Tool moving device and wire forming machine

Abstract

The present application seeks to develop a tool moving device capable of improving the degree of freedom of the operation of a tool holding portion and capable of suppressing a reduction in the speed of the operation accompanying the same, relative to conventional tool moving devices. The tool moving device (10A) of the present embodiment is provided with a slider link mechanism (29) including a first drive source (21), a first link (23) that rotates by being driven by the first drive source (21), a sliding guide (33), a slider (35V) that is supported to the sliding guide in a slidable manner, and a second link (25) that is linked to the first link (23) and the slider (35V) in a rotatable manner, the slider (35V) being movable along the sliding guide (33) using the power of the first drive source (21); a second drive source (31) that is capable of driving the sliding guide (33) to rotate about a rotation axis parallel to the rotation axis of the first link (23); and a tool holding portion (36V) provided at a portion of the slider link mechanism (29) that is movable to an arbitrary position in two dimensions using the power of the first drive source (21) and the second drive source (31), for holding a tool (37V).

Description

Technical Field

[0001] This disclosure relates to a tool moving device that transmits power from a drive source to a tool holding part via a linkage mechanism, and a wire forming machine having such a tool moving device. Background Technology

[0002] As such tool moving devices, there are known tool moving devices that include, for example, a slider linkage mechanism or a parallel linkage mechanism, and in which the tool holding part performs linear or rotary motion (for example, see Patent Document 1).

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2007-275942 (paragraph 0006 and Figure 10) Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Compared to the aforementioned conventional tool moving devices, we seek to develop technologies that can increase the degree of freedom of movement of the tool holding part.

[0008] Solution for solving the problem

[0009] One aspect of the tool moving device disclosed herein includes: a slider-link mechanism comprising a first drive source, a first link driven to rotate by the first drive source, a sliding guide, a slider slidably supported on the sliding guide, and a second link rotatably connected to the first link and the slider, wherein the slider can be moved along the sliding guide by the power of the first drive source; a second drive source capable of driving the sliding guide to rotate about a rotation axis parallel to the rotation axis of the first link; and a tool holding portion disposed in the slider-link mechanism, which can be moved to any position in two dimensions by the power of the first drive source and the second drive source, for holding the tool. Attached Figure Description

[0010] Figure 1 This is a perspective view of the tool moving device according to the first embodiment.

[0011] Figure 2 It is a perspective view of a tool moving device with a first slider.

[0012] Figure 3 is a perspective view of a tool moving device with a second slider. Figure 3B It is a 3D view of the cutting tool.

[0013] Figure 4 is a conceptual diagram of a slider linkage mechanism in the state where the slider can slide. Figure 4B This is a conceptual diagram of a slider linkage mechanism in a state where the slider cannot slide.

[0014] Figure 5 This is a top view of the wire forming machine according to the second embodiment.

[0015] Figure 6A It is a three-dimensional diagram of a certain length of wire before it becomes a U-shaped object. Figure 6B It is a three-dimensional diagram of a U-shaped object.

[0016] Figure 7A This is a conceptual diagram of the trajectory pattern of the tool holding part. Figure 7B This is a conceptual diagram of another trajectory pattern for the tool holding section.

[0017] Figure 8 This is a top view of the wire forming machine according to the third embodiment. Detailed Implementation

[0018] [First Implementation Method]

[0019] The following is for reference Figure 1 Figure 4 illustrates the tool moving device 10A according to the first embodiment of this disclosure. Figure 1 As shown, the tool moving device 10A includes a first drive source unit 20 and a second drive source unit 30, as well as a fixed base 11 for fixing them.

[0020] The first drive source unit 20 has a first drive source 21 serving as a servo motor and a first reducer 22 disposed coaxially above it to reduce the rotational output of the first drive source 21 and output it. Similarly, the second drive source unit 30 has a second drive source 31 serving as a servo motor and a second reducer 32. In addition, flanges 22F and 32F extend laterally from the upper side of the first and second reducers 22 and 32.

[0021] It should be noted that in this embodiment, a relay box 20C is provided between the first drive source 21 and the first reducer 22 in the first drive source unit 20 to connect the output of the first drive source 21 to the input of the first reducer 22. However, it is also possible to have a structure without a relay box 20C, where the end face of the first drive source 21 overlaps with and is fixed to the end face of the first reducer 22, and the output of the first drive source 21 is connected to the input of the first reducer 22 while being housed within the first reducer 22. The same applies to the second drive source unit 30. In addition, the first and second drive sources 21 and 31 and the first and second reducers 22 and 32 are the same, but they can also be different. Furthermore, it is also possible to configure a structure in which one or both of the first and second reducers 22 and 32 are not present, and the output of one or both of the first and second drive sources 21 and 31 is applied to the first connecting rod 23 and the sliding guide 33 (described later) without deceleration.

[0022] like Figure 2 As shown, the fixing base 11 is a rectangular plate. A pair of through holes (not shown) are arranged along the length of the fixing base 11. The first and second drive source units 20 and 30 are inserted into the pair of through holes from above, and their flanges 22F and 32F overlap and are fixed to the upper surface of the fixing base 11.

[0023] A first connecting rod 23 (not shown) is fixed to the output portion on the upper surface of the first reducer 22. The first connecting rod 23 forms a structure in which the first shaft 23B stands upright from a position away from the center of the circular plate portion 23A, and is driven to rotate about the center of the circular plate portion 23A.

[0024] A sliding guide 33 is fixed to the output portion (not shown) on the upper surface of the second reducer 32. The sliding guide 33 has a guide groove 33B formed on the upper surface of the circular plate portion 33A. Furthermore, the centers of the guide groove 33B in both the width and length directions are arranged to overlap with the center of the circular plate portion 33A. The sliding guide 33 is driven to rotate about the center of the circular plate portion 33A. Furthermore, although not shown in detail in the figure, the guide groove 33B has, for example, a dovetail groove structure where the width of the lower side is larger than the width of the opening at the upper end. Furthermore, a pair of stoppers 33S are provided at both ends of the guide groove 33B in the length direction for the sliders 35V and 35W (described later) to abut against.

[0025] It should be noted that in this embodiment, the center of the guide groove 33B in both the width and length directions overlaps with the rotation center of the sliding guide 33, but they may not overlap. Specifically, the guide groove 33B may also be positioned offset from the rotation center of the sliding guide 33, and the guide groove 33B may not extend equally in both directions from the rotation center of the sliding guide 33, but only in one direction. Furthermore, a pair of stops 33S are disposed within the guide groove 33B, but they may also be disposed outside the guide groove 33B in the sliding guide 33. More specifically, for example, a pair of stops 33S may be provided protruding upwards from the circular plate portion 33A of the sliding guide 33, so that the sliders 35V and 35W (described later) abut against the pair of stops 33S (see reference). Figure 2 , 3A Furthermore, it is also possible to configure a pair of stoppers 33S not to be disposed on the sliding guide 33.

[0026] The slider 35V engages with the sliding guide 33 in a slidable manner. The lower part of the slider 35V has a sliding engagement portion 35A that engages with the guide groove 33B in a slidable manner, and a second shaft 35B extending upward from the sliding engagement portion 35A.

[0027] Figure 3A The diagram shows an example of a slider 35W, which differs from the slider 35V described above. This slider 35W, for example, has a sliding engagement portion 35A on the lower surface of a block-shaped slider body 35H extending parallel to the sliding guide 33, which engages with the guide groove 33B. Furthermore, one end of the slider body 35H in the longitudinal direction tapers downwards in a stepped manner, and the second shaft 35B protrudes upwards from this point. Hereinafter, only when distinguishing between sliders 35V and 35W, one will be referred to as "first slider 35V," and the other as "second slider 35W."

[0028] It should be noted that in this embodiment, the sliding guide 33 has a guide groove 33B that engages with the sliding engagement portion 35A of the sliders 35V and 35W. However, it could also be configured such that the sliding guide 33 has a guide rail, and the sliders 35V and 35W have sliding engagement grooves that engage with the guide rail. Alternatively, it could be configured such that a single rod with a non-circular cross-section or a pair of parallel rods are supported at both ends and disposed on the sliding guide 33, with engagement holes through which such rods pass in the sliders 35V and 35W. Furthermore, in this embodiment, the center of the second shaft 35B is disposed at the center of the width direction of the guide groove 33B, but it could also be disposed at a position offset from the center of the width direction of the guide groove 33B.

[0029] like Figure 2 and Figure 3AAs shown, the first link 23 and sliders 35V and 35W are connected by the second link 25. The second link 25 extends horizontally and has a pair of through holes at both ends. The first shaft 23B of the first link 23 and the second shaft 35B of the sliders 35V and 35W pass through bearings (not shown) located within these through holes. The two ends of the second link 25 are rotatably connected to the first link 23 and the sliders 35V and 35W. Thus, a special slider-link mechanism 29 is formed, including the first link 23, the second link 25, the sliding guide 33, and the sliders 35V and 35W, with the sliding guide 33 capable of rotation.

[0030] It should be noted that, in this embodiment, as Figure 4A As shown, the distance L11 between the rotation center axis of the connecting portion of the first link 23 and the second link 25 and the rotation center axis of the connecting portion of the second link 25 and the slider 35V, and the distance L10 between the rotation center axis of the first link 23 and the rotation center axis of the sliding guide 33 are different, but these distances L10 and L11 can also be the same. Furthermore, in this embodiment, the distance L12 between the rotation center axis of the connecting portion of the first link 23 and the second link 25 and the rotation center axis of the first link 23, and the distance L13 between the rotation center axis of the connecting portion of the second link 25 and the slider 35V and the rotation center of the sliding guide 33 when the slider 35V is in contact with either of the pair of stops 33S are different, but they can also be the same. Furthermore, in this embodiment, the second link 25 is plate-shaped or rod-shaped. Furthermore, the second link 25 can extend straight as in this embodiment or it can be bent.

[0031] like Figure 2 As shown, in the first slider 35V, the upper part of the second shaft 35B protrudes above the second connecting rod 25 to form a cylindrical tool holding portion 36V. Furthermore, a roller-shaped forming tool 37V is rotatably held in this tool holding portion 36V. Additionally, an annular groove 37A is formed on the outer peripheral surface of the forming tool 37V.

[0032] like Figure 3A As shown, in the second slider 35W, a tool holding portion 36W is provided in the slider body 35H at a position away from the second axis 35B. This tool holding portion 36W is configured to, for example, clamp a prism-shaped tool from the vertical direction using the slider body 35H and the pressure plate 35P, and secure it using bolts B. Examples of prism-shaped tools include: for example, a forming tool 37W with a groove 37N at the front end of the prism; for example, a... Figure 3B Cutting tools such as 37X that cut the front end of a prism at an angle as shown, and have a cutting edge 37B.

[0033] like Figure 1As shown, a pair of opposing walls 26A rise from the upper surface of the fixed base 11. These opposing walls 26A sandwich the first reducer 22 across the width of the fixed base 11, and a canopy wall 26B is connected between the upper ends of the pair of opposing walls 26A. Furthermore, a through hole (not shown) is formed on the canopy wall 26B, coaxial with the rotation center of the first connecting rod 23, and an auxiliary connecting rod 27 is rotatably supported within this through hole by a bearing (not shown).

[0034] In the auxiliary connecting rod 27, a circular plate portion 27A with an outer diameter approximately the same as that of the circular plate portion 23A of the first connecting rod 23 is provided below the ceiling wall 26B. Furthermore, a connecting hole (not shown) is formed in the circular plate portion 27A at a position away from the center of rotation. The portion of the first shaft 23B of the first connecting rod 23 that protrudes upwards from the second connecting rod 25 is connected to this connecting hole in a non-rotatable manner. Thus, the first connecting rod 23 and the auxiliary connecting rod 27 form a crank structure component 27S, which is a structure rotatably supported in a two-end supported state.

[0035] Figure 4A and Figure 4B The above-described special slider linkage mechanism 29 is conceptually illustrated. For ease of explanation, the horizontal direction orthogonal to the rotation center axis of the first link 23 and the rotation center axis of the sliding guide 33 is referred to as the "X direction" (denoted by reference numeral "X" in the figure), the horizontal direction orthogonal to the X direction is referred to as the "Y direction" (denoted by reference numeral "Y" in the figure), the horizontal direction (the direction in which the guide groove 33B extends) guiding the sliders 35V and 35W by the sliding guide 33 is referred to as the "sliding guide direction S," and the straight line segment orthogonal to the first and second dual axes 23B and 35B is referred to as the "relay line T1." An example of the operation of the slider linkage mechanism 29 will be explained.

[0036] like Figure 4A As shown, when the sliding guide direction S is parallel to the X direction and the second drive source 31 locks the sliding guide 33 to a non-rotating state, the slider linkage mechanism 29 functions as a normal slider linkage mechanism. Through the position control of the rotational position of the first link 23 by the first drive source 21, the slider 35V can be moved to any sliding position in the sliding guide direction S. Furthermore, even if the sliding guide direction S is not parallel to the X direction, as long as... Figure 4BSince the relay line T1 shown is not located at a specific point orthogonal to the direction S of the sliding guide, the tool holder 36V can be moved to any sliding position by the first drive source 21. Furthermore, by controlling the rotational position of the sliding guide 33 through the second drive source 31, the slider 35V can be moved to any position around the rotation center of the sliding guide 33. That is, the slider 35V, under the control of the first drive source 21 and the second drive source 31, can be positioned at any position in a two-dimensional plane orthogonal to the rotation center axis of the sliding guide 33, and can move in a manner that traces any trajectory in this two-dimensional plane. The same applies to the other slider 35W. Moreover, tool holders 36V and 36W are provided on the sliders 35V and 35W.

[0037] Thus, the tool moving device 10A of this embodiment has tool holding parts 36V and 36W in a special slider linkage mechanism 29 driven by the power of the first drive source 21 and the second drive source 31, which can be moved to any position in two dimensions by the power of the first drive source 21 and the second drive source 31. Therefore, the degree of freedom of movement of the tool holding parts 36V and 36W is higher than that of the past.

[0038] Furthermore, this special slider linkage mechanism 29 is a structure that adds a second drive source 31 to a conventional slider linkage mechanism that uses the first drive source 21 as the drive source. However, since it is not a mechanism where one of the first drive source 21 and the second drive source 31 is driven by the other, it can suppress the decrease in acceleration of the tool holding parts 36V and 36W caused by the increased weight of the second drive source 31. Moreover, by operating the mechanism, the tool holding parts 36V and 36W can be operated using the power of both the first drive source 21 and the second drive source 31, thereby increasing the acceleration of the operation or the pressing force relative to the workpiece.

[0039] Furthermore, the tool holding parts 36V and 36W can be provided on the sliders 35V and 35W or on the second link 25, as long as they can be moved to any position in two dimensions by the first drive source 21 and the second drive source 31. However, in the tool moving device 10A with the first slider 35V, since the rotation center of the tool holding part 36V and the part that rotatably connects the slider 35V and the second link 25 are arranged on the same axis, the structure of the tool moving device 10A becomes simple.

[0040] Furthermore, since the tool moving device 10A of this embodiment is configured to arrange the first drive source unit 20 and the second drive source unit 30 along the X direction, it becomes compact in both the X direction and the Y direction orthogonal to it. As a result, the installation space required when arranging multiple tool moving devices 10A in the Y direction can be reduced.

[0041] Furthermore, in the tool moving device 10A equipped with the first slider 35V, since the forming tool 37V is roller-shaped and rotatably held in the tool holding part 36V, when the forming tool 37V moves, it is not restricted by the requirement that the forming tool 37V be in a predetermined orientation, and the operation setting (e.g., teaching process) of the forming tool 37V can be easily performed.

[0042] [Second Implementation]

[0043] The following is for reference Figure 5 Figure 7 illustrates the wire forming machine 40 according to the second embodiment of this disclosure. Figure 5 As shown, the wire forming machine 40 includes a tool moving device 10A, a wire feeding device 41, and a control unit 45 that controls the tool moving device 10A and the wire feeding device 41, as described in the first embodiment. Furthermore, regarding... Figure 6A The wire 90 shown is bent to form a shape. Figure 6B The U-shaped part 91 of the coil of the motor shown is commonly referred to as a "segmented coil". It should be noted that the wire 90 has a quadrilateral cross-section.

[0044] Specifically, the wire feeding device 41 includes: a sleeve shaft 42 having a wire guide hole 42A with a quadrilateral cross-section through which the wire 90 can pass; one or more pairs of feed rollers 43, which are symmetrically arranged and rotate symmetrically with respect to a wire feed line 42G extended from the wire guide hole 42A; and a third drive source 44, which is a servo motor that drives the feed rollers 43. Furthermore, multiple wires 90, pre-cut to a certain length, are sequentially fed to the wire feeding device 41. Then, the wire feeding device 41 feeds the multiple wires 90 one by one toward the wire guide hole 42A of the sleeve shaft 42 via the feed rollers 43. It should be noted that the wires 90 away from the feed rollers 43 are then pushed by the wires 90 fed by the feed rollers 43 and fed to a position away from the sleeve shaft 42.

[0045] The tool moving device 10A of this embodiment includes a first slider 35V as described in the first embodiment and a forming tool 37V that maintains the roller shape. The annular groove 37A of the forming tool 37V is formed into a corner groove shape that perfectly accommodates the wire 90. In addition, the tool moving device 10A is configured such that the first drive source unit 20 and the second drive source unit 30 are arranged in a direction parallel to the wire feed line 42G, and the second drive source unit 30 is located on the sleeve shaft 42 side. Furthermore, the annular groove 37A of the forming tool 37V is arranged at the same height as the wire guide hole 42A of the sleeve shaft 42. Then, the first drive source 21, the second drive source 31, and the third drive source 44 are controlled by the control unit 45 to operate the tool moving device 10A as described below to form the wire 90 into a U-shaped body 91.

[0046] Specifically, the wire feeding device 41 of the wire forming machine 40 is controlled to feed the wire 90 from the front end of the sleeve shaft 42 at predetermined lengths L1, L2, and L3 as shown in FIG. 6, and to stop each time. Then, during the stopping process of the wire feeding device 41, the forming tool 37V moves to press the portion of the wire 90 extending straight from the front end of the sleeve shaft 42 from the side, bending multiple portions of the wire 90 to form a U-shaped body 91. An example of the operation of this forming tool 37V is shown below. Figure 7A and Figure 7B The pattern.

[0047] exist Figure 7A In the pattern, for example, the sliding guide direction S is approximately orthogonal to the wire feed line 42G and the forming tool 37V is positioned on the side further to one side than the wire feed line 42G. Figure 7A The first position P1 (on the right side) waits for the wire 90 to be fed out from the sleeve shaft 42, and stops when the wire 90 has been fed out to the specified length (by...). Figure 7A (As shown by the double-dotted line), for example, the sliding guide 33 rotates 180 degrees, so that the forming tool 37V traces an arc away from the sleeve shaft 42 and moves to the second position P2. Thus, the portion of the wire 90 that has exited from the sleeve shaft 42 bends relative to the portion remaining within the sleeve shaft 42. Furthermore, taking into account the springback of the wire 90, the sliding guide 33 rotates a predetermined amount by the forming tool 37V further pressing the wire 90, moving from the second position P2 to the third position P3. Then, the opposite action is performed, and the forming tool 37V returns from the third position P3 to the first position P1. The action of the forming tool 37V in this pattern is a reciprocating motion only on the arc track, achieved solely by moving the slider 35V (see...) Figure 5This can be achieved by fixing the sliding guide 33 and rotating it driven by the second drive source 31, but the forming tool 37V can be pushed towards the wire 90 by the combined force of the second drive source 31 and the first drive source 21. As a result, the burden on the second drive source 31 and the first drive source 21 can be suppressed, and overheating and other defects can be prevented.

[0048] exist Figure 7B In the pattern, the actions until the forming tool 37V moves to the first position P1, the second position P2, the third position P3 and returns to the second position P2 are the same as described above. Figure 7A The pattern is the same. Then, with the sliding guide 33 stopped, the forming tool 37V slides along the guide groove 33B of the sliding guide 33 via the first drive source 21, returning to the first position P1. In this pattern, it also plays a role similar to... Figure 7A The same effect as the pattern is achieved, and the movement trajectory of the forming tool 37V is shortened to reduce the action time.

[0049] Thus, the wire forming machine 40 according to this embodiment, by having the tool moving device 10A described in the first embodiment, increases the degree of freedom when forming the U-shaped body 91, thereby enabling the U-shaped body 91 to be formed in a different manner than in the past.

[0050] [Third Implementation Method]

[0051] The following is for reference Figure 8 The wire forming machine 50 according to the third embodiment of this disclosure will be described. This wire forming machine 50 forms a helical spring 93 from wire 92, and therefore, for example, it includes two tool moving devices 10A having a second slider 35W as described in the first embodiment and holding a forming tool 37W, and one tool moving device 10A having a second slider 35W and holding a cutting tool 37X, for a total of three tool moving devices 10A. The basic structure of the wire forming machine 50, apart from the structure of these tool moving devices 10A, is, for example, the same as the structure described in Japanese Patent Application Publication No. 2015-150583, Japanese Patent Application Publication No. 2022-153842, etc.

[0052] In this wire forming machine 50, for example in the tool moving device 10A that holds the cutting tool 37X, the slider 35W is moved along the guide groove 33B (see reference) while the sliding guide 33 reciprocates at a predetermined angle. Figure 3AThe cutting tool 37X slides, allowing its tip to move in a circular arc trajectory. This reduces burrs compared to conventional methods. Furthermore, for example, in the forming tool 37W, by appropriately changing the rotational position of the sliding guide 33, the angle of the surface in contact with the wire in the forming tool 37W can be appropriately changed, making adjustments that were previously only possible by changing the mounting posture of the forming tool 37W relative to the tool holder 36W easily achievable.

[0053] [Other Implementation Methods]

[0054] In the tool moving device 10A of the above embodiment, the tool holding portions 36V and 36W are disposed on the sliders 35V and 35W. However, for example, the tool holding portion may also be provided on the second link 25 near the sliders 35V and 35W. That is, as long as the portion of the special slider link mechanism 29 described above can be disposed at any position in the two-dimensional plane under the control of the first drive source 21 and the second drive source 31, it will have the same effect as the first embodiment, regardless of where the tool holding portion is disposed in the special slider link mechanism 29 described above.

[0055] In the tool moving device 10A of the above embodiment, a sliding guide 33 is fixed to the output of the second reducer 32 of the second drive source unit 30. However, it can also be configured such that, for example, the sliding guide 33 is rotatably supported on the fixed base 11, and the second drive source 31, which is the power source of the sliding guide 33, is arranged at different positions on the coaxial side of the sliding guide 33 and is connected to the sliding guide 33 via gears, connecting rods, etc. The same applies to the first drive source unit 20.

[0056] In the tool moving device 10A of the above embodiment, both the first drive source 21 and the second drive source 31 are servo motors. For example, the second drive source 31 can be a pneumatic motor or a hydraulic motor. It can also be configured to have a first stop that abuts when the sliding guide 33 is rotated in one direction and positioned at a first rotational position, and a second stop that abuts when the sliding guide 33 is rotated in another direction and positioned at a second rotational position. Alternatively, the second drive source 31 may not have a motor, but instead have a hydraulic cylinder or a pneumatic cylinder with the same structure. With such a structure, the position of the sliding guide 33 can be changed by the second drive source 31, which is either the first rotational position or the second rotational position. However, by combining the second drive source 21 with any sliding position, the tool holding parts 36V and 36W can be arranged in any position in two dimensions.

[0057] <Postscript>

[0058] Hereinafter, the feature groups of this disclosure that include the features extracted from the above embodiments will be described as needed while showing the effects, etc. It should be noted that, for ease of understanding, the corresponding structural reference numerals in the above embodiments are written in parentheses, but these feature groups are not limited to the structures of the reference numerals written in parentheses.

[0059] [Feature 1]

[0060] A tool moving device (10A) comprising:

[0061] The slider linkage mechanism (29) includes a first drive source (21), a first link (23) driven by the first drive source (21) to rotate, a sliding guide (33), a slider (35V, 35W) slidably supported on the sliding guide (33), and a second link (25) rotatably connected to the first link (23) and the slider (35V, 35W), which can use the power of the first drive source (21) to move the slider (35V, 35W) along the sliding guide (33);

[0062] The second drive source (31) is capable of driving the sliding guide (33) to rotate about a rotation axis parallel to the rotation axis of the first link (23); and

[0063] The tool holding part (36V, 36W) is a part disposed in the slider linkage mechanism (29) that can be moved to any position in two dimensions by the power of the first drive source (21) and the second drive source (31), and is used to hold the tool (37V, 37W, 37X).

[0064] Feature 1 of the tool moving device includes a special slider linkage mechanism. This special slider linkage mechanism uses the power of a first drive source to make the slider slide along a sliding guide, and the sliding guide is driven to rotate by the power of a second drive source. Furthermore, in this special slider linkage mechanism, a tool holding part is provided at a location that can be moved to any position in two dimensions using the power of both the first and second drive sources, thus increasing the degree of freedom of movement of the tool holding part compared to conventional mechanisms. In addition, this special slider linkage mechanism adds a second drive source to a conventional slider linkage mechanism that uses the first drive source as the drive source. However, since the mechanism does not mount the other drive source in a part driven by only one of the first and second drive sources, it can suppress the decrease in acceleration of the tool holding part caused by the increased weight based on the second drive source. Furthermore, depending on the action, the tool holding part can be moved using the power of both the first and second drive sources, thereby increasing the acceleration of the action or the pressing force relative to the workpiece compared to conventional methods.

[0065] [Feature 2]

[0066] The tool moving device (10A) according to feature 1, wherein the tool moving device (10A) comprises:

[0067] A first reducer (22), which is coaxially arranged with the first drive source (21), reduces the rotational output received from the first drive source (21) and outputs it;

[0068] A second reducer (32), which is coaxially arranged with the second drive source (31), reduces the rotational output received from the second drive source (31) and outputs it; and

[0069] A fixed base (11) is used to fix the first reducer (22) and the second reducer (32) in a parallel arrangement.

[0070] The first connecting rod (23) is fixed to the output part of the first reducer (22), and the sliding guide (33) is fixed to the output part of the second reducer (32).

[0071] Feature 2's tool moving device becomes compact in the direction orthogonal to the direction in which the first and second reducers are arranged (hereinafter referred to as "lateral"). This reduces the installation space required when multiple tool moving devices are arranged laterally.

[0072] [Feature 3]

[0073] According to feature 1 or 2, the tool moving device (10A) wherein,

[0074] The tool holder (36V) holds the roller-shaped tool (37V) so that it can rotate around a rotation axis parallel to the rotation axis of the first link (23).

[0075] In the tool moving device of feature 3, since the tool is rotatably held in the tool holding part in the shape of a roller, it is not restricted by the requirement to make the tool in a specified orientation, and the tool's operation can be easily set (e.g., teaching process).

[0076] [Feature 4]

[0077] According to feature 3, the tool moving device (10A) wherein,

[0078] The tool holding part (36V) and the part that rotatably connects the slider (35V) and the second connecting rod (25) are arranged on the same axis.

[0079] The tool holding part can be provided on the slider or the second link, as long as it can be moved to any position in two dimensions by the first drive source and the second drive source. However, as with the tool moving device of feature 4, if the tool holding part is arranged on the same axis as the rotation center of the part that connects the slider and the second link to form a rotatable part, the structure of the tool moving device becomes simple.

[0080] [Feature 5]

[0081] A wire forming machine (40) bends a straight wire (90) of a certain length into a U-shaped body (91) that becomes part of a motor coil. The wire forming machine (40) comprises: a tool moving device (10A) as described in any one of features 1 to 4; a wire feeding device (41) having a sleeve shaft (42) for guiding the wire (90) and capable of feeding the wire (90) from the front end of the sleeve shaft (42) in a direction orthogonal to the rotation axis of the first connecting rod (23); and a control unit (45) for controlling the first drive source (21) and the second drive source (31) to cause the tool (37V) to push the wire (90) extending from the front end of the sleeve shaft (42) from the side to bend the wire (90).

[0082] The wire forming machine of feature 5, by having the aforementioned tool moving device, increases the degree of freedom when forming the U shape, and can form the U shape using a different approach than in the past.

[0083] It should be noted that specific examples of the technology included in the technical solution are disclosed in this specification and accompanying drawings, but the technology described in the technical solution is not limited to these specific examples, and also includes various modifications and alterations to the specific examples, as well as methods that extract a part of the specific examples separately.

[0084] Explanation of reference numerals in the attached figures:

[0085] 10A Tool Moving Device

[0086] 11 Fixed base

[0087] 21 First Driving Source

[0088] 22 First reducer

[0089] 23 First Link

[0090] 25 Second Link

[0091] 29. Slider Linkage Mechanism

[0092] 31 Second driving source

[0093] 32 Second reducer

[0094] 33 Sliding Guide

[0095] 35V, 35W slider

[0096] 36V, 36W tool holding section

[0097] 37A Annular groove

[0098] 37V, 37W forming tools

[0099] 37X Cutting Tool

[0100] 40 and 50 wire forming machines

[0101] 41 Wire feeding device

[0102] 42 sleeve shaft

[0103] 44 Third driving source

[0104] 45 Control Department

[0105] 90 wire

[0106] 91 U forms a shape.

Claims

1. A tool moving device, wherein, The tool moving device includes: A slider linkage mechanism includes a first drive source, a first link that is driven to rotate by the first drive source, a sliding guide, a slider that is slidably supported on the sliding guide, and a second link that is rotatably connected to the first link and the slider, and is capable of moving the slider along the sliding guide by the power of the first drive source. The second drive source is capable of driving the sliding guide to rotate around a rotation axis parallel to the rotation axis of the first link. as well as A tool holding part, which is disposed in the slider linkage mechanism and can be moved to any position in two dimensions by the power of the first drive source and the second drive source, is used to hold the tool.

2. The tool moving device according to claim 1, wherein, The tool moving device includes: A first reducer, which is configured on the same axis as the first drive source, reduces the rotational output received from the first drive source and outputs it; The second reducer, which is configured on the same axis as the second drive source, reduces the rotational output received from the second drive source and outputs it; as well as A fixed base secures the first and second reducers in a parallel arrangement. The first connecting rod is fixed to the output part of the first reducer. The sliding guide is fixed to the output part of the second reducer.

3. The tool moving device according to claim 1 or 2, wherein, The tool holding part holds the roller-shaped tool so that it can rotate around a rotation axis parallel to the rotation axis of the first connecting rod.

4. The tool moving device according to claim 3, wherein, The tool holding part and the rotation center of the part that rotatably connects the slider and the second connecting rod are arranged on the same axis.

5. A wire forming machine that bends a straight wire of a certain length into a U-shaped form that becomes part of a motor coil, wherein... The wire forming machine includes: The tool moving device according to any one of claims 1 to 4; A wire feeding device having a sleeve shaft for guiding the wire and capable of feeding the wire from the front end of the sleeve shaft in a direction orthogonal to the rotation axis of the first connecting rod; as well as The control unit controls the first drive source and the second drive source to cause the tool to push the wire extending from the front end of the sleeve shaft from the side, thereby bending the wire.

Images