JPH046484B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is a tool selection and use device for supporting a plurality of various tools on a moving block and moving the tools to a required position in an automatic machine such as a robot. It is related to.

In the case of automatic machines such as the robots mentioned above, various types of processing are carried out while the workpiece is being transported on a conveyor, etc., but normally the processing is only carried out using one tool at one stationary position. Ta.

In addition to being able to perform machining using a plurality of tools at a predetermined completely stationary position, the present invention also allows for different machining to be performed on one line.

An embodiment of the present invention will be described in detail below with reference to the drawings.

In the embodiments of the drawings, an example of a robot having an orthogonal coordinate system is shown. That is, moving the moving block 9 back and forth,
It is configured so that it can be moved to any left or right position.

Briefly, first, as shown in FIGS. 1 and 2, a fixed ceiling 1 is provided.

The fixed ceiling 1 has a smooth lower surface and is completely fixed at a predetermined height together with guide rails 2 and 2a provided on both sides thereof.

Next, sliders 3 and 3a are fitted onto the guide rails 2 and 2a, respectively. The sliders 3, 3a are shaped to fit the outer and upper and lower surfaces of the guide rails 2, 2a.
2a.

Next, the upper portions of the sliders 3 and 3a are connected by a connecting plate 4 above the fixed ceiling 1 so as to be movable.

In the case of the embodiment shown in the drawings, a ball nut 5 is provided on the side of the connecting plate 4, and a screw rod 6 supported on the fixed ceiling 1 side is screwed into the ball nut 5.
The connecting plate 4 and the sliders 3, 3a are moved by rotating the motor _M1 .

However, the movement described above can also be performed using a rack and pinion, a timing belt, a linear motor, etc.

Next, a guide rail 7 and a screw rod 8 are provided below the sliders 3, 3a.

In the case of the illustrated embodiment, the guide rail 7 has a cross-sectional shape, and a screw rod 8 is rotatably supported below the guide rail 7, and a motor for rotating the screw rod 8 is mounted on a slider 3a at one end of the screw rod 8.
_M2 is provided.

Further, a movable block 9 is provided surrounding the guide rail 7 and the screw rod 8, and is movable up and down and slid by the screw rod 8.

The details are shown in FIGS. 3 and 4.
That is, the moving block 9 is composed of an upper plate 9a located on the upper surface of the guide rail 7, side plates 9b and 9c located on both sides and extending below the screw rod 8, and a bottom plate 9d. A screw rod 8 and a ball nut 10 screwed therewith are located inside.

Furthermore, in the illustrated embodiment, in order to enhance the stationary effect of the moving block 9, the moving block 9 is moved up and down with respect to the screw rod 8 and the ball nut 10.
They are configured to be integrated when sliding.

That is, the extension part 1 is located below the ball nut 10.
0a is provided, and the extension portion 10a is fitted into a through hole 11 provided in the bottom plate 9d of the moving block 9 so as to be vertically movable.

Next, a flexible sealing material 13 that closely contacts the fixed ceiling 1 is provided on the upper surface of the moving block 9, specifically around the upper surface of the upper plate 9a. An intake hole 12 is provided to exhaust air from the area surrounded by.

In the case of the embodiment shown in the drawings, the sealing material 13 that is in close contact with the fixed ceiling 1 is flexible and has a tube-like structure, and is normally in a contracted state. When air is supplied inside, it expands and seals the lower surface of the fixed ceiling 1. It is configured to fit closely.

14 in the figure is an air supply port to the sealing material 13. Note that an actuator may be used as a mechanism for bringing the sealing material 13 into close contact with the fixed ceiling 1.

Furthermore, in the embodiments shown in FIGS. 3 and 4, air injection ports 15, 16, and 17 are provided on the surface of the moving block 9 facing the guide rail 7, specifically, on the upper plate 9a and the side plates 9b and 9c. Install and slide block 9
When sliding, air is supplied between the guide rail 7 and the guide rail 7 to enable non-contact sliding and reduce frictional resistance.

A similar configuration is also provided between the guide rails 2, 2a and the sliders 3, 3a.

That is, air injection ports (not shown) are provided on the surfaces of the sliders 3, 3a facing the outer and upper and lower surfaces of the guide rails 2, 2a, respectively.

In the figure, 21 is an intake hose, 22 is an ejector pump that serves as a vacuum source, 23 is a switching valve, 24 is a compressed air supply source such as a compressor, 25 is an air supply hose, 26 is a switching valve, 27 is a regulator, and 28 is a compressor. Air supply source such as 2
9, 29a is an air supply hose, 30 is a switching valve, 3
1 is a regulator, and 32 is an air supply source such as a compressor.

In the above configuration, the moving block 9 is shown in FIG.
In Fig. 2, movement in the left and right direction is performed by rotating the screw rod 6 with the motor _M1 , and movement in the front and rear direction is performed by rotating the screw rod 8 with the motor _M2 . Air is injected from the ports 15, 16, 17, etc., and the sliders 3, 3a and moving block 9 are moved in a non-contact state.

Next, a description will be given of how the moving block 9 comes to a complete standstill when moved to a predetermined position.

FIG. 3 shows a state in which the moving block 9 has been moved to a predetermined position by the above operation, and FIG. 4 shows a state in which it is fixed stationary in close contact with the fixed ceiling 1.

That is, the moving block 9 is supported by the guide rail 7, and furthermore, the air injection is stopped.

Next, the switching valve 30 shown in FIG. 4 is switched to supply air from the air supply hose 29a to the air supply port 14 of the sealing material 13.

As a result, as shown in the third figure, the sealing material 13 expands and its upper end comes into close contact with the lower surface of the fixed ceiling 1. After confirming this, compressed air is sent from the compressed air supply source 24 to the ejector pump 22, and is passed from the intake port 12 through the intake hose 21 to the sealing material 13.
The air in the area surrounded by , that is, the upper surface of the moving block 9 is exhausted. As a result, the sealing material 13
The upper surface of the moving block 9 surrounded by becomes a vacuum,
The movable block 9 is suctioned and fixed to the fixed ceiling 1 side, and in the case of the embodiment shown in the drawings, the movable block 9 is finally raised to the fixed ceiling 1 side as shown in the fourth figure, and the lower surface thereof is The stationary effect is enhanced by close contact, and a resistance force that cannot be obtained in the past is generated when moving from side to side and back and forth.Furthermore, the vertical direction is limited by the fixed ceiling 1, which causes problems in press work, etc. It is something that never happens.

Next, when releasing the stationary fixation of the moving block 9, if the supply of air from the compressed air supply source 24 to the ejector pump 22 is stopped, the portion surrounded by the sealing material 13 via the intake hose 21, i.e. , the top surface of the moving block 9 is exposed to the atmosphere,
Furthermore, when the air supply to the sealing material 13 is stopped, the moving block 9 descends under its own weight, and is then free to move.

The apparatus of the present invention further includes a rotatable plate 33 provided on the moving block 9.

The rotatable plate 33 is supported via a bearing 34 between the movable block and the rotatable plate 33.
A motor _M3 is provided on the side via an arm 35, and a gear 37 provided on its rotating shaft 36a is meshed with a gear 39 fixed to the moving block 9 side with a nut 38.

Therefore, when the motor _M3 is driven, the rotatable plate 33 is rotated by an appropriate angle.

Next, a screw rod 59 is fixed to the center of the rotatable plate 33, and an appropriate number of guide rods 40 are provided parallel to the screw rod 59.

Next, a support plate 41 is slidably provided on the guide rod 40, and a motor is attached to the support plate 41.
A nut 42 is supported, which is rotated by M ₄ and is screwed into the screw rod 59.

That is, the motor M ₄ has a stationary side 43 supported below a support plate 41, a central shaft 45 of a rotating part 44 in the center thereof is hollow, and the screw rod 59 is inserted therethrough, and the central shaft 45 is hollow. It is rotatably supported by bearings 46 and 47 on the support plate 41 and the stationary side 43 of the motor _M3 .

A nut 42 is fixed to the upper end of the central shaft 45.

Therefore, when the rotating part 44 of the motor M ₄ is rotated, the nut 42 is simultaneously rotated, and the support plate 4 is rotated along the screw rod 59 and the guide rod 40.
1 slides up and down.

Furthermore, in the present invention, the piston 4 configured in the intermediate portion
A suitable number of piston rods 51 having through holes 49 and 50 opening on each side of the cylinder 8 are supported by the support plate 41, and a cylinder 5 is mounted on the piston 48 and the piston rod 51, respectively, so as to be able to move up and down.
2 is fitted.

That is, by supplying air from the through hole 49 or 50 at the upper or lower end of the piston rod 51, the cylinder 52 is moved up and down.

In the embodiments shown in FIGS. 1 and 2, two piston rods 51 are each provided and the cylinder 52 is integrally constructed, but it is also possible to use only one piston rod 51.

In the present invention, various tools A such as a drill are attached to the outer surface of the cylinder 52.

Although details are not shown in the drawings, attachments for various tools A are provided in advance on the outer surface of the cylinder 52.

In the present invention having the above structure, the moving block 9 described above is moved to an arbitrary position by motors M ₁ and M ₂ .

The selection of various tools A at predetermined positions is performed by a motor _M3 , and the vertical movement of each tool A is performed by a motor _M4 and a cylinder 52.
This can be done by moving up and down.

Note that, generally, while one tool A is in use, the other tool A' is moved upward by the cylinder 52.

However, it is also possible to operate a plurality of tools A and A' at the same time.

As mentioned above, by attaching the present invention to the moving blocks of various robots, it is possible to perform machining with multiple tools at a predetermined completely stationary position, and it is also possible to perform different machining on one line. effect can be obtained.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, in which Fig. 1 is an overall perspective view showing the state of use, Fig. 2 is an overall perspective view seen from below, Fig. 3 is a vertical cross-sectional view of main parts, and Fig. 4
The figure is a sectional view illustrating the operation of the moving block. 9...Moving block, 33...Rotatable plate, 3
9...Gear, 40...Guide rod, 41...Support plate, 42...Nut, 48...Piston, 49,
50...Through hole, 51...Piston rod, 52...
…cylinder.

Claims (1)

[Claims] 1. A movable block that has a flexible sealing material around the upper surface that tightly contacts the fixed ceiling and an intake port that exhausts air from the area surrounded by the flexible sealing material, and is movable back and forth and left and right. A screw rod is fixed to the center of the rotatable plate provided on the screw rod, and an appropriate number of guide rods are provided in parallel with the screw rod, and a support plate is slidably provided on the guide rod, and the support plate is slidably provided on the guide rod. A nut rotated by a motor and screwed onto the screw rod is supported on the plate, and an appropriate number of piston rods each having a through hole opening on each side of the piston formed in the intermediate portion are supported on the support plate. A device for selectively using tools, characterized in that a cylinder is fitted into the piston and the piston rod part so as to be movable up and down, and various tools are attached to the outer surface of each cylinder.