JPS58211894A - industrial auto hand - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial automatic hand that can perform arbitrary positioning within a plane, and in particular, an object of the present invention is to be able to easily change the positioning range.

Generally, in industrial autohands, the swing arm is fixed at a fixed length with respect to the center of rotation, and the radius of swing remains unchanged, so the positioning range of the autohand is always constant. Therefore, if you want to set the positioning range wider or narrower, it is necessary to replace the swivel arm with an arm of a different length. Therefore, you must create a new arm of a different length, replace it, and adjust the 9 positions. was being carried out.

The present invention solves the above-mentioned conventional drawbacks, and one embodiment thereof will be described below with reference to FIGS. 1 to 6.

1 is a substrate, and a hollow main pillar 2 is attached to this substrate 1. Reference numeral 3 denotes a cylindrical rotating part which is rotatably held around the hollow main pillar 2 via a bearing 4, and a sliding fixed part 9 is formed at the upper end. The sliding fixing part 9 has a flat shape in a direction perpendicular to the rotation axis, and has a concave groove in one direction perpendicular to the rotation axis that can slidably hold a square member. ing.

In addition, a positioning bin 1 (to be described later) is provided on the flat upper end of the rotating part 3.
A hole and a threaded hole into which 3 is fitted are provided at a constant distance from the rotating shaft in the sliding direction of the concave groove and parallel to the rotating shaft. 6 is a first column attached to the lower end of the hollow main column 2.
This is a rotating arm drive motor. Reference numeral 6 denotes a drive shaft, one end of which is connected to the first swing arm driving seventh gear 6 via a shaft joint 7, and the other end connected to an input shaft 8a of the reducer 8. The output ring 8b of this speed reducer 8 is fixed inside the rotating section 3. Reference numeral 1o designates a first rotating arm, and a sliding portion that is convex in the longitudinal direction of the arm is formed at one end and is several times longer than the concave groove at the upper end of the rotating portion 3 and has the same width dimension. , is fitted into the concave groove at the upper end of the rotating section 3, and is guided by a presser plate 11 so as not to move upward, and is held movable in one direction within the concave groove at the upper end of the rotating section 3. Further, on the lower surface of the convex sliding portion of the first swing arm 10, there is a positioning bush 12a at a constant distance in the longitudinal direction of the arm in a direction perpendicular to the lower surface.

12b and 12C are provided.

Reference numeral 13 denotes a positioning pin, which is screwed into a hole provided in the rotating part 3 and a screw hole, and a positioning pusher z12& provided within the first swing arm 10.

Either K of 12b or 12C is fitted, and the rotating part 3
and the first swing arm 10 are held in a stepwise set positional relationship. Fig. 1 shows the case where the positioning pin 13 is fitted into the positioning bush 12b, Fig. 4 shows the case where the positioning pin 13 is fitted into the positioning bush 12a, and Fig. 5 shows the case where the positioning pin 13 is fitted into the positioning bush 12a. A case is shown in which the positioning fitting 120 is fitted.

Note that any number of positioning bushes 12 may be provided, and instead of using the positioning pin 13 and the positioning bush 12, the rotation part 3 can be secured using the tightening bolt 14 and the elongated hole 14'.
It is also possible to tighten and fix the rotary part 3 and the first swing arm 10 at any position, and set the positions of the rotating part 3 and the first swing arm 10 steplessly.

A second swing arm 16 is provided at the other end of the first swing arm 10.
are rotatably connected by a joint portion 16. 17
is the west tjf! inside the first swing arm 10. This is the motor for driving the second swing arm. 18 is the second swing arm 1
A vertical drive unit 19 is attached to the tip of the vertical drive shaft 20 with a bracket 21 interposed therebetween.

　　　- The joint portion 16 will be explained in detail with reference to FIG.

22 is an elbow fixed to the tip of the first swing arm 10. Inside this elbow 22 is a drive shaft 23 and a force ball bearing 2.
4, one end is connected to the second swing arm drive motor 17, and the other end is connected to a bevel gear 26.
is fixed. Reference numeral 26 denotes an intermediate drive shaft which is rotatably provided inside the elbow 22 via bearings 27 and 28 and whose axis is parallel to the axis of the rotating section 3. At one end of the shaft 26 is a front BC.
A bevel gear 29 that meshes with the bevel gear 26 is fixed, and a power shaft 30a of a reduction gear 300A is connected to the other end.

3ob is the output shaft of the reducer 30, and the second swing arm 1
It is fixed at 6. The second swing arm 16V is rotatably connected to the elbow 22 via bearings 31 and 32.

In the above configuration, by driving the first swing arm drive motor 5, the rotation is decelerated by the reducer 8 and transmitted to the rotating part 3, and the arm length is easily adjusted by the sliding fixing part 9 on the rotating part 3. The first swing arm 10, which is held in this adjustment switchable position (a), rotates in the direction of the arrow X (p51). Further, by driving the second swing arm drive motor 17 that rotates together with the first swing arm 10, rotation is transmitted through the bevel gear 25, 29 and the reduction gear 3o, and the second swing arm 16 is rotated in the direction of arrow Y. Rotate to . By the two rotations of the first rotating arm 1° and the second rotating arm 16, the gripping device 1 at the tip of the second rotating arm 16
9 etc. can be positioned at any position.

In particular, in the above operation, the first swing arm 10 can be easily slidably fixed by the sliding fixing part 9 at the upper end of the rotating part 3 without any troublesome work such as disassembly.
Since the turning radius of the turning arm 10 can be easily changed to RRR...1213, the positioning range of the tip of the second turning arm is set to range A (first Swivel arm radius: R1,
You can freely switch from force to range B (when the radius of the second rotating arm is r) or vice versa (when the radius of the first rotating arm is −R3, and the radius of the second rotating arm is r). can·. In addition, in Fig. 6 11, the first swing arm is set to 0-0.
From the ' position, 135 in each direction
This is a plan view showing the positioning range of point P at the tip of the second swing arm when the second swing arm is rotated by 135 degrees counterclockwise from the o-0' position, and the diagonal line surrounded by a solid line The range A indicated by the dotted line is the positioning range of point P when the radius of the first swing arm is 2R1 and the radius of the second swing arm is r, as shown in FIG. ,
This is the positioning range of point P when the radius of the first rotating arm is R3 and the radius of the second rotating arm is r, as shown in FIG.

Although the embodiments shown in Figures 1 to 6 show examples of sliding fixing mechanisms that utilize concave grooves, other shapes, such as sliding fixing mechanisms that use a cylindrical arm and a bearing block, etc., may be used. You can also get the same effect.

As explained above, according to the present invention, the first swing arm is held on the rotating part by a sliding fixing mechanism that utilizes a concave groove or the like in the rotating part so that the swing radius of the arm can be easily changed. Because of the structure, the turning radius of the first swing arm can be easily changed without the need for troublesome work such as replacing the arm, and as a result, the range of positioning of the tip of the second swing arm can be easily changed. , can be switched stepwise or steplessly.

[Brief explanation of drawings]

Figure 3 is an enlarged sectional view of the joint, Figure 4 is a side view of the industrial auto hand when the first swing arm is set short, and Figure 6 is a side view of the industrial auto hand when the first swing arm is set long. A side view of the auto hand, Figure 6 shows P at the tip of the second rotating arm.
FIG. 3 is an explanatory diagram showing a position setting range of points. 3... Rotating part, 6... Old motor for driving the first swing arm, 8... Speed reducer, 9... Marked sliding fixed part, 1o... First swing arm. Name of agent: Patent attorney Toshio Nakao (1st person)
Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 0'

Claims (1)

[Claims] 11j through the motor and the driving force of this motor through the reducer
A rotating part that drives one rotation, a sliding fixed part provided at the end of this rotating part and having a flat surface in a direction substantially perpendicular to the axial center of the rotating part, and a flat surface of this sliding fixed part. Slidable, −
An industrial auto hand consisting of a rotating arm whose length can be adjusted.