JPH055632B2 - - Google Patents

Description

Detailed Description of the Invention (Technical field to which the invention pertains) The present invention provides a flat wrapping device with a vertical axis, in which the location of the workpiece after wrapping is specified because the workpiece moves in a complex manner. This relates to a device that automates the work of attaching and detaching workpieces, which has traditionally been done manually.

(Prior Art) As shown in FIG. 2 with the upper surface plate omitted, this type of wrapping device is designed to hold the workpiece 16 on a lower surface plate 4 that is driven or fixed in the direction of the arrow.
Conventionally, the carrier 24, which has a toothed outer periphery, is attached and detached manually, and the carrier 24 that meshes with the sun gear 20, which is driven, and the ring gear 22, which is fixed or driven, rotates and revolves. I'm starting to do it.

An upper surface plate is stacked on top of these, the workpiece 16 is sandwiched between the upper and lower surface plates, and a mixture of abrasive grains and machining fluid is supplied between the upper and lower surface plates and the workpiece, and the machining pressure is applied. Wrapping is performed using the relative movement between the surface plate and the workpiece 14 while adding the upper surface plate, and when the processing is completed, the upper surface plate is moved and the workpiece is manually attached and detached, and the next cycle of processing is performed. That's what I do.

(Problems to be Solved by the Invention) When attaching and detaching the workpiece 14, the carrier 24 makes complicated movements, so the position of the workpiece 14 is unspecified. Since automatic attachment and detachment are difficult and the workpiece 14 must be attached and detached manually, the attaching and detaching time becomes long and the operating rate of the wrapping device decreases, and moreover, manual labor is required.

The present invention recognizes the location of the workpiece after wrapping using a visual camera, and uses a workpiece attachment/detachment device such as a robot to perform the attachment/detachment work of the workpiece, which conventionally had to be done manually. An object of the present invention is to provide an automated planar wrapping device that does not require manual labor.

(Means for Solving the Problems) The present invention provides a planar wrapping device with a vertical axis, in which at least one
The supporting arm is equipped with a workpiece recognition device such as a visual camera, and is rotatably attached to the support column of the flat wrapping device. It is rotated by the drive mechanism and placed on the lower surface plate of the flat wrapping device.
The upper surface plate and the workpiece recognition device are arranged to face each other alternately, and the workpiece can be processed by a device using a robot equipped with a workpiece recognition device installed adjacent to the flat wrapping device. It is equipped with a detachable device.

(Operation) The support device is rotationally driven by a drive mechanism, and the rotation of the support device releases the opposition between the upper surface plate and the lower surface plate, causes the recognition device mounted on the support device to face the lower surface plate, and the recognition device By mutual signal transmission between the machine and the attachment/detachment device, a workpiece whose location cannot be determined after wrapping is recognized, and the workpiece is automatically attached/detachd.

After automatic attachment/detachment, the support device is rotated so that the upper surface plate and the lower surface plate face each other, and the recognition device and the lower surface plate are no longer opposed to each other to perform the wrapping process.

As described above, the present invention is a flat wrapping device that automatically attaches and detaches workpieces and eliminates the need for manual labor.

(Embodiment of the invention) FIG. 1 is a perspective view showing an embodiment of the invention,
It shows a robot equipped with a visual camera that automatically attaches and detaches workpieces, and a planar wrapping device that is equipped with an upper surface plate and a visual camera on a rotationally driven support device.

The flat wrapping device 2 with a vertical axis has a lower surface plate 4 and a support column 8 provided upright at one corner.

Near the top of the support column 8, there are two support arms with an angular interval of approximately 90 degrees, a surface plate support arm 10 and a support arm 1.
A drive mechanism 20 provided at the tip of the support column 8 is rotatably attached to the support device 18 having a drive mechanism 20.
(Rotating cylinder 20).

The upper surface plate support arm 10 of the support device 18 has an upper surface plate 6 which forms a pair with the lower surface plate 4 and performs the wrapping process, and is driven up and down by a vertical movement mechanism such as a fluid pressure cylinder 30. , further supported so as to be rotatable or stationary, and the other supporting arm 1
2 is equipped with a recognition device 16 (hereinafter referred to as visual camera 16) for the workpiece 14 such as a visual camera.

A larger number of the support arms 12 may be provided if necessary.

As shown in FIG. 2, on the lower surface plate 4, a plurality of carriers 24 with teeth on the outer periphery are provided, on which a plurality of workpieces 14 are mounted, and the sun gear 3 is driven.
2 and a fixed or driven ring gear 34 constitute a planetary gear mechanism.

Adjacent to the planar wrapping device 2, a recognition device 26 for the workpiece 14, such as a visual camera, and a workpiece 1 are provided.
A workpiece attachment/detachment device 22 (hereinafter referred to as robot) for attaching and detaching the workpiece 14 between the carrier 24 and a loading platform for the workpiece 14 (not shown) is provided with a gripping device 28 of 4 and 22)
is provided.

The visual camera 16 of the planar wrapping device 2 and the robot 22 are connected by a communication line (not shown) to transmit control signals and the like, and to attach and detach the workpiece 14. FIG. 3 is a perspective view illustrating the workpiece 14. As shown in FIG.

A drive mechanism 20 that drives the support device 18
The structure of the rotary cylinder 20 (hereinafter referred to as the rotary cylinder 20) is shown in FIG. 4, in which a is a plan view taken along the line A-A in b, and b is a sectional view.

The rotating cylinder 20 is provided with a piston 38 rotating in the cylinder 36 and a spacer 42 fixed to the cylinder 36 with a screw 40.
and the fluid piping passages 44, 46 passing through the spacer 42.
is provided, and a mounting plate 50 is attached to the cylinder 36 with screws 48.

The tip 52 of the piston 38 has a prismatic shape, and is fitted into a square hole at the top of the support column 8. The support device 1 is rotatably attached to the support column 8.
A mounting plate 50 is fixed to 8 with screws 54.

When pressurized fluid is alternately introduced into the fluid piping paths 44 and 46, since the piston 38 is prevented from rotating by the support column 8, the cylinder 36 is rotated and the support fixed thereto is rotated. The device 18 is driven in rotation.

The following is a first explanation of the wrapping process performed using the flat wrapping device 2 of the present invention having the above configuration.
This will be explained using figures.

The support device 18 is rotated so that the visual camera 16 faces the lower surface plate 4, and the empty carrier 2 is
The robot 22 is operated by recognizing the position of the mounting portion of the workpiece 14 of No. 4 and transmitting control signals and the like through the connected communication line.

The robot 22 is a robot 22 of the present invention that transfers and detaches the workpiece 14 between a carrier 24 and a carrier 24 that supports a jig that stores the workpiece 14 before and after processing (not shown). The visual camera 16 recognizes the attachment/detachment position of the workpiece 14, and this recognition drives the sun gear 32 to move the carrier 24 to the working position of the robot 22. equipped visual camera 26
The robot 22 is operated by recognizing the loading and unloading positions of the workpieces 14 more precisely, and the gripping mechanism 28 sequentially grasps all the unprocessed workpieces 14a from the jig on the loading platform. carrier 24
Attach to.

When the installation is completed, the support device 18 is rotated so that the upper surface plate 6 in the raised position faces the lower surface plate 4,
The upper surface plate 6 is stacked on the lower surface plate 4 which is being lowered, and the workpiece 14 is held between the upper and lower surface plates.

A mixture of abrasive grains and machining fluid is supplied between the upper and lower surface plates 4 and 6 and the workpiece 14, and while machining pressure is applied, the upper and lower surface plates 4 and 6 and the carrier 24 are rotated and revolved by a planetary gear mechanism. Wrapping is performed using relative movement with the workpiece 14.

After the wrapping process is completed, the fluid pressure cylinder 30
, the upper surface plate 6 is raised, the support device 18 is rotated, and the visual camera 16 is again opposed to the lower surface plate 4 to recognize the processed workpiece 14b, and by this recognition, the sun gear 32 is The carrier 24 is moved to the working position of the robot 22, and the robot 2
A visual camera 26 provided in the carrier 24 recognizes the processed workpiece 14b and controls the operation of the robot 22 to remove all processed workpieces 14b in the carrier 24.
The workpieces 14a to be processed for the next cycle are sequentially loaded onto all empty carriers 24 as explained above, and then the next cycle is started. Perform wrapping process.

As described above, the present invention rotates the support device 18 provided with the upper surface plate 6 and the visual camera 16 so that they alternately face the lower surface plate 4, and when the wrapping process is completed, the upper surface plate 6 and the support device 18 provided with the visual camera 16 are rotated to face the lower surface plate 4. When the support device 18 is rotated after raising the plate 6, the visual camera 16 can recognize the workpiece 14 without its field of view being obstructed by the upper surface plate 6, and the robot 22 is also prevented from attaching or detaching the workpiece 14. The workpiece 14 can be automatically attached and detached without being affected.

Furthermore, since the visual camera 16 is moved laterally during the wrapping process, it does not interfere with the wrapping process.

(Effects of the Invention) According to the present invention, in a plane wrapping device with a vertical axis, at least one support arm is integrally provided at an angular interval on the upper surface plate support arm, and a visual camera is mounted on the support arm. The support device is mounted rotatably on the support column of the planar wrapping device, and the support device is rotationally driven by a drive mechanism, so that the lower surface plate of the planar wrapping device can be
The upper surface plate and the visual camera can be made to face each other alternately, and the wrapping process can be performed by combining the upper and lower surface plates, and the device using a robot and support device installed adjacent to the flat wrapping device. This provides the effect that workpieces can be attached and detached using the visual camera installed in the machine without interfering with each other.

In addition, since the carrier makes complicated movements, the location of the workpiece is unspecified, so we have automated the work of attaching and detaching the workpiece, which previously had to be done manually, to eliminate manual labor. The effect of shortening the time and increasing the operating efficiency of the flat wrapping device can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a perspective view showing the operation of a carrier for mounting a workpiece on a lower surface plate, and FIG. 3 is a perspective view illustrating the workpiece. FIG. 4 is a diagram showing the structure of a drive mechanism (rotary cylinder) for driving the support device, in which a is a plan view taken along the line A-A in b, and b is a sectional view. 2...Flat wrapping device, 4...Lower surface plate, 6
... Upper surface plate, 8 ... Support column, 10 ... Upper surface plate support arm, 12 ... Support arm, 14 ... Workpiece, 16,
26... Workpiece recognition device (visual camera), 1
8... Support device, 20... Drive mechanism (rotating cylinder), 22... Workpiece attachment/detachment device (robot),
24...Carrier, 32...Sun gear, 36...
Cylinder, 38...piston, 42...spacer.

Claims (1)

[Claims] 1. In a vertical axis planar wrapping device, an upper surface plate support arm provided on a support column of the wrapping device that supports an upper surface plate that is combined with a lower surface plate of the device to perform wrapping processing. a support device integrally provided with at least one support arm at angular intervals, a workpiece recognition device mounted on the support arm, and rotatably attached to the support column; and the support device. and a workpiece attachment/detachment device installed adjacent to the flat wrapping device, which releases the opposition between the upper surface plate and the lower surface plate and recognizes the workpiece by rotating the support device. The device and the lower surface plate are opposed to each other, and the workpiece is automatically attached to and removed from the carrier on the lower surface plate by mutual signal transmission between the recognition device and the attachment/detachment device, and the support device is further rotated. A flat wrapping device characterized in that after the upper surface plate and the lower surface plate are opposed to each other, the recognition device and the lower surface plate are released from facing each other to perform the flat wrapping process. 2. A flat wrapping apparatus according to claim 1, wherein the workpiece attachment/detachment device is a device using a robot equipped with a workpiece recognition device. 3. A plane wrapping apparatus according to claim 1, wherein the workpiece recognition device mounted on the support arm and the workpiece attaching/detaching device is a visual camera.