TOOL MOVING DEVICE AND WIRE FORMING MACHINE

Abstract

Problem: There is a demand for the development of a technique capable of increasing the degree of freedom of operation of a tool holder and eliminating the decrease in operating speed associated with it, compared to a conventional tool-moving device. Solution to the problem: A tool-moving device 10A according to the present embodiment includes: a cursor linkage mechanism 29 comprising a first drive source 21, a first linkage 23 configured to be rotationally driven by the first drive source 21, a cursor guide 33, a cursor 35V configured to be slidably supported by the cursor guide, and a second linkage 25 configured to be rotatably connected to the first linkage 23 and the cursor 35V.The cursor linkage mechanism 29 is configured to be able to move the cursor 35V along the cursor guide 33 by the power of the first drive source 21; a second drive source 31 is configured to be able to rotationally drive the cursor guide 33 around a rotation axis parallel to the rotation axis of the first linkage 23; and a tool holder 36V is provided in a portion of the cursor linkage mechanism 29, the portion being movable to any desired two-dimensional position by the power of the first drive source 21 and the second drive source 31, and the tool holder is configured to hold a tool 37V.

Description

Tool moving device and wire forming machine

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

[0002] Known examples of this type of tool moving device include a slider link mechanism or a parallel link mechanism, and a tool holder that moves linearly or rotates (see, for example, Patent Document 1).

[0003] JP 2007-275942 A (paragraph

[0006] and FIG. 10)

[0004] There is a demand for the development of technology that can increase the degree of freedom of movement of the tool holding unit compared to the conventional tool moving devices described above.

[0005] A tool movement device according to one aspect of the present disclosure is a tool movement device comprising: a first drive source; a first link rotatably driven by the first drive source; a slide guide; a slider slidably supported on the slide guide; and a second link rotatably connected to the first link and the slider, the tool movement device comprising: a slider link mechanism capable of moving the slider along the slide guide by power from the first drive source; a second drive source capable of rotatably driving the slide guide around a rotation axis parallel to the rotation axis of the first link; and a tool holding section provided in a portion of the slider link mechanism that can be moved to any position in two dimensions by power from the first drive source and the second drive source, the tool holding section holding a tool.

[0006] 1 is a perspective view of a tool movement device of a first embodiment; FIG. 2 is a perspective view of a tool movement device equipped with a first slider; FIG. 3A is a perspective view of a tool movement device equipped with a second slider; and FIG. 3B is a perspective view of a cutting tool; FIG. 4A is a conceptual view of a slider link mechanism in a state where the slider is slidable; and FIG. 4B is a conceptual view of a slider link mechanism in a state where the slider is not slidable; FIG. 5 is a plan view of a wire rod forming machine of a second embodiment; FIG. 6A is a perspective view of a wire rod of a certain length before it becomes a U-shaped body; and FIG. 6B is a perspective view of a U-shaped body; and FIG. 7A is a conceptual view of a trajectory pattern of a tool holding unit; and FIG. 7B is a conceptual view of another trajectory pattern of the tool holding unit. FIG. 8 is a plan view of a wire rod forming machine of a third embodiment.

[0007] [First embodiment] A tool movement device 10A according to a first embodiment of the present disclosure will be described below with reference to Figures 1 to 4. As shown in Figure 1, the tool movement device 10A includes a first drive source unit 20, a second drive source unit 30, and a fixed base 11 to which the first and second drive source units are fixed.

[0008] The first drive source unit 20 has a first drive source 21 which is a servo motor and a first reducer 22 which is arranged coaxially above the first drive source 21 and reduces the rotational output of the first drive source 21 before outputting it. Similarly, the second drive source unit 30 has a second drive source 31 which is also a servo motor and a second reducer 32. Furthermore, flanges 22F, 32F protrude laterally from the upper side surfaces of the first and second reducers 22, 32, respectively.

[0009] In the present 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, the relay box 20C may be omitted, and an end face of the first drive source 21 may be fixed to an end face of the first reducer 22, and the output of the first drive source 21 may be 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. The first and second drive sources 21 and 31 and the first and second reducers 22 and 32 may be the same or different. Furthermore, one or both of the first and second reducers 22 and 32 may not be provided, and the output of one or both of the first and second drive sources 21 and 31 may be applied to the first link 23 and slide guide 33 (described later) without being reduced in speed.

[0010] 2, the fixed base 11 has a rectangular plate shape. A pair of through holes (not shown) are arranged in the longitudinal direction of the fixed 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 are overlapped and fixed to the upper surface of the fixed base 11.

[0011] A first link 23 is fixed to an output section (not shown) on the top surface of the first reducer 22. The first link 23 has a structure in which a first shaft 23B stands upright from a position away from the center of a disk section 23A, and is driven to rotate around the center of the disk section 23A.

[0012] A slide guide 33 is fixed to an output portion (not shown) on the top surface of the second reducer 32. The slide guide 33 has a structure in which a guide groove 33B is provided on the top surface of a disk portion 33A. The widthwise and longitudinal centers of the guide groove 33B are aligned with the center of the disk portion 33A. The slide guide 33 is driven to rotate around the center of the disk portion 33A. Although not shown in detail in the figure, the guide groove 33B has a so-called dovetail structure, in which the lower side is wider than the opening width at the upper end. Furthermore, a pair of stoppers 33S, which contact sliders 35V and 35W (described later), are provided at both longitudinal ends of the guide groove 33B.

[0013] In this embodiment, the widthwise and longitudinal centers of the guide groove 33B overlap with the rotation center of the slide guide 33, but this need not be the case. Specifically, the guide groove 33B may be positioned offset so as not to include the rotation center of the slide guide 33. Alternatively, the guide groove 33B may extend in only one direction from the rotation center of the slide guide 33, rather than extending equally in both directions. Furthermore, the pair of stoppers 33S are positioned within the guide groove 33B, but they may also be positioned outside the guide groove 33B on the slide guide 33. More specifically, for example, a pair of stoppers 33S may be provided to protrude upward from the disc portion 33A of the slide guide 33, so that sliders 35V and 35W, described below, abut against them (see FIGS. 2 and 3A). Furthermore, the slide guide 33 may not be provided with a pair of stoppers 33S.

[0014] A slider 35V is slidably engaged with the slide guide 33. The lower part of the slider 35V has a slide engagement portion 35A that slidably engages with the guide groove 33B, and a second shaft 35B that extends upward from the slide engagement portion 35A.

[0015] 3A shows an example of a slider 35W that is different from the slider 35V described above. This slider 35W includes, for example, a block-shaped slider main body 35H extending parallel to the slide guide 33 and a slide engagement portion 35A that engages with the guide groove 33B on the underside thereof. One longitudinal end of the slider main body 35H is stepped down, with a second shaft 35B protruding upward from the stepped end. Hereinafter, only when distinguishing between the sliders 35V and 35W, one will be referred to as the "first slider 35V" and the other as the "second slider 35W."

[0016] In this embodiment, the slide guide 33 is provided with the guide groove 33B, which engages with the slide engagement portion 35A of the sliders 35V and 35W. However, for example, a configuration may be adopted in which the slide guide 33 is provided with a guide rail, and the sliders 35V and 35W are provided with slide engagement grooves that engage with the guide rail. Also, a configuration may be adopted in which a bar having a non-circular cross section or a pair of bars extending parallel to each other is provided on the slide guide 33 with both ends supported, and engagement holes through which such bars pass are provided in the sliders 35V and 35W. Furthermore, in this embodiment, the center of the second shaft 35B is located at the center of the guide groove 33B in the width direction, but the second shaft 35B may be located at a position offset from the center of the guide groove 33B in the width direction.

[0017] 2 and 3A, the first link 23 and the sliders 35V, 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, 35W pass through bearings (not shown) provided in the pair of through holes, thereby rotatably connecting both ends of the second link 25 to the first link 23 and the sliders 35V, 35W. This forms a special slider link mechanism 29 that includes the first link 23, the second link 25, the slide guide 33, and the sliders 35V, 35W and allows the slide guide 33 to rotate.

[0018] 4A , in this embodiment, the axis-to-axis distance L11 between the rotation axis of the connecting portion of the first link 23 and the second link 25 and the rotation axis of the connecting portion of the second link 25 and the slider 35V is different from the axis-to-axis distance L10 between the rotation axis of the first link 23 and the rotation axis of the slide guide 33, but these axis-to-axis distances L10 and L11 may be the same. Also, in this embodiment, the axis-to-axis distance L12 between the rotation axis of the connecting portion of the first link 23 and the second link 25 and the rotation axis of the first link 23 is different from the axis-to-axis distance L13 between the rotation axis of the connecting portion of the second link 25 and the slider 35V and the rotation center of the slide guide 33 when the slider 35V is in contact with one of the pair of stoppers 33S, but these axis-to-axis distances L10 and L11 may be the same. Furthermore, in this embodiment, the second link 25 is plate-shaped, but it may also be rod-shaped. Furthermore, the second link 25 may extend straight as in this embodiment, or may be curved.

[0019] 2, in the first slider 35V, the upper portion of the second shaft 35B protrudes upward from the second link 25 to form a cylindrical tool holding portion 36V. A roller-shaped forming tool 37V, for example, is rotatably held by this tool holding portion 36V. An annular groove 37A is formed on the outer circumferential surface of the forming tool 37V.

[0020] 3A, the second slider 35W is provided with a tool holder 36W at a position on the slider main body 35H away from the second shaft 35B. This tool holder 36W is configured to sandwich, for example, a rectangular prism-shaped tool between the slider main body 35H and a presser plate 35P from above and below and fasten it with a bolt B. Examples of the rectangular prism-shaped tool include a forming tool 37W having a groove 37N at the tip of the rectangular prism, and a cutting tool 37X having a cutting blade 37B formed by cutting the tip of a rectangular prism at an angle as shown in FIG. 3B.

[0021] 1, a pair of opposing walls 26A stand upright from the upper surface of the fixed base 11. The pair of opposing walls 26A face each other in the width direction of the fixed base 11, sandwiching the first reducer 22 therebetween, and a ceiling wall 26B is provided between the upper ends of the pair of opposing walls 26A. A through-hole (not shown) is formed in the ceiling wall 26B coaxially with the center of rotation of the first link 23, and an auxiliary link 27 is rotatably supported by a bearing (not shown) provided in the through-hole.

[0022] The auxiliary link 27 is provided with a disk portion 27A located below the ceiling wall 26B, the disk portion 27A having approximately the same outer diameter as the disk portion 23A of the first link 23. A connecting hole (not shown) is formed in the disk portion 27A at a position away from the center of rotation, and a portion of the first shaft 23B of the first link 23 that protrudes above the second link 25 is non-rotatably connected to the connecting hole. As a result, the first link 23 and the auxiliary link 27 form a crank structure 27S, which is rotatably supported at both ends.

[0023] 4A and 4B conceptually illustrate the above-described special slider link mechanism 29. Here, for convenience of explanation, the horizontal direction perpendicular to the rotational axis of the first link 23 and the rotational axis of the slide guide 33 is referred to as the "X direction" (indicated by the symbol "X" in the drawings), the horizontal direction perpendicular to the X direction is referred to as the "Y direction" (indicated by the symbol "Y" in the drawings), the horizontal direction in which the sliders 35V, 35W are guided by the slide guide 33 (the direction in which the guide groove 33B extends) is referred to as the "slide guide direction S," and a straight line segment perpendicular to the first and second shafts 23B, 35B is referred to as the "relay line T1," and an example of the operation of the slider link mechanism 29 will be described.

[0024] As shown in FIG. 4A , when the slide guide 33 is locked by the second drive source 31 to prevent rotation with the slide guide direction S parallel to the X direction, the slider link mechanism 29 functions as a typical slider link mechanism, and the slider 35V can be moved to any slide position in the slide guide direction S by controlling the rotational position of the first link 23 by the first drive source 21. Even if the slide guide direction S is not parallel to the X direction, the tool holder 36V can be moved to any slide position by the first drive source 21 as long as the relay line T1 is not located at a singular point perpendicular to the slide guide direction S, as shown in FIG. 4B . Furthermore, by controlling the rotational position of the slide guide 33 by the second drive source 31, the slider 35V can be moved to any position around the rotation center of the slide guide 33. In other words, by controlling the first drive source 21 and the second drive source 31, the slider 35V can be positioned at any position in a two-dimensional plane perpendicular to the rotation center axis of the slide guide 33 and can move to draw any trajectory in the two-dimensional plane. The same is true for the other slider 35W. The sliders 35V and 35W are provided with tool holding portions 36V and 36W.

[0025] In this way, the tool movement device 10A of this embodiment is provided with tool holding units 36V, 36W at a location of a special slider link mechanism 29 that is driven by the power of the first drive source 21 and the second drive source 31 and can be moved to any position in two dimensions by the power of the first drive source 21 and the second drive source 31, so that the tool holding units 36V, 36W have a higher degree of freedom of movement than conventional devices.

[0026] Furthermore, this special slider link mechanism 29 has a structure in which the second drive source 31 is added to a general slider link mechanism that uses the first drive source 21 as a drive source, but the mechanism is not one in which one of the first drive source 21 and the second drive source 31 is mounted on a part driven by the other, so that a decrease in the acceleration of the operation of the tool holders 36V, 36W due to the increase in weight caused by the second drive source 31 is suppressed. Furthermore, depending on the operation, the tool holders 36V, 36W can be operated using the power of both the first drive source 21 and the second drive source 31, which allows for a higher acceleration of the operation and a higher pressing force against the workpiece than conventional mechanisms.

[0027] Furthermore, the tool holding units 36V, 36W may be provided on the sliders 35V, 35W or on the second link 25, as long as they are parts that 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 movement device 10A having the first slider 35V, the tool holding unit 36V is arranged coaxially with the center of rotation of the part that rotatably connects the slider 35V and the second link 25, thereby simplifying the structure of the tool movement device 10A.

[0028] Furthermore, the tool movement device 10A of this embodiment has the first drive source unit 20 and the second drive source unit 30 lined up in the X direction, making it compact in both the X direction and the Y direction perpendicular to the X direction. This reduces the installation space required when multiple tool movement devices 10A are lined up in the Y direction.

[0029] Furthermore, in the tool movement device 10A equipped with the first slider 35V, the forming tool 37V is roller-shaped and rotatably held on the tool holding portion 36V, so that when the forming tool 37V is moved, there is no restriction that the forming tool 37V must be oriented in a specific direction, and the operation setting (e.g., teaching process) of the forming tool 37V can be easily performed.

[0030] Second Embodiment A wire rod forming machine 40 according to a second embodiment of the present disclosure will be described below with reference to FIGS. 5 to 7. As shown in FIG. 5, the wire rod forming machine 40 includes the tool movement device 10A described in the first embodiment, a wire rod feeding device 41, and a control unit 45 that controls the tool movement device 10A and the wire rod feeding device 41. A wire rod 90 shown in FIG. 6A is bent to form a U-shaped body 91 (generally referred to as a "segment coil") that will become part of a motor coil shown in FIG. 6B. The wire rod 90 has a rectangular cross section.

[0031] Specifically, the wire feeding device 41 includes a quill 42 having a wire guide hole 42A with a rectangular cross section through which the wire 90 can pass, one or more pairs of feed rollers 43 that are symmetrically arranged across a wire feed line 42G extending from the wire guide hole 42A and rotate symmetrically, and a third drive source 44 that is a servo motor that drives the feed rollers 43. A plurality of wires 90 are sequentially fed to the wire feeding device 41 after being precut to a predetermined length. The wire feeding device 41 then feeds the plurality of wires 90 one by one toward the wire guide hole 42A of the quill 42 using the feed rollers 43. The wire 90 that has left the feed roller 43 is pushed by the next wire 90 fed by the feed roller 43 and fed to a position away from the quill 42.

[0032] The tool movement device 10A of this embodiment has the first slider 35V described in the first embodiment and holds a roller-shaped forming tool 37V. The annular groove 37A of the forming tool 37V is a square groove that fits the wire rod 90 perfectly. The tool movement device 10A is also arranged so that the first drive source unit 20 and the second drive source unit 30 are aligned parallel to the wire rod feed line 42G and the second drive source unit 30 is positioned on the quill 42 side. The annular groove 37A of the forming tool 37V is positioned at the same height as the wire rod guide hole 42A of the quill 42. The control unit 45 controls the first drive source 21, the second drive source 31, and the third drive source 44 so that the tool movement device 10A operates to form the wire rod 90 into a U-shaped body 91 as follows.

[0033] Specifically, the wire feeder 41 of the wire rod forming machine 40 is controlled so that the wire rod 90 is fed from the tip of the quill 42 by specified lengths L1, L2, and L3 shown in Fig. 6 at a time and stopped each time. Then, while the wire feeder 41 is stopped, the forming tool 37V moves to press from the side a portion of the wire rod 90 that extends straight from the tip of the quill 42, and the wire rod 90 is bent at multiple locations to form a U-shaped body 91. Examples of the operation of the forming tool 37V include the patterns shown in Figs. 7A and 7B.

[0034] In the pattern shown in FIG. 7A , for example, the wire rod 90 waits to be fed from the quill 42 at a first position P1 where the slide guide direction S is substantially perpendicular to the wire rod feed line 42G and the forming tool 37V is located to one side of the wire rod feed line 42G (the right side in FIG. 7A ). When the wire rod 90 has been fed a predetermined length and stopped (the state shown by the two-dot chain line in FIG. 7A ), the slide guide 33 rotates 180 degrees, for example, and the forming tool 37V moves to a second position P2, tracing an arc away from the quill 42. As a result, the portion of the wire rod 90 fed from the quill 42 is bent relative to the portion remaining in the quill 42. Then, taking into account the springback of the wire rod 90, the slide guide 33 rotates a predetermined amount to move from the second position P2 to a third position P3 so that the forming tool 37V further presses the wire rod 90. Then, the reverse operation of the above operations is performed, and the forming tool 37V returns from the third position P3 to the first position P1. The operation of the forming tool 37V of this pattern is simply a reciprocating motion on an arcuate track, and can be realized by simply fixing the slider 35V (see FIG. 5) to the slide guide 33 and driving it to rotate by the second drive source 31, but the forming tool 37V can be pressed against the wire 90 by the combined force of the second drive source 31 and the first drive source 21. This reduces the burden on each of the second drive source 31 and the first drive source 21, and prevents problems such as overheating.

[0035] In the pattern of Fig. 7B, the operation of the forming tool 37V moving from the first position P1 to the second position P2 to the third position P3 and back to the second position P2 is the same as that of the pattern of Fig. 7A described above. Thereafter, with the slide guide 33 stopped, the first drive source 21 causes the forming tool 37V to slide along the guide groove 33B of the slide guide 33 and return to the first position P1. This pattern also achieves the same effect as the pattern of Fig. 7A, and shortens the movement trajectory of the forming tool 37V, thereby shortening the operation time.

[0036] Thus, according to the wire rod forming machine 40 of this embodiment, by being equipped with the tool movement device 10A described in the first embodiment, the degree of freedom when forming the U-shaped body 91 is increased, and it becomes possible to form the U-shaped body 91 in a manner different from the conventional manner.

[0037] [Third Embodiment] A wire rod forming machine 50 according to a third embodiment of the present disclosure will be described below with reference to Fig. 8. This wire rod forming machine 50 forms a coil spring 93 from a wire rod 92, and for this purpose, includes a total of three tool movement devices 10A, including two tool movement devices 10A each having the second slider 35W described in the first embodiment and holding a forming tool 37W, and one tool movement device 10A each having the second slider 35W and holding a cutting tool 37X. The basic structure of the wire rod forming machine 50, other than the structure of these tool movement devices 10A, is the same as that described in, for example, JP 2015-150583 A and JP 2022-153842 A.

[0038] In this wire rod forming machine 50, for example, the tool movement device 10A holding the cutting tool 37X can move the slider 35W along the guide groove 33B (see FIG. 3A) while rotating the slide guide 33 back and forth at a predetermined angle, thereby causing the cutting edge of the cutting tool 37X to move in an arc-shaped path. This reduces burrs compared to conventional methods. Furthermore, for example, in the forming tool 37W, the angle of the surface of the forming tool 37W that contacts the wire rod can be appropriately changed by appropriately changing the rotational position of the slide guide 33. This facilitates adjustments that previously could only be made by changing the mounting position of the forming tool 37W relative to the tool holder 36W.

[0039] [Other Embodiments] In the tool movement device 10A of the above embodiment, the tool holding units 36V, 36W are provided on the sliders 35V, 35W, but, for example, the tool holding units may be provided at positions closer to the sliders 35V, 35W on the second link 25. In other words, as long as the tool holding units are parts of the special slider link mechanism 29 that can be positioned at any position on a two-dimensional plane by control of the first drive source 21 and the second drive source 31, the same effects as in the first embodiment can be achieved regardless of the position of the tool holding units in the special slider link mechanism 29.

[0040] In the tool movement device 10A of the above embodiment, the slide guide 33 is fixed to the output portion of the second reducer 32 of the second drive source unit 30. However, for example, the slide guide 33 may be rotatably supported on the fixed base 11, and the second drive source 31, which serves as the power source for the slide guide 33, may be disposed at a position other than the coaxial position of the slide guide 33 and connected to the slide guide 33 by a gear, a link, or the like. The same applies to the first drive source unit 20.

[0041] In the above embodiment, the tool movement device 10A includes both the first drive source 21 and the second drive source 31 as servo motors. However, the second drive source 31 may be, for example, an air motor or a hydraulic motor, and may include a first stopper that abuts when the slide guide 33 rotates in one direction to the first rotation position and a second stopper that abuts when the slide guide 33 rotates in the other direction to the second rotation position. Furthermore, the second drive source 31 may be a hydraulic cylinder or an air cylinder instead of a motor, resulting in a similar configuration. In such a configuration, although the positions to which the slide guide 33 can be moved by the second drive source 31 alone are limited to the first rotation position and the second rotation position, the tool holders 36V, 36W can be positioned in any two-dimensional position by combining with any slide position set by the first drive source 21.

[0042] <Supplementary Notes> Below, a group of features according to the present disclosure, including features extracted from the above-described embodiments, will be described, while indicating effects, etc. as necessary. Note that, for ease of understanding, the symbols of corresponding configurations in the above-described embodiments will be shown in parentheses below, but these group of features are not limited to the configurations of the symbols shown in parentheses.

[0043] [Feature 1] A first drive source (21), a first link (23) that is rotationally driven by the first drive source (21), a slide guide (33), sliders (35V, 35W) that are slidably supported on the slide guide (33), and a second link (25) that is rotatably connected to the first link (23) and the sliders (35V, 35W), and the sliders (35V, 35W) are moved along the slide guide (33) by the power of the first drive source (21). A tool movement device (10A) comprising: a movable slider link mechanism (29); a second drive source (31) capable of rotating the slide guide (33) around a rotation axis parallel to the rotation axis of the first link (23); and a tool holding portion (36V, 36W) provided at a portion of the slider link 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 that holds a tool (37V, 37W, 37X).

[0044] The tool movement device of Feature 1 includes a special slider link mechanism in which a slider slides along a slide guide driven by power from a first drive source, and the slide guide is rotationally driven by power from a second drive source. The special slider link mechanism includes a tool holder located at a position that can be moved to any two-dimensional position by power from the first and second drive sources, thereby increasing the degree of freedom of movement of the tool holder compared to conventional slider link mechanisms. Furthermore, this special slider link mechanism is configured by adding a second drive source to a typical slider link mechanism driven by the first drive source. However, since the mechanism does not have one of the first and second drive sources mounted on a portion driven by the other, a decrease in the acceleration of the tool holder's movement due to the increased weight of the second drive source is suppressed. Furthermore, depending on the operation, the tool holder can be operated using power from both the first and second drive sources, thereby increasing the acceleration of movement and the pressing force against the workpiece compared to conventional slider link mechanisms.

[0045] [Feature 2] The tool movement device (10A) according to Feature 1, comprising: a first reducer (22) arranged coaxially with the first drive source (21) and configured to reduce the rotational output received from the first drive source (21) and output the reduced rotational output; a second reducer (32) arranged coaxially with the second drive source (31) and configured to reduce the rotational output received from the second drive source (31) and output the reduced rotational output; and a fixed base (11) that fixes the first reducer (22) and the second reducer (32) in a state where they are arranged in parallel, wherein the first link (23) is fixed to an output part of the first reducer (22), and the slide guide (33) is fixed to an output part of the second reducer (32).

[0046] The tool movement device of Feature 2 is compact in the direction perpendicular to the direction in which the first reducer and the second reducer are arranged (hereinafter referred to as the "horizontal direction"), which reduces the installation space required when multiple tool movement devices are arranged horizontally.

[0047] [Feature 3] The tool moving device (10A) according to Feature 1 or 2, wherein the tool holding portion (36V) holds the roller-shaped tool (37V) rotatably around a rotation axis parallel to the rotation axis of the first link (23).

[0048] In the tool movement device of feature 3, the tool is roller-shaped and rotatably held in the tool holding section, so that the tool operation can be easily set (e.g., teaching processing) without being restricted to a specific orientation of the tool.

[0049] [Feature 4] The tool moving device (10A) according to Feature 3, wherein the tool holding portion (36V) is arranged coaxially with a rotation center of a portion that rotatably connects the slider (35V) and the second link (25).

[0050] The tool holding unit may be provided on the slider or the second link, as long as it is a part that can be moved to any position in two dimensions by the first drive source and the second drive source. However, if the tool holding unit is arranged coaxially with the center of rotation of the part that rotatably connects the slider and the second link, as in the tool movement device of Feature 4, the structure of the tool movement device can be simplified.

[0051] [Feature 5] A wire forming machine (40) that bends a straight wire (90) of a certain length to form it into a U-shaped body (91) that becomes a part of a coil of a motor, the wire forming machine (40) comprising: a tool moving device (10A) according to any one of Features 1 to 4; a wire feeding device (41) that has a quill (42) that guides the wire (90) and is capable of feeding the wire (90) from a tip of the quill (42) in a direction perpendicular to the rotation axis of the first link (23); and a control unit (45) that controls the first driving source (21) and the second driving source (31) so that the tool (37V) pushes the wire (90) extending from the tip of the quill (42) from the side to bend it.

[0052] The wire rod forming machine of feature 5 is equipped with the above-mentioned tool moving device, which increases the degree of freedom when forming a U-shaped body, making it possible to form a U-shaped body in a manner different from conventional methods.

[0053] Although the present specification and drawings disclose specific examples of the technology included in the scope of the claims, the technology described in the claims is not limited to these specific examples, but also includes various modifications and variations of the specific examples, and also includes parts of the specific examples taken out alone.

[0054] 10A Tool moving device 11 Fixed base 21 First driving source 22 First reducer 23 First link 25 Second link 29 Slider link mechanism 31 Second driving source 32 Second reducer 33 Slide guide 35V, 35W Slider 36V, 36W Tool holding portion 37A Annular groove 37V, 37W Forming tool 37X Cutting tool 40, 50 Wire rod forming machine 41 Wire rod feeding device 42 Quill 44 Third driving source 45 Control unit 90 Wire rod 91 U-shaped body

Claims

1. A tool moving device comprising: a slider link mechanism including a first driving source, a first link rotatably driven by the first driving source, a slide guide, a slider slidably supported on the slide guide, and a second link rotatably connected to the first link and the slider, the slider being moved along the slide guide by the power of the first driving source; a second driving source capable of rotatably driving the slide guide about a rotation axis parallel to the rotation axis of the first link; and a tool holding section provided in a portion of the slider link mechanism which is movable to any position in two dimensions by the power of the first driving source and the second driving source, and which holds a tool.

2. A tool movement device as described in claim 1, comprising: a first reducer arranged coaxially with the first drive source and reducing the speed of the rotational output received from the first drive source before outputting it; a second reducer arranged coaxially with the second drive source and reducing the speed of the rotational output received from the second drive source before outputting it; and a fixed base that fixes the first reducer and the second reducer in a parallel aligned state, wherein the first link is fixed to the output portion of the first reducer, and the slide guide is fixed to the output portion of the second reducer.

3. A tool moving device according to claim 1 or 2, wherein the tool holding section holds the roller-shaped tool so as to be rotatable about an axis of rotation parallel to the axis of rotation of the first link.

4. A tool moving device according to claim 3, wherein the tool holding portion is arranged coaxially with the center of rotation of a portion that rotatably connects the slider and the second link.

5. A wire forming machine for bending a straight wire of a fixed length to form it into a U-shaped body that becomes part of a motor coil, comprising: a tool moving device as described in any one of claims 1 to 4; a wire feeding device having a quill for guiding the wire and capable of feeding the wire from the tip of the quill in a direction perpendicular to the rotation axis of the first link; and a control unit for controlling the first drive source and the second drive source so that the tool pushes laterally to bend the wire extending from the tip of the quill.

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