JPS59355B2 - Parts posture change conveyance device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for changing the posture of parts such as mechanical parts that can automatically carry them into, place, and take them out of the work area in an optimal posture for work such as measurement and processing. Regarding a conveyance device.

Conventionally, when measuring, processing, or other work is carried out at a predetermined location on parts conveyed by a supply line such as a conveyor, the supply of the parts, the change in posture, and the conveyance and placement of the parts to the discharge line after work have to be carried out manually. I was going by.

However, manual work is inaccurate and slow, and in the case of precision parts, there is a risk of rust due to human exhalation, sweat, etc., and the operation time is uneven. There were drawbacks such as difficulty in synchronizing timing with other measuring, processing, etc. equipment. Furthermore, even if an automatic feeding device is used, when trying to change the posture using a normal automatic feeding device or an industrial robot, these automatic feeding devices or industrial robots have complicated mechanisms or do not have an NC device. However, there are almost no simple mechanisms for handling small parts that guarantee high accuracy.

The present invention aims to eliminate the above-mentioned drawbacks and provide an attitude changing conveyance device that is easy to handle and can be easily used as an automatic machine by adding it to a conventionally used machine. Examples of the invention will be described in detail. FIG. 1 is a side view of the main body of the parts attitude changing and conveying device according to the present invention, and FIG. 2 is a cross-sectional plan view taken along the line X-X of FIG. 1. In FIG. A gear 3 is fixed to the drive shaft 2 by suitable fixing means), and a removable manual handle 4 is attached to the upper end of the drive shaft 2.
is installed.

a camshaft 5 disposed perpendicularly and apart from the driveshaft 2;
A cam disc 1 having a gear portion 6 with gears on its outer periphery is fixedly installed on the cam disk 1, and the gear portion 6 meshes with the gear 3 of the drive shaft 2. A groove cam 8 for turning the rotation shaft 39 is bored on the upper surface of the cam disk 7, and a groove cam 8 for turning the rotation shaft 39 is formed on the lower surface of the cam disk 7.
Driving bell cams 9 are provided above and below 9. Adjacent to and below the cam disk T, there is a plate cam 1 for rotating the holder.
0 is fixed to the camshaft 5, with the outer periphery serving as a cam surface 11. A cam lever 20 having a cam roller 19 at its tip is pivotally supported by a pivot 12 and drives a swing lever 17 to swing via a friction plate 18 .

At the top of the cam lever 20, there is a thrust collar 21 loosely inserted into the pivot 12 and a spring 22), which are biased downward by the friction plate 18 with a predetermined preload. The pivot 12 is a supporting plate 14 that protrudes horizontally from the inner surface of the nearest side wall 13 and is fixed to it.
The shaft 12 passes through an upper plate 23 which is the outer shell of the soil part, and a nut 24 is screwed to the upper end via a washer. It engages with the grooved cam 8 that is drilled therein. With the above-described mechanism, the movement of the cam lever 20 is transmitted to the swing lever 17 by frictional transmission. In addition, a substantially square hole 26 is bored in the center of the vertical drive lever 25 (see FIG. 2), and a bracket having a slightly smaller upper surface (see the hole 26 that protrudes upward from the bottom plate 27, which is the lower shell). The head of a barrel square column 28 is loosely inserted into the hole 26, the horizontal shaft 29 is supported by the square column 28, the drive lever 25 is supported by both ends of the horizontal shaft 29, and the square column 28 and the drive lever are connected. There are spacers 30, 30 in the small gaps between the holes 26 and 25.
is installed.

A cam roller 31 is attached to the right end side surface of the vertical drive lever 25 in FIG. Similarly, the left end of the drive lever 25 is bifurcated, and horizontally protruding pins 33, 33 are provided on both inner sides of the bifurcated tips 32, 32. In addition, in order for the rotation lever 34 for rotating the holder to swing from side to side within a horizontal plane,
As shown in FIG. 1, a cam roller 35 is rotatably mounted on the ground surface of the right end of the rotary lever 34, and a gear 36 is provided on the outer periphery of the fan-shaped portion of the left end of the lever. b The center portion is pivotally supported by a shaft 37 so as to be swingable.

In order for the roller 35 to always press against the cam surface 11 of the plate cam 10, an elastic body 38 such as a spring urges the rotary lever 34 in the pressing direction. At the left end in FIG. 1, a pivot shaft 39 passes through the upper plate 23 and lower plate 27 of the machine frame of this device, and the husbands of both plates 23 and 27 each have bearings 40,
41 is fixed to hold the pivot shaft 39 vertically so that it can pivot up and down. A platen 43 having a plurality of stopper bolts 42 for regulating the limit of downward movement of the shaft 39 is fixed to the upper end of the pivot shaft 39 with a fastener. Further, a cylindrical body 44 is fixed to the central part of the shaft 39 with a fitting knob, and teeth are carved in the axial direction on the outer circumference of the cylindrical body 44 on the road half, forming a gear part 45. The upper half of the inner circumference of the cylindrical body 44, which is engaged with the fan-shaped gear 16 at the tip of the swing lever 17, is larger than the outer diameter of the swing shaft 39, and a small gap 46 is provided as shown in FIG. A spring 47 is loosely inserted into the gap 46 and urges the pivot shaft 39 downward, and a thrust bearing 48 is interposed between the upper end of the spring 47 and the upper bearing 40. .

An annular groove 49 is carved in approximately the center of the cylindrical body 44,
The groove 49 has a bifurcated tip 3 at the left end of the vertical drive lever.
The pins 33 and 33 of 2 and 32 are engaged. The cylindrical body 4
4 At the lower part, there is a locking rod 50 that regulates the turning angle of the turning shaft 39.
is fixed and protrudes to the right. As shown in FIG. 2, each of the left side slanted side plates 55a and 55b of the outer shell regulates the rotation of the locking rod 50 on its rotation locus, thereby controlling the rotation angle of the rotation shaft 39. Regulating stoppers 56a, 5
Stopper seats 57a and 57b, which are contact points of the stopper, are adjustable in forward and backward movement so that the rotation angle can be adjusted as appropriate. Then, the pivot shaft 3
9. The machine frame near the lower part has a cam in which a part of the gear part for rotating the holder is cut out, and a drive gear 51 at the lower end, and the middle part is rotated by a bearing 52 fixed to the lower plate 27. A holder rotating shaft 54 which is freely held and has a gear 53 on the outer circumference of the upper end is provided upright, and the gear 53 meshes with the gear 36 at the tip of the rotating lever 34 for rotating the holder. A rotating portion 58 shown in FIG. 4 is fixed to the lower end of the rotating shaft 39 with a fastener.

The rotating section 58 has a plurality of conveying arms A, B, and C (three in this embodiment) extending in the horizontal plane, and the arms A and B extending downward and to the left in FIG. 4 have rotating shafts 59A and 59B, respectively. is rotatably held, and a holder 60 such as a vacuum chuck for holding the component by suction is attached to the tip of the rotating shaft 59.
A posture changing gear 61 is attached to the rear end of the shaft 59, and the gear 61 is connected to the cam drive gear 5 for rotating the holder.
1, when the pivot shaft 39 moves upward, that is, when the pivot section 58 moves upward, the engagement occurs. Further, a ring 6 is provided at the center of the shaft 59.
A positioning device 63 that presses a steel ball or the like toward a recess provided at an appropriate location on the outer peripheral surface of the ring 62 to which the ring 2 is fixed, regulates the rotation angle of the rotating shaft 59, and positions and fixes the rotating shaft 59. It is fixedly installed. Also, as shown in FIG. 1, a command cam plate 64 provided at the bottom of the camshaft 5,
65, 66, and 67, a limit switch 68 for stopping one revolution of the camshaft, a limit switch 69 for vacuum chuck timing, a limit switch 70 for detecting chuck error, supply, and discharge, which are linked to each other and issue commands to each part of this device. A limit switch 71 for intermittent operation of the conveyor is provided for causing the conveyor to operate intermittently.

FIG. 6 shows a second embodiment of the conveyance arm of the present invention, in which a universal joint 72 is disposed in the middle of the rotating shaft 59 to increase the degree of freedom in wrist swing of the component holder 60, and the conveyance arm is By rotating and fixing the arm at an appropriate angle, it is possible to change the component holding position and the manner in which the component posture is changed.

Since the present invention is constructed as described above, it operates as follows.

That is, as shown in FIG. 7, a device 80 according to the present invention is disposed so as to cover a supply line 81 and a discharge line 82, which are composed of conveying means such as two belt conveyors. Then, the position where the part is to be measured, processed, etc. is determined based on the rotation locus of the component holder 60 at the tip of the rotating part 58 of the device 80 and in accordance with the angle formed by the adjacent arms of the transport arms A, B, and C. , I are provided. Now, the part α that has been conveyed on the supply line 81 is transferred to a stopper (not shown).
is stopped at the position 1 to be fed and then the line 81
Also stop and wait.

On the other hand, when a signal indicating the end of work is given from the measuring or processing machine to this device and the machine stops, the drive motor 1 starts and the camshaft 5
rotated, and the transport arm A was waiting at the position shown in Figure 7.
The part α is rotated to position 1, moved downward together with the rotating part 58, approaches or comes into contact with the part α, and is moved by the vacuum chuck 60, which is a part holder, into a state where it can be picked up by the chuck timing limit switch 69 of the vacuum chuck. The chuck 60 picks up the part α, then moves upward, swings to the measuring position, and then the chuck 60, which has picked up the part α, is changed in attitude by the rotary shaft 59 so that the part α is placed in a position convenient for measurement (in this example, 90 parts rotation). Then, the arm A moves downward, releases the suction of the part α, places the part α in a position convenient for measurement, and then moves upward to return to the illustrated position. At the same time, arm B changes the posture of part α from the part measurement position to part processing position I, and carries it out in the same manner as arm A. Arm C
rotates the part α at position I, sucks it, moves it up, rotates it,
Move downward and release suction at a position above the discharge line 82, place the part α at a position above the discharge line 82, and move the part α to the position above the discharge line 82.
When the camshaft rotates once, the limit switch 68 for stopping the camshaft once is activated, the drive motor 1 is stopped, the machine waits until the machine completes its work, and then the machine starts and starts measuring or machining work. will be started. Next, the conveyor for supply and discharge is started by the limit switch 71 for intermittent operation of the conveyor. In this way, parts are sequentially supplied and discharged from predetermined positions through predetermined measurement, processing, and other operations. The operation of each element that performs the above-mentioned operation is as follows.

Swinging of the swinging portion 58 by a predetermined angle such as from position 1 of arm A to position I and from position of arm B to position I is performed as follows. The rotation of the drive motor 1 causes the drive shaft 2 and the drive gear 3 to rotate, and this rotation is transmitted to the cam disk 7, causing the cam lever 20 engaged with the turning groove cam 8 on the upper surface of the cam disk 7 to swing, The oscillation causes the swing lever 17 which is frictionally transmitted around the shaft 12 to oscillate, and the oscillation causes the gear portion 45 of the cylindrical body 44 meshed with the sector gear 16 for rotation to rotate. to rotate the pivot shaft 39. At this time, in order to obtain an accurate rotation angle of the rotating portion 58, the stopper seats 57a and 57b of the stoppers 56a and 56b are moved forward or backward to regulate the rotation angle as appropriate.
Since 0 is friction transmission, the extra rotation angle is slipped between both elements, and no strain is applied to the transmission section. Further, the vertical movement of the rotating portion 58 is performed as follows.

The left end of the vertical drive lever 25 is moved up and down by the cam surface of the bell cam 9 provided on the lower surface of the cam disk 7, and the right end of the lever 25 is moved up and down and engaged with the annular groove 49 of the cylindrical body 44. The pins 33, 33 of the bifurcated tips 32, 32 move the P] cylinder 44, that is, the pivot shaft 39, up and down. At this time, since the pivot shaft 39 is urged downward by the spring 47, the roller 31 at the tip of the left end of the vertical drive lever 25 is always in contact with the cam surface of the bell cam 9.
Further, the rotation of the wrists of the parts holding parts 60 of the arms A and B of the rotating part 58 is caused by the movement of the rotating shaft 39 as described above, which causes the cam drive gear 51 and the attitude changing gear 61 to rotate. The cam surface 11 of the plate cam 10 for rotating the holder, which is fixed to the meshing camshaft 5, swings the rotation lever 34 for rotating the holder in a horizontal plane, and the oscillation causes the holder rotation shaft 54 to swing. This rotates the posture changing gear 61 of the rotary shaft 59 that meshes with the cam drive gear 51 at the lower end of the shaft 54, thereby rotating the rotary shaft having a holder 60 such as a vacuum chuck through a predetermined angle. At this time, the cam drive gear 5 at the lower end of the holder rotating shaft 54
1 is partially cut out, the cam drive gear 51 and the posture changing gear 61 will be damaged if the rotating portion 58 only moves upward.
They do not mesh with each other, but are constructed so that they mesh with each other by rotation of the rotating shaft 54, thereby avoiding mutual interference between the cam drive gear and the attitude changing gear.

As described above, the present invention extracts the rotational motion on the driving side as an oscillating motion on the driven side using an appropriately shaped cam,
The oscillating motion changes the rotating shaft holding the component holder, such as a vacuum chuck, into horizontal motion, vertical motion, and rotational motion around the rotating shaft, so that the parts are kept at a predetermined level while being conveyed from the supplying station to the discharging station. The configuration allows parts to be placed in a location and the posture of the parts to be changed, so the parts on the supply line can be accurately held, changed to the optimal posture for work such as measurement and processing, and placed at the work location. The parts can be placed in the optimum position, and the parts can be re-transported.
Re-conversion of posture and furthermore, transportation to the discharge line can be done fully automatically without any manual intervention, so the work is quick, reliable, and precise, and rust caused by exhaled breath, sweat, and other secretions can be prevented. However, since the timing can be matched with equipment for measurement, processing, etc., it is convenient for automating the entire line, and has other remarkable effects.

However, this invention is not limited to the above-mentioned embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the invention.
Not only zero, but also the desired rotation angle and conversion direction can be changed by changing the number of teeth of the gear train for rotating the holder, and the number of rotating arms can be increased or decreased as desired, and the number of rotating arms can be adjusted according to the number of arms. Needless to say, it can be effective.

[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings show an embodiment of the present invention, and FIG. 1 is a cutaway side view of the device (excluding the rotating part) according to the present invention, and FIG. X-ray cross-sectional plan view, Figure 3 is Y in Figure 2
- A cross-sectional front view along the Y line, Figure 4 is a plan view of the turning section, Figure 5
FIG. 6 is a partially sectional plan view showing a second embodiment of the arm in the rotating portion; FIG. 7 is a plan view showing the device according to the present invention incorporated into a line. It is. 7...Cam disc, 8...Swivel groove cam,
9... Bell cam for underground movement 10... Plate cam for rotating the holder, 39... Rotating shaft, 59...
... Rotating shaft, 60... Holder, A, B, C.
...Transportation arm.

Claims (1)

[Claims] 1. In a conveyance device in which a conveyance arm is radially attached to a rotating shaft that moves up and down and has a component holder at its tip, the conveyance arm moves up and down and rotates to simultaneously convey a plurality of components to the next process. is rotatably supported on the transfer arm, a posture change gear is fixed to the holder, and a cam drive gear that meshes with the posture change gear when the transfer arm is raised is rotatably attached to the machine frame. A component attitude changing and conveying device characterized by changing the attitude of a component held in a component holder by a predetermined angle by meshing both gears.