JPH059888U - Handling equipment - Google Patents

Abstract

(57) [Summary] [Structure] When the rod 135 is pulled up via the universal joint 134 by the air cylinder 132, the roller mounting cylinder 123 is lifted by the connecting pin 137, and the clamp roller 124 pivotally supported by the mounting cylinder 123. Also rises. The rollers 124 press the opening cam surface 127 of each chuck 121 inward,
The tip of 1 is rotated in the opening direction about the pin 122 as a fulcrum to release the gripped portion a of the work W. When the roller mounting cylinder 123 is lowered by the air cylinder 132, the clamp roller 124 mounted on the mounting cylinder 123 also descends. The rollers 124 press the closing cam surface 126 of each chuck 121 inwardly, and the pair of chucks 121 rotate in the closing direction around the pin 122 as a fulcrum to clamp the gripped part a of the work W. The chuck 121 that clamps the work W rotates together with the rotating main shaft 103 that is rotated by the rotational force output from the air motor 112 through the gear train. [Effect] It is suitable for the work of strongly holding and rotating a heavy work W.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

  The present invention is, for example, a sanding operation (shell coater) performed in a precision casting mold forming process. (Hanging) robot, etc., suitable for gripping and rotating a workpiece Regarding the dring device.

[0002]

[Prior art]

  Conventionally, a commonly used clamp mechanism is used in parallel as shown in FIG. A pair of chucks 2 are driven by a provided guide 1 by a common electric motor 3. The right screw 4 and the left screw 5 are moved to move toward each other to move the workpiece W. Gripping the workpieces and moving the workpieces away from each other to release the workpiece W. is doing.

[0003]

[Problems to be solved by the device]

  This conventional clamping mechanism constitutes a large and heavy mechanism on one side of the workpiece. Therefore, during rotation, uneven rotation due to bias of its own weight and uneven load torque may occur. Depending on the required rotation speed, a heavy work piece should be securely gripped and turned. It may not be applicable to rolling handling equipment. Also, empty the pair of chucks. When operated directly by pressure, the gripping force is small. Not suitable for handling equipment.

[0004]   The present invention has been made in view of such a point, and is compact with the workpiece as a center. It is configured so that an unbalanced load does not easily occur during rotation, and it can firmly grip the work piece, Providing a handling device that is suitable for reliably gripping and rotating heavy workpieces It is intended to serve.

[0005]

[Means for Solving the Problems]

  The invention of claim 1 is a handling device for gripping a work W to work, The cylindrical hand body 101 and the hand body 101 are rotatably held inside. The held rotating main shaft 103 and the rotating main shaft 103 provided for the rotating main shaft 103 are rotated. The rotary drive mechanism 104 for rotating and the work W attached to the lower part of the rotary main shaft 103 are gripped. And a clamp mechanism 105 for rotating the main spindle 103. Multiple chucks 121 can be opened and closed at the bottom symmetrically with respect to the central axis of the rotating spindle. A roller mounting cylinder 123 is mounted on the outside of the chuck 121 so as to be vertically movable. , Inside the roller mounting tube 123, the clamp roller 12 corresponding to each chuck 121 is 4 is rotatably supported and this clamp roller 124 rolls on each chuck 121. On the back side, the closing cam surface 126 below the opening / closing fulcrum of the chuck 121, and the chuck Cam surface 12 that protrudes above the roller movement path above the open / close fulcrum of the rack 121 7 are provided, and further, a clamping actuator is provided on the upper part of the hand body 101. Is attached to the actuator 132, and the actuator A locker provided on the central shaft portion of the rotary main shaft 103 via a hand 134 so as to be movable in the axial direction. The rod 135 and the roller mounting cylinder 123 are connected to the rotary spindle 103. Connected by a connecting pin 137 inserted through an elongated hole 136 drilled in the vertical direction. It is a handling device.

[0006]   The invention of claim 2 uses an air motor as a power source of the rotary drive mechanism 104, An air cylinder is used for the actuator 132 for the pump.

[0007]

[Action]

  According to the first aspect of the present invention, the rod 135 is lifted by the clamp actuator 132. Then, the connecting pin 137 raises the roller mounting tube 123, and The clamp roller 124 supported by the chuck 121 is also lifted, and the chuck roller 124 is lifted by the roller 124. The opening cam surface 127 of the chuck is pressed inward, and the tip of the chuck 121 opens around the shaft fulcrum. The workpiece W is rotated in the pulling direction to release the gripped portion a of the work W. On the other hand, clamp activator When the rod 135 is lowered by the projector 132, the roller is attached by the pin 137. The cylinder 123 is lowered, and the clamp roller 124 attached to this cylinder 123 is also lowered. This roller 124 presses the closing cam surface 126 of each chuck 121 inward, The pair of chucks 121 are rotated in the closing direction about the shaft fulcrum, and the gripped portion a of the work W is held. Clamp. The chuck 121 that clamps the work W in this way rotates It is rotated together with the rotating main shaft 103 which is rotated by the drive mechanism 104.

[0008]   In the invention of claim 2, the rotary main shaft 103 is driven by the air motor 112, and While operating work piece rod 135 with air cylinder 132 to clamp work W, Rotate.

[0009]

【Example】

  Hereinafter, the present invention will be described in detail with reference to the embodiments shown in the drawings.

[0010]   FIG. 2 shows the entire multi-arm swivel type multi-joint robot according to the present invention, which is fixed. An index drive unit 14 driven by a motor 13 on a fixed plate 12 above the table 11 Is installed and intermittent indexing rotation (index Slewing column 16 is mounted vertically on the output flange 15 There is. The index drive unit 14 for intermittently indexing the swivel column 16 The central shaft portion is formed hollow. Input shaft 17 of index drive unit 14 A detection unit 19 corresponding to the proximity switch 18 for detecting rotation is attached to the.

[0011]   The swivel column 16 is provided with a plurality of guides 21 in the vertical direction. An articulated arm 22 is attached to each of the above so as to be vertically movable. This multiple articulation The arm 22 includes a vertical feed screw and an air guide provided along each guide 21. Cylinder, chain or pinion rack etc. lifting mechanism (not shown) It is moved up and down.

[0012]   As shown in FIG. 2, handling provided at the tip of each articulated arm 22. The device 23 is a hand operation for gripping the work W and a rotation for rotating the gripped work W. It has a multi-joint function for performing an operation and a tilting operation for inclining the gripped work W, All the operations are performed by the air actuator (air cylinder and air It is performed by

[0013]   In FIG. 2, a compressed air is attached to the air actuator that operates each of the articulated arms 22. Fixing provided on the air pressure source side in the air pressure circuit (piping) for supplying air (air pressure) Side and the rotary side integrated with the swivel column 16 to connect the rotary side 31 Is provided.

[0014]   That is, this rotary joint 31 is connected to the pneumatic source and is installed on the lower fixed side. Connect the pipe 32 and the upper rotation side pipe 33 that rotates together with the swivel column 16 to the mechanical seal. It is a pipe joint that is connected via a cable or the like. Rotation side pipe 33 is an index drive It penetrates the hollow shaft of the unit 14 and is inserted into the swivel column 16 to It is integrated with.

[0015]   This rotation side pipe 33 is connected to each arm 22 via the air tube 34, manifold, etc. Correspondingly, the air supply ports of many solenoid valves (direction control valves) 35 mounted on the swivel column 16 The output port of each solenoid valve 35 corresponds to the vertical movement of the articulated arm 22. Each articulated arm goes through the air tube 37 that is bundled by the flexible guide 36 that can be It is connected to each of the 22 air actuators (discussed below). This air actuator The direction of the air pressure output from the motor is controlled by a solenoid valve 35.

[0016]   In addition, slippage occurs during wiring to supply power to the solenoid of the solenoid valve 35. A ring 41 is provided. That is, the slip ring body is attached to the mounting plate 42. The inside of this slip ring main body is connected to the electric wire on the power supply side and the fixed side The rotating ring provided integrally with the rotating side pipe 33 is constantly in contact with the current Is to be conducted.

[0017]   The rotating part 43 of the slip ring 41 from which the two electric wires are drawn out is It rotates together with the turning column 16). From the rotating part 43 of this slip ring 41, The two electric wires pulled out penetrate the hollow shaft of the index drive unit 14. Through the swivel column 16, and from the swivel column 16, each articulated arm is Connected to a control box 44 mounted on the swivel column 16 corresponding to , Supplies power to this control box 44.

[0018]   The control circuit inside the control box 44 is Required for solenoid valve 35 for controlling data and various sensors (limit switch, proximity switch, etc.) It supplies the necessary power, and the power drawn from the control box 44 The wires are connected to the solenoids and sensors of each solenoid valve 35.

[0019]   Furthermore, an external computer controls the control circuit of the control box 44. An optical data transmission device 51 is provided in the circuit for giving a command. This light de The data transmission device 51 is a pair of optical data communication units whose main components are photocouplers. An optical communication device composed of 52 and 53, which is on the index drive unit 14 One optical data communication unit 52 is attached to the fixed plate 54 of the The other side of the optical data communication unit 53 is attached to the lower side of the It is sealed by a rotary cover 55 integrally attached to the frame 16.

[0020]   This optical data transmission device 51 uses the optical data on the fixed side when the rotation of the revolving column 16 is stopped. Optical data communication unit 53 on the rotation side integrated with the communication unit 52 and the swivel column 16 And are opposed to each other.

[0021]   In the configuration of FIG. 2, the index drive unit 14 allows the turning The endless indexing swivel of the shaft 16 in the same direction or in the opposite direction. This swiveling column Each articulated arm 22 provided on the 16 is pivoted from an air pressure source such as an external compressor. It is supplied to the swivel column 16 via the rotary joint 31 and the rotation side pipe 33 provided on the The air pressure (compressed air) supplied operates as described later.

[0022]   The solenoid valve 35 and sensor that control the direction of the air pressure require electric power, so the turning center Through the slip ring 41 provided on the outer peripheral portion of the rotation side pipe 33 located at Supply power to system 16.

[0023]   Furthermore, at each turning stop position, the optical data communication unit 52 and the turning column on the fixed plate 54 are Since the optical data communication unit 53 attached to the 16 is opposed to the external computer, Optical data communication is performed with the control box 44 of the swivel column 16 to A multi-joint arm control command is given to the control circuit in the rule box 44.

[0024]   As shown in FIG. 3, when there are three sets of articulated arms 22, the swiveling column 16 Each articulated arm 22 is provided for every 120 °. This Figure 3 shows KU Conveyor (trolley conveyor) C and multi-arm swivel type articulated robot Between the station So for delivering the work W between the first, second, third, fourth and Each of the five work stations S1, S2, S3, S4, S5 is shown at 60 ° intervals.

[0025]   When performing work at all of these work stations, use the index drive unit The swivel column 16 is intermittently indexed and rotated at 60 ° intervals with the stand 14, and the optical data The transmitter 51 must also be installed every 60 °, but this angle can be selected as required. You should choose.

[0026]   For example, perform sanding process (shell coating) in precision casting mold manufacturing In this case, if you analyze the series of work, it will be divided into three steps. Stations So, S2, S4 are installed. Therefore, the index drive unit The rotating column 16 is intermittently indexed and rotated every 120 ° with The transmitter 51 is also installed every 120 °.

[0027]   Then, three articulated arms 22 centering on the swivel column 16 and three stations Endless intermittent indexing turning to position on So, S2, S4 in sequence Step by step, each station So, S2, S4 in a fixed sequence with a unique process Make it work.

[0028]   That is, at the delivery station So of FIG. Type) W, and index-rotate to the position of the second work station S2. Slurry (clay) is applied to the work W at the position and then at the position of the fourth work station S4. The index is swung up to the position, and the sand is blown onto the work W at this position. This In the case of, the turning motion is stopped at the first, third and fifth work stations S1, S3, S5. I won't stop.

[0029]   In this way, unique work is sequentially stacked at each work station to perform multi-step work. While the robot makes a 360 ° turn. This operation is performed using three articulated arms 22 Work three times as much as one-arm robot You can

[0030]   Next, the operation of the shell coating will be described in detail with reference to FIG. Then, the articulated arm 22 holding the work W by the handling device 23 As shown in FIG. 2, the work W is immersed in the slurry penetrant by descending. The work W is inserted into the floating sand by the air.

[0031]   Further, the work W gripped by the handling device 23 is shown in FIG. By rotating in such a manner, the slurry permeating liquid can be uniformly permeated into the work W. In addition to being possible, the sand can be evenly attached to the work W.

[0032]   In addition, the tilting operation that changes the angle of the handling device 23 holds and rotates the device. When the workpiece W in rotation is tilted upward as shown in FIG. It is possible to prevent dripping and to reattach to the work W, or to remove excess sand. Wear.

[0033]   4 and 5 show that the handling device 23 is chilled in each articulated arm 22. 3 shows a tilt mechanism for operating the camera.

[0034]   As shown in FIG. 4, from the vertical moving plate 81 that vertically moves along the swivel column 16. A pair of arm plates 82 are provided so as to project in parallel, and a shaft support disk 83 is provided at the tip of each arm plate 82. The bearings 84 fixed to each other and fitted on the shaft support discs 83 on both sides The tilt shafts 85, which are integrally attached to both sides of the handling device 23, are I have it. A cover 86 is attached to the arm plates 82 on both sides.

[0035]   A pulley 87 is integrally fitted to the right tilt shaft 85, and the left tilt shaft 85 is shown in the figure. A detection unit 88 that is detected by a proximity sensor that is not mounted is integrally fitted. further , The left tilt shaft 85 has the air tube 37 and A hole 89 is formed for inserting the sensor wire. D inserted in this hole 89 The atube 37 and the electric wire are used to pneumatically drive the handling device 23 and It is used for detection.

[0036]   As shown in FIG. 5, an adjusting plate 91 is fixed to the arm plate 82 on one side by bolts 92. The box 93 is integrally attached to the adjustment plate 91, and the inside of the box 93 is A rotary air actuator 94 with a built-in air cylinder is attached to its output shaft 95. The pulley 96 is integrally fitted, and the pulley 96 and the tilt shaft of the handling device 23. An endless belt 97 is wound around the pulley 87.

[0037]   The tension of the endless belt 97 causes the vertical moving plate to move before fixing the bolt 92. It is adjusted by an adjusting screw 98 provided between 81 and the adjusting plate 91.

[0038]   In the configuration of FIGS. 4 and 5, the output shaft of the rotary air actuator 94 When 95 rotates, its rotation is caused by pulley 96, endless belt 97 and pulley 87. Is transmitted to the tilt shaft 85 of the handling device 23, and the handling device 23 The tilting operation is performed as shown in FIG.

[0039]   FIG. 1 shows the internal structure of the handling device 23. This handling device 23 Is the bearing inside the hand body 101 to which the pair of tilt shafts 85 are attached. The rotary main shaft 103 is rotatably mounted by 102, and the upper part of the rotary main shaft 103 is paired with the rotary main shaft 103. A rotary drive mechanism 104 is provided, and a clamp mechanism 105 is provided below.

[0040]   The rotation drive mechanism 104 has a gearbox 111 integrally attached to the hand body 101. The air motor with speed reducer 112, which is a power source, is mounted on the top of the gear box 111. The output shaft 113 and the gear 114 integrally mounted on the output shaft 113, and the bearing on the intermediate shaft 115. The idle gear 117, which is rotatably attached by 116, and the rotary spindle 103 The attached gears 118 are in mesh with each other.

[0041]   The clamp mechanism 105 is provided below the rotary spindle 103 with respect to the central axis of the rotary spindle. A pair of symmetrical crocodile-shaped chucks 121 can be freely opened and closed using pins 122 as fulcrums. The roller mounting tube 123 is mounted on the outside of the chuck 121 and is vertically movable. , Inside the roller mounting tube 123, the clamp roller 12 corresponding to each chuck 121 is 4 is rotatably mounted by pin 125, and this clamp roller 124 rolls. On the back surface of each chuck 121, a closing cover below the opening / closing fulcrum pin 122 of the chuck 121. On the roller movement path above the contact surface 126 and the opening / closing fulcrum pin 122 of the chuck 121. A cam surface 127 for opening which is projected in an inclined shape is provided.

[0042]   A chuck operation that moves the roller mounting cylinder 123 up and down to open and close the pair of chucks 121. As a moving mechanism, a clamp actuator is attached to the upper surface of the hand body 101 by a mounting base 131. The air cylinder 132 is installed as a The universal joint 134 using a pair of thrust bearings is This joint 134 allows axial movement of the central shaft of the rotary main shaft 103. The fitted axial movement rod 135 is rotatably connected and And the upper part of the roller mounting cylinder 123 are long holes formed in the vertical direction of the rotary main shaft 103. They are integrally connected by a connecting pin 137 inserted through 136.

[0043]   Each chuck 121 has a stopper (screw) 141 for surely preventing the work W from dropping, Resilient materials (rubber packing, etc.) 142 that prevent the work W from slipping in the rotation direction are used. It is attached integrally. Note that FIG. 1 shows the clamp roller 124 and the stopper. Although each one of the pads 141 is shown, they are the same for both chucks 121. Needless to say, it is provided.

[0044]   In the configuration of FIG. 1, the clamp air cylinder 132 is used to axially move the lock cylinder. When the carriage 135 is raised, the pin 137 raises the roller mounting barrel 123, The clamp roller 124, which is supported by the cylinder 123, is also raised to the position shown by the chain double-dashed line. , The roller 124 presses the opening cam surface 127 of each chuck 121 inward, The pair of chucks 121 can be opened with the pin 122 as a fulcrum as shown by the chain double-dashed line in FIG. The workpiece W is rotated in the direction to release the gripped portion a of the work W.

[0045]   On the other hand, the axial air rod 132 for clamping lowers the axially moving rod 135. And the pin 137 lowers the roller mounting tube 123, The ramp roller 124 is also lowered, and this roller 124 is used to close each chuck 121. The contact surfaces 126 are pressed inward, and the pair of chucks 121 move in the closing direction with the pins 122 as fulcrums. The workpiece W is rotated, and the gripped portion a of the work W is clamped as shown by the solid line in FIG. At this time, the elastic material 142 such as rubber packing is pressed against the gripped portion a of the work W. , The work W is prevented from slipping in the rotation direction.

[0046]   Under the clamp roller 124 that rolls on the back surface of the chuck during the clamp operation. A sufficient amount of inward movement is required for each chuck that is tilted downwards and outwards. It is converted to a minute inward movement amount by the closing cam surface 126 of the cam 121. From the clamp roller 124 to the closing cam surface 126, a kind of wedge principle is used. A strong pressing force works. As a result, the chuck 121 can firmly grip the work W. When a heavy work W is gripped and rotated, a sufficient chuck opening drag force can be obtained. It

[0047]   The pair of chucks 121 that clamp the work W in this way are It is rotated together with the rotating main shaft 103 which is rotated by the motor 112. At this time, take the roller The barrel 123 and the axial movement rod 135 are also rotated integrally.

[0048]   In addition, the present invention is not limited to the above-mentioned shell coating, and may be used as an example. For example, as a chuck hand in the transportation and processing of work such as pins and shafts Is also applicable.

[0049]

[Effect of device]

  According to the invention as set forth in claim 1, the lower part of the rotary spindle is opposed to the central axis of the rotary spindle. In this case, a plurality of chucks are supported by openable and closable shafts. A roller mounting cylinder is provided so that it can move up and down. The corresponding clamp roller is rotatably supported, and each clamp roller rolls. On the back surface of the chuck, the closing cam surface below the opening and closing fulcrum of the chuck and the chuck A cam surface for opening that is projected above the roller movement path is provided above the opening and closing fulcrum. From the clamp roller rolling on the back of the chuck to the cam surface for closing each chuck. With a strong pressing force that works on a kind of wedge principle, the workpiece can be securely gripped, It is possible to provide a handling device suitable for the work of gripping and rotating a heavy work. It Also, with the above configuration, the clamp mechanism for gripping the work is centered around the work. Of the load torque due to the eccentric weight during rotation because it can be configured symmetrically about the shaft center Irregular rotation is less likely to occur.

[0050]   According to the second aspect of the invention, each mechanism for gripping and rotating the work is provided with the air. Only the actuator is used for driving, and no electric actuator with poor heat resistance is used. As a result, it has excellent durability even in a poor environment, and it operates with compressed air. The actuator is easy to attach to the robot arm and It is suitable for the electric actuator. The mechanism is simpler than the case where the data is used, and there is an advantage that it can be manufactured at low cost.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing an embodiment of a handling device according to the present invention.

FIG. 2 is a cross-sectional view showing an embodiment of a turning type articulated robot in which the handling device is used.

FIG. 3 is a plan layout view of the same robot and work transfer conveyor.

FIG. 4 is a cross-sectional view showing a multi-joint arm of the same robot.

FIG. 5 is a side view of an articulated arm of the same robot.

FIG. 6 is a plan view showing a conventional handling device.

[Explanation of symbols]

W work 101 hand body 103 rotating spindle 104 rotation drive mechanism 105 Clamp mechanism 121 chuck 123 Roller mounting tube 124 Clamp roller 126 Closing cam surface 127 Opening cam surface 132 Clamp actuator 133 Axial actuator 134 universal joint 135 rod 136 long hole 137 Connecting pin

Claims (2)

[Scope of utility model registration request] 1. A handling device for gripping and working a work, comprising: a cylindrical hand body; a rotary spindle that is rotatably held inside the hand body; and a rotary spindle that is provided with respect to the rotary spindle. A rotary drive mechanism that rotates the main spindle and a clamp mechanism that is attached to a lower portion of the rotary main spindle and that grips a workpiece are provided. The clamp mechanism includes a plurality of chucks below the rotary main spindle and symmetrical to a central axis of the rotary main spindle. Are respectively rotatably and rotatably supported, and a roller mounting cylinder is provided on the outer side of the chuck so as to be vertically movable. A clamp roller corresponding to each chuck is rotatably rotatably supported on the inner side of the roller mounting cylinder.
On the back surface of each chuck on which the clamp roller rolls, a closing cam surface below the opening / closing fulcrum of the chuck, and an opening cam surface protruding above the opening / closing fulcrum of the chuck onto the roller movement path. And a clamp actuator is attached to the upper part of the hand body, and a rod movably provided in the axial direction is connected to the central shaft portion of the rotary main shaft via a universal joint at an axial operation portion of the actuator. The handling device is characterized in that the rod and the roller mounting cylinder are connected by a connecting pin inserted through an elongated hole formed in the up-down direction of the rotary spindle. 2. The handling device according to claim 1, wherein an air motor is used as a power source of the rotary drive mechanism, and an air cylinder is used as a clamp actuator.