherein the detecting device is attached to the fixed table. The detecting device is a contact type, and the rotating It is attached to a movable member that moves forward and backward relative to the table.
Claims 1 or 2, characterized in that the device advances to a position where it can contact the jig only when the jig approaches, and retreats to a position where it cannot be contacted at all times. Indexing rotary automatic working device 5 according to claim 3. Indexing rotary automatic working device 6 according to claim 1, 2 or 3, wherein the detection device is of a non-contact type. Claims 1 and 2, characterized in that the rotary table is adapted to rotate in one direction.
Indexing rotary automatic working device 7 according to claim 3, claim 4, or claim 5, wherein the rotary table is configured to rotate in both forward and reverse directions.
Indexing rotary automatic working device as described in Section 3, Section 3, Section 4 or Section 5