JPH0265929A - Automatic working device - Google Patents

Abstract

PURPOSE:To properly shift a held part easily by installing a pair of suspended plate members which can be position-adjusted at the top edge of a flange which is extended horizontally from the upper edge of a basic body vertical surface and forming a downward turned groove part onto the suspended plate member and installing a longitudinally projecting member on the downstream side of the groove part and installing a slidable element which slides in the projecting part and moving the sliding element in the vertical and lateral directions by a revolving lever. CONSTITUTION:When a turning lever 60 is turned in the clockwise direction by the revolution of a servomotor 50, a cam follower 91 is moved upwardly by a connection part 62, in sliding in the longitudinal direction, turning in a connecting groove 62a. A cam follower 92 is guided into a horizontal groove part 23 from a vertical groove 24 along the inside of the groove part 20b of a branch member 20, and a sliding member 90 moves upwardly, sliding a slidable body 80 rightward, and shifts rightward. When the sliding member 90 shifts rightward further, said slidable member 90 moves downward along a vertical groove part 34 and the slidable body 80, and when the servomotor 50 is revolved reversely, the reverse operation is carried out. When a chuck is installed onto the slidable member 90, a held part can be shifted easily. The centering of the slidable member 90 and the assembled side can be carried out by shifting the position adjusting members 20a and 30a.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to improvements in automatic working devices such as assembly units used as pick-and-press units in assembly processes, for example.

(Prior art) Conventionally, in this type of automatic work equipment, aligned parts, etc. are positioned and gripped by the chuck section of the chuck device, and the parts, etc. gripped in this way are moved along an inverted U-shaped path. There is a big and press unit that is inserted into an object to be assembled by moving a chuck part.

(Problem to be Solved by the Invention) By the way, in such a configuration, since a plurality of cams are employed as a means for moving the above-mentioned chuck part along an inverted U-shaped path, it is difficult to move the chuck part. The path is uniquely specified by the shape of each cam. Therefore, centering between the moving path of the chuck part and the aligned parts side or the to-be-assembled side is done by picking and
This had to be done by moving the press and press unit and parts alignment equipment. Further, when it is desired to adjust the moving path of the chuck portion, each of the above-mentioned cams needs to be replaced, and as a result, there is also the problem that such adjustment work takes time.

Therefore, in order to cope with the above-mentioned problems, the present invention aims to enable an automatic working device to easily and accurately perform the above-mentioned centering and adjustment work in a short time. It is.

(Means for Solving the Problems) In order to solve the problems, the configuration of the present invention is such that the flanges that extend horizontally from the upper edge of the vertical surface of the base body are attached to the distal end surfaces of the flanges so that their positions can be adjusted in the horizontal direction. a pair of plate members hanging in parallel together, and a groove extending in a curved shape from each opposite end of each plate member downward in opposite directions and downward from the distal end surface of the flange; and a longitudinal protruding member horizontally protruding from the vertical surface of the base body below both plate members; A slider attached to the projecting member so as to be slidable along the longitudinal direction thereof, and a slider connected to the slider so as to be slidable in the vertical direction so as to be slidable along the slider in one or the other of the grooves. a longitudinal sliding member having a first protrusion protruding in the direction opposite to the first protrusion and a second protrusion protruding in the opposite direction to the first protrusion; and the drawing board member and the protrusion member. The second shaft is pivotally supported on the vertical surface of the base body so as to be rotatable along the vertical surface.
A rotary lever extending toward the protrusion and connected to the second protrusion so as to be relatively rotatable and displaceable, and a drive source for rotating the rotary lever are provided.

(Function) By configuring the present invention in this way, when the rotary lever is rotated in one direction by the drive source, the second protrusion of the sliding member rotates relative to the rotary lever. The first protrusion of the sliding member is guided from below to above along the grooves of the pair of plate members while being moved upwardly by the rotary lever in a connected state with relative displacement. Then, the sliding member moves upward along the slider while sliding the slider in one direction along the projecting member under the action of the first and second projections. while moving in one direction. When the rotating lever further rotates in one direction, the first protrusion of the sliding member passes through the upper tip of the groove of the one plate member and is guided from the upper tip into the groove of the other plate member. and moves the sliding member further in one direction. Thereafter, this sliding member moves downward while further moving in one direction from above to below the groove of the other plate member. The reverse operation is also performed in substantially the same way.

Therefore, if, for example, a chuck device is added to the lower end of the sliding member, this chuck device will grip the aligned parts located directly below it with its chuck portion and move the sliding member as described above. The gripping component can be easily and accurately moved toward the object to be assembled. Moreover, the reverse operation is also the same. In such a case, in order to center the lower end of the sliding member and the aligned parts side and the to-be-assembled object side, move the pair of plate members horizontally along the end surface of the flange. Since it is only necessary to move and perform each of the above-mentioned centering operations, the above-mentioned centering operations in this type of automatic working device can be easily and accurately performed in a short time. Further, the movement stroke length of the lower end of the sliding member can be adjusted in the same manner as described above.

(Example) Hereinafter, one example of the present invention will be described with reference to the drawings.
The figure shows an example of a pick and press unit according to the invention. This pick.

As shown in FIG. 1, the press unit includes a plate-shaped base 10 that is vertically supported. An upper flange 12 and a lower flange 13 are formed to extend horizontally, and left and right flanges 14 and 15 are formed to extend forward from the left and right side edges of the back wall 11, respectively.

The pick and press unit also includes a pair of left and right L-shaped plate members 2 assembled to the upper flange 12 of the base body 10.
0.30, and the plate member 20 has a position adjustment part 20
a and the L-shaped groove 20b, while the plate member 30 is formed integrally with the position adjustment part 30a and the L-shaped groove 3.
0b. As shown in FIGS. 1 and 3, the position adjusting portion 20a of the plate member 20 has a long hole 21 formed in its longitudinal direction. The bolt 22 is held horizontally and superimposed on the left side 12a of the front end face of the upper flange of the base body 10, and is assembled by screwing the bolt 22 into the left side end face 12a of the upper flange of the base body 10 through the elongated hole 21. In such a case, by adjusting the degree of threading of the bolt 22 into the left side portion 12a of the front end surface, it is possible to adjust the position of the position adjustment portion 20a in the horizontal direction along the left side portion 12a of the front end surface.

As shown in FIGS. 1 to 3, the groove portion 20b has a U-shaped cross section and hangs down from the position adjustment portion 20a in an L shape. A vertical groove part 24 is formed to hang down from the outer end of a horizontal groove part 23 located parallel to this. In this case, the connecting portion between the horizontal groove portion 23 and the vertical groove portion 24 is formed in an arc shape, as shown in FIG. As shown in FIG. 1, the position adjustment section 30a of the plate member 30 has a long hole 31 formed in its longitudinal direction. The bolt 32 is superimposed on the right side 12a of the front end face of the upper flange 12 of the base body 10, and is assembled by screwing the bolt 32 through the long hole 31 to the right side 12b of the front end face. In such a case, the position adjustment portion 30 can be adjusted by adjusting the degree of threading of the bolt 32 into the right side portion 12b of the distal end surface.
It is possible to adjust the position in the horizontal direction along the right side portion 12b of the distal end surface of a.

As shown in FIGS. 1 and 2, the groove portion 30b has a U-shaped cross section and hangs down from the position adjustment portion 30a in an L shape. A vertical groove part 34 is formed to hang down from the outer end of a horizontal groove part 33 located parallel to this. In this case, the connecting portion between the horizontal groove 33 and the vertical groove 34 is formed in an arc shape, as shown in FIG. In addition, the horizontal groove portion 33
As shown in FIGS. 1 and 2, the step portion 33a formed at the inner end portion of the horizontal groove portion 23 is overlapped with the step portion 23a formed at the inner end portion of the horizontal groove portion 23 so as to be movable relative to each other.
0b to form a U-shaped groove as shown in FIG. Note that the position adjustment section 30a is also movably overlapped with the step formed at the inner end of the position adjustment section 20a by a step formed at its inner end (see FIGS. 1 and 2). Reference) The reducer 40 is as shown in FIGS. 1 and 2,
The cylindrical housing 41 is assembled by fitting it into the substantially central part of the back wall 11 of the base body 10 from the front side.
A driven member 42 that is supported pivotally by the input shaft of the reducer 40 and extends behind the back wall 11 is connected via a timing belt 43 to a drive member 51 that is pivotally supported by the output shaft of the servo motor 50. has been done. In such a case, the servo motor 50
The boss portion 50a of the cylindrical housing is connected to the extending portion 11a of the back wall 11 extending outward from the upper part of the right flange 15.
The driving member 51 is attached to the back wall 11 so as to be fitted from the front side thereof, and the drive member 51 is extended behind the back wall 11.

As shown in FIGS. 1 and 2, the rotating lever 60 includes a base 61 that is pivotally supported on the output shaft of the reducer 40, and a base 61 that is pivotally supported on the output shaft of the reducer 40.
and a connecting portion 62 extending outward along the front surface of the back wall 11, and a connecting groove 62a is bored in the front surface of the connecting portion 62 along its longitudinal direction. When bending, when the rotating lever 60 rotates along the front surface of the back wall 11, the connecting groove 62a of the connecting part 62 connects with both grooves 20b at its open end.
, 30b, the entire length of the rotating lever 60 is determined so that it always faces the open end of either of the levers 60, 30b.

As shown in FIGS. 1 and 2, the longitudinal fixing member 70 having a U-shaped cross section is fitted along the longitudinal direction of the distal end member of the lower flange 13 of the base body 10. In the member 70, a substantially rectangular parallelepiped-shaped sliding body 80 is slidable along the longitudinal direction of the fixed member 70 in a groove 81 (see FIG. 2) having a U-shaped cross section formed horizontally on the back surface of the sliding body 80. It is fitted. Further, a longitudinal sliding member 90 having a square cross section is fitted into a groove 82 vertically formed in the front surface of the sliding body 80 and having a U-shaped cross section (see Fig. 1). and Figure 2). Further, the sliding member 90 has a cam follower 91 protruding from the upper end of its back surface, and the cam follower 91 is relatively rotatable within the connecting groove 62a of the connecting portion 62 of the rotating lever 60. Fitted so as to be slidable in the longitudinal direction. On the other hand, a cam follower 92 is provided at the upper end of the front surface of the sliding member 90.
The cam follower 92 protrudes in the opposite direction to the cam follower 91 at a position directly below the groove 20b of the plate member 20 or the groove member 30b of the plate member 30.
It is fitted so that it is relatively rotatable and slidable in the longitudinal direction.

In this embodiment configured as described above, the rotating lever 6
0. It is assumed that the sliding body 80 and the sliding member 90 are in the state shown in FIG. In this state, the servo motor 50
When rotated, the reducer 40 receives power from the servo motor 50 via the timing belt 43 and rotates at a reduced speed, thereby rotating the rotary lever 60 clockwise in FIG. 1. Then, the cam follower 91 engages the connecting groove 62 of the rotating lever 40.
The cam follower 92 is moved upwardly by the connecting portion 62 as the rotating lever 60 rotates clockwise while sliding in the longitudinal direction while relatively rotating within the plate member 20 .
It is guided from the vertical groove 24 to the horizontal groove 23 along the inside of the groove 2Ob.

Next, the sliding member 90 moves vertically upward along the sliding member 80 while sliding the sliding member 80 to the right along the fixed member 70 under the action of both cam followers 91 and 92. move towards Further, when the rotation lever 60 rotates clockwise, the cam follower 92 moves to the step 2 of the horizontal groove 23.
3a and into the horizontal groove 33 of the plate member 30.
The sliding member 90 is further moved to the right by being guided from a.

After that, the sliding member 90 is moved to the horizontal groove 3 in the same manner as described above.
3 while moving to the right along the vertical groove 34 and the sliding body 80.
It moves vertically downward along the . This means that the lower end of the sliding member 90 moves along an inverted U-shaped trajectory Ta shown in FIG. Therefore, when the servo motor 50 is reversed, the reducer 40, the rotating lever 60, the sliding body 80, the sliding member 90, and both cam followers 91 and 92 operate in the opposite manner to the above-mentioned case. The lower end of the moving member 90 is moved in an inverted U-shape along the trajectory Tb shown in FIG.

As can be easily understood from the above description, if a chuck device is added to the lower end of the sliding member 90, this chuck device can grip the aligned parts located directly below with the chuck portion. By moving along the trajectory Ta, the gripped component can be easily and accurately moved toward the object to be assembled. Moreover, the reverse operation is also the same. In such a case, in order to align the centers between the lower end of the sliding member 90 and the parts to be aligned and the parts to be assembled, each position adjusting member of both plate members 20 and 30 must be loosened after loosening each bolt 22 and 32. 20a,
30a in the horizontal direction along the left end 12a and right end 12b of the upper flange 12 to align the centers as described above, and then move each bolt 22.32
Since it is only necessary to re-tighten, the above-mentioned centering work in this type of big-and-press unit can be easily and accurately performed in a short time.

Further, the movement stroke length in the X direction shown in FIG. 1 on the trajectory Ta or Tb can be adjusted in the same manner as described above. Further, the movement stroke in the Z direction shown in FIG. 1 can be adjusted by changing the rotation stop position of the servo motor 50 in one direction or the opposite direction.
This can be done easily and reliably in a short time by adjusting each stop position of 0. Note that such adjustment of the movement stroke in two directions can be easily performed only by changing control data for the servo motor 50.

In carrying out the present invention, the present invention is not limited to the pick and press unit, but may be applied to an automatic working device in which a sliding member is moved along an inverted U-shaped trajectory. You can.

[Brief explanation of the drawing]

Fig. 1 is a front view of main parts showing one embodiment of the device of the present invention;
The drawings are a sectional view taken along line 2-2 in FIG. 1, and FIG. 3 is a right side view of the plate member in FIG. 1. Explanation of symbols 10...Base body, 11...Back wall, 12...Upper flange, 12a...Left side of tip surface, 12b...Right side of tip surface, 20.30...Plate Member, 20a, 30a...Position adjustment part, 20b, 30b...Groove part, 21.31...
・Long hole part, 22° 32...Bolt, 23a, 33a・
...Stepped portion, 40...Reducer, 43...Timing belt, 50...Servo motor, 60...Rotating lever 62...Connection part, 62a...Connection groove, 70... Fixed member, 80...Sliding body, 90-Moving member, 91...First protrusion, 92 Protrusion.

Claims (1)

[Claims] A pair of plate members are attached to the distal end surface of a flange horizontally extending from the upper edge of the vertical surface of the base body so as to be adjustable in position in the horizontal direction, and both hang down in parallel. Forming grooves extending downward in a curved manner from opposite ends of each of the plate members in opposite directions and downward, and connecting the upper tips of the grooves so as to be relatively displaceable with each other; , a longitudinal protruding member horizontally protruding from the vertical surface of the base body below both plate members; a slider attached to the protruding member so as to be slidable along its longitudinal direction; A first protrusion that is vertically slidably connected to the slider and protrudes slidably into one or the other of the grooves, and a first protrusion that protrudes in the opposite direction to the first protrusion. A longitudinal sliding member having two protrusions on its upper part, and a longitudinal sliding member that is rotatably supported on the vertical surface of the base body between the plate members and the protruding member so as to be rotatable along the vertical surface. An automatic working device provided with a rotary lever that extends toward the second protrusion and is connected to the second protrusion so as to be relatively rotatable and displaceable, and a drive source that rotates the rotary lever. .