JPH0688659B2 - CRT funnel transfer machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a transfer machine for transferring a funnel of a cathode ray tube, which is conveyed by a trolley conveyor or the like, in a cathode ray tube manufacturing line, to a required position for moving to the next process. It is a thing.

[Prior Art] In a cathode ray tube production line, the funnel portion before the face plate is attached is washed by a trolley conveyor with the neck down, and then it is lowered from the trolley conveyor at a required position and the neck is up. And then transferred to a pallet or the like. A funnel transfer machine of a cathode ray tube has been conventionally used for such a transfer location for the purpose of labor saving.

Since the conventional cathode ray tube had a relatively large diameter at the neck, the funnel transfer machine was equipped with a gripping unit to hold the neck, and the funnel was held at the neck during transfer. While lowering it from the trolley conveyor, it was inverted and transferred to a pallet or the like.

[Problems to be solved by the invention] By the way, recently, the shape of a cathode ray tube tends to be slender with a narrow neck portion. Therefore, at the time of transfer, grasp the neck portion with a conventional funnel transfer machine. There is a problem in that the neck may be broken when it is turned or inverted.

The object of the present invention is to solve the problems of the conventional funnel transfer machine for cathode ray tubes, and the center of gravity of the entire work (refers to the one including the funnel and neck, the same applies hereinafter) at the time of transfer. It is an object of the present invention to provide a funnel transfer machine for a cathode ray tube that can attract and hold the funnel portion near the position and invert and transfer it in a safe state.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a work pedestal capable of being raised with respect to a pair of left and right fingers, and a plurality of suction pads are provided at diagonal positions of the work pedestal. It is installed. That is, a shaft is erected up and down by an elevating means provided inside the machine body, a horizontal swing arm that is rotated around the shaft as a swing center is attached to the upper part of the shaft, and a grip unit supporting portion is provided at the tip of the swing arm. And a gripping unit supporting section includes a gripping unit for sucking and gripping a cathode ray tube, and a reversing means for reversing and driving the unit on an axis orthogonal to the swivel arm. The grip unit is a pair of left and right fingers having a funnel seat that abuts the funnel near the root of the cathode ray tube neck, and can be raised with respect to each finger, and a plurality of suction pads on a concentric circle from the grip center. And a work pedestal to which the suction pad is attached;
It is characterized in that it is connected to a suction vacuum circuit having a pair of two suction pads at opposite positions in a direction intersecting with each other with the grip center interposed therebetween.

[Operation] A grip unit for adsorbing and gripping the funnel of the cathode ray tube is attached to the tip of the swivel arm provided on the upper part of the shaft, and a reversing means for reversing this grip unit is equipped, so that the neck is down and the trolley After aligning the misalignment and the misalignment of the work conveyed by a conveyor or the like, the work piece is adsorbed and gripped at the funnel portion near the center of gravity, inverted in a safe state, and transferred to a required position. Further, in the case of abnormal adsorption, the work is reliably adsorbed by applying repeated impacts (vertical movement of the adsorption pad).

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

(Overall Configuration) First, the overall configuration will be described with reference to FIGS.

FIG. 1 is an overall schematic perspective view, FIG. 2 is a front view, FIG. 3 is a plan view, FIG. 4 is a left side view of FIG. 2, and FIG. FIG. 6 is a partial left side view showing a state where the work is sucked and gripped, and FIG. 6 is a left side view showing a state where the swing arm is swung after the work is sucked and gripped and the work is being transferred.

In FIG. 1 and FIG. 2, reference numeral 1 is a trolley conveyor in a cathode ray tube manufacturing line. A work 2 is supported by a hanger 1a of the trolley conveyor 1 while being supported by a funnel 2a with a neck 2b facing down. come. On the other hand, the lift-and-carry type transfer table 3 stands by at a predetermined position laterally separated from the transfer position of the trolley conveyor 1. The work 2 is transferred to the transfer table 3 and then carried to the next process. The funnel transfer machine is this trolley conveyor 1
Is installed between the transfer position of the trolley conveyor 3 and the standby position of the transfer table 3, and the work 2 conveyed by the trolley conveyor 1 is gripped and unloaded, and the work 2 is moved to the predetermined position and transferred. The work 2 is transferred to the mounting table 3.

Rails 5 and 5 are laid between the transportation position of the trolley conveyor 1 and a predetermined position where the transfer table 3 is on standby via a pedestal 4, and a dolly 6 which is movable on the rails 5 and 5 is a machine body. 7 is fixed. M ₄ is a motor for driving the carriage 6, and a screw rod 8 rotated by the motor M ₄ is screwed into an unillustrated female screw portion of the carriage 6. 9 is a stopper cushion, which is fixed to the inner end of the gantry 4 (FIGS. 2 and 3).

The machine body 7 is equipped with the following mechanism having a cylindrical coordinate type robot function. First, a shaft 12 driven by an elevating means 11 is erected on the machine body 7 so as to be able to move up and down. M ₂ is a lifting drive motor, and a DC servo motor is used (Fig. 2). Reference numeral 13 is a screw rod for lift, and this screw rod 13 is connected to a lifting drive motor M ₂ via a belt 14. Screw rod
To the left and right of 13, as shown in FIG.
15 are installed side by side. A lifting bracket 16 is screwed onto the screw rod 13, and a shaft is attached to the lifting bracket 16.
The lower part of 12 is fixed (Fig. 2). Lifting bracket
Lifting sliders 17, 17 are attached to the left and right ends of 16, respectively. The elevating sliders 17, 17 are slidably mounted on the guide shafts 15, 15, respectively. When the screw rod 13 is rotated, the lift bracket 16 rotates together with the screw rod 13, but the lift sliders 17, 17
It is regulated by and is moved up and down. Thus, the lifting drive motor M ₂ , the screw rod 13, the guide shafts 15 and 1
5, lift bracket 16, lift slider 17, 17, etc.
Elevating means 11 for driving the shaft 12 is configured.

A swivel arm 19 driven by swivel means 18 with the shaft 12 as a swivel axis is mounted on the upper portion of the shaft 12 as shown in FIGS. A grip unit 23, which will be described later, is fixed to the tip of the revolving arm 19. FIG. 7 is an enlarged cross-sectional view of the turning means 18, M ₃ is a turning drive motor, 21 is a harmonic speed reducer, and both M ₃ and 21.
The turning means 18 is configured by the above. Swivel arm 19
Is attached to a portion of the end plate 22 which is rotated via the harmonic speed reducer 21. The swivel arm 19 moves clockwise from the position shown in FIG. 3 to a predetermined swivel position 90.
Turns by 90 degrees, then turns 90 degrees in the opposite direction from the turning end and returns to the original position. The predetermined turning position is detected by a turning detection sensor described later, and the driving of the turning drive motor M ₃ is stopped by the detection signal.

(Gripping unit) A gripping unit support portion 36 is attached to the tip of the revolving arm 19. The grip unit supporting portion 36 is a grip unit for sucking and gripping the funnel 2a of the work (CRT) 2
23 and a reversing means 24 for reversing the unit 23 by 180 ° on an axis orthogonal to the revolving arm 19 (FIG. 1).

The grip unit 23 is a pair of left and right fingers 47, 46 having funnel seats 26, 26 that abut the funnel 2a near the root of the cathode-ray tube neck, and can be raised with respect to each of the fingers 47, 46, and from the grip center. Work pedestal 25, 25 with multiple sets of suction pads 27a, 27b mounted on a concentric circle
And (Fig. 8). Further, the suction pads 27a and 27b are
The suction vacuum circuits 57a and 57b (the first suction vacuum circuit 57a and the second suction pad 57b, which are a set of two suction pads at opposite positions in a direction intersecting with each other with the grip center interposed therebetween).
9a, 12).

As shown in FIG. 8, reference numeral 23a is a unit main body, and an actuator for opening and closing drive is internally mounted in this portion as described later. M ₄ is a reversing drive motor, 28 is a harmonic speed reducer, and the reversing means is constituted by the motor M ₄ and the speed reducer 28.

1 to 4, reference numeral 29 is a cable carrier duct, 30
Each of a and 30b has a flexible cable.

(Turning means) Next, the turning means 18 will be described in more detail with reference to FIG. Sign
Reference numeral 33 is a revolving unit main body, and the above-mentioned harmonic speed reducer 21 is incorporated in the revolving unit main body 33. The deceleration output side of the harmonic speed reducer 21 communicates with the end plate 22 via the shaft portion 34. A turning detection sensor 35 includes a proximity switch 35a and a detection piece 35b. The proximity switch 35a is fixed to the turning portion main body 33 side, and the detection piece 35b is attached to the end plate 22 side.

(Gripping Unit Drive Mechanism) Next, the gripping unit 23, its opening / closing drive mechanism, and the reversing means 24 will be described in more detail with reference to FIGS. 8 to 11. 8 is a side view of the grip unit 23, FIG. 9A is a plan view of the same,
FIG. 9B is a partial plan view showing a state in which the grip unit 23 is opened, and FIG. 10 is an enlarged sectional view taken along the line XX of FIG. 9A showing the opening / closing drive mechanism of the workpiece pedestal 25, and FIG. [Fig. 9] is an enlarged cross-sectional view taken along line YY of Fig. 9A, showing a lift drive mechanism for the work cradle 25.

First, referring to FIG. 8, the reversing means 24 arranged on the back side of the grip unit 23 will be described. The reversing means 24 is composed of a member similar to the turning means 18 and the like. That is, a harmonic reduction gear is built in the grip unit support portion 36, and the deceleration output side is provided with a flange 38 through a shaft portion 37.
It leads to. 39 is a reversal angle sensor, proximity switch
And the detection piece 39b, the proximity switch 39a is the reversing unit body.
It is fixed to the 36 side, and the detection piece 39b is attached to the flange 38 side.

The grip unit 23 has a unit body 23a attached to the flange 38. And this unit body
The opening / closing drive mechanism 41 of the grip unit 23 as shown in FIG. 8, FIG. 9A and FIG.
Explaining the structure of the opening / closing drive mechanism 41, 42 is a thin air cylinder, and a rack 43 is attached to its piston rod 42a. On the other hand, reference numerals 44 and 45 are studs that are oppositely provided on the left and right, and boss portions 46a and 47a of fingers 46 and 47 are rotatably mounted on the studs 44 and 45 via bearings 48. The work cradle 25, 25 is provided with a finger 4 as described later.
It is attached to 6 and 47 so that it can rotate freely within the required range. The boss portion 46a of the fingers 46 and 47 as shown in Figure 9A, each upper surface of 47a, the first sector gear G ₁ and the second is sector gear G ₂ are respectively fixed, the both sector gears G ₁ , G ₂
Are in mesh. Also in the second upper portion of the sector gear G ₂ is fixed a third sector gear (pinion) G _3, the rack 43 to the third sector gear G ₃ is meshed.

In FIGS. 8 and 9A, 51 and 52 are thin air cylinders for vertically lifting the work pedestals 25 and 25, respectively, and as shown in FIG. The pedestal 25 is attached. 53a, 53b
Is a guide shaft, the upper end of which is fixed to the work pedestal 25, and is vertically movably inserted into the fingers 46 and 47 via linear ball bearings 53c and 53d.

On the other hand, the funnel seats 26, 26 are fixed to the tip ends of the fingers 46, 47 with bolts 55. Also suction pad 27a
·, 27b · are attached to the work pedestals 25, 25. The suction pads 27a, 27b are the work rests 25, 25.
When driven by the air cylinders 51 and 52 to move up and down, the air cylinders move up and down accordingly, so that the funnel seats 26 and 26 can be floated. Reference numeral 56 is an internal portion of the solenoid valve in the vacuum circuit described below.

(Vacuum Circuit for Driving Suction Pad) FIG. 12 shows a vacuum circuit for driving the suction pads 27a, 27b. In the figure, reference numeral 58 is a compressed air source, and a first vacuum circuit 57a and a second vacuum circuit 5 are provided for the compressed air source 58.
7b is installed side by side. The first vacuum circuit 57a has a first
Solenoid valve 59a, second solenoid valve 60a,
The decompression unit 61 and the check valve 62a are sequentially connected, and two suction pads 27a are provided at the next stage of the check valve 62a,
27a is commonly connected. Second solenoid valve 60a
From the port A, a suction release circuit having a flow control valve 63a with a check valve is provided in parallel with the pressure reducing unit 61 and the check valve 62a. Pressure reduction unit 61
Reference numeral 61a indicates an ejector, 61b is a decompression sensor, 61c is a filter, and the ejector 61a inputs compressed air from a compressed air source to generate decompressed air on the adsorption pads 27a, 27a side of the subsequent stage.

The second vacuum circuit 57b is also composed of the same circuit as the first vacuum circuit 57a, and the other two suction pads 27b, 27b are commonly connected to the second vacuum circuit 57b.

As shown in FIG. 9A, the suction pads 27a, 27a and 27b, 27b are arranged on the work pedestals 25, 25, and are located at opposite positions in a direction intersecting each other on the concentric circles from the gripping center on both sides of the gripping center. It is arranged. That is, the first vacuum circuit 57a and the second vacuum circuit 57b are separately provided for each pair of suction pads arranged at the opposing positions. The solenoid valves 59a, 60a, etc. are controlled by a controller (not shown).

(Operation) Next, the operation will be described.

When the work 2 is conveyed by the trolley conveyor 1 to a predetermined position, the hanger 1a is stopped and the work 2 is unloaded and waits at the position (Fig. 2). On the other hand, in the funnel transfer machine, the traveling drive motor M ₁ is driven and rotated, and the machine body 7 moves to the work 2 side. During this movement or before the movement is started, the opening / closing drive mechanism 41 in the grip unit 23 is driven to open the work pedestals 25, 25 (see FIG. 3, 9B).
In the figure, the machine body 7 moves to a position where the opened work cradle 25, 25 sandwiches the neck 2b portion of the work 2. After the move
The elevating means 11 is driven to raise the shaft 12, and the gripping unit 23 is raised to move the funnel seat 2
6, 26 contact the funnel 2a of the work 2. At this time, as shown in FIG. 8 and FIG. 9A, the funnel seats 26, 26 in the closed state have the shape of a brim, so that the posture of the work 2 carried by the hanger 1a is somewhat unfavorable. However, the work 2 is supported so as to be dropped into the center of the funnel seats 26, 26 by eliminating the misalignment and the misalignment by changing to the correct posture. The stopping accuracy of the conveyed items by the trolley conveyor is usually about ± 15 mm, but the operation of each part of the gripping unit allows positioning without problems.

Next, the work cradle 25, an air cylinder 51 for driving the lifting of the 25,
52 is driven, the work pedestals 25, 25 rise as shown by the chain line in FIG. 8, and the suction pads 27a, 27b, are pressed against the funnel 2a. In this pressed state, the solenoid valves 59a, 58b, 60 in the first and second vacuum circuits 57a, 57b are
a and 60b are switched to the open state shown in FIG. 12, compressed air is supplied to the pressure reducing units 61 and 61, and the suction pad 27a
・, 27b ・ side is decompressed and suction driven. At this time, the suction state is monitored by the depressurization sensor 61b, and when the depressurization up to, for example, about 400 mmHg is confirmed, the complete suction state is set.
On the other hand, in the case of abnormality detection, for example, the first vacuum circuit 57a
When it is confirmed that the suction pads 27a, 27a on only the side of the second vacuum circuit 57b are not suctioned, the air cylinders 51, 52 are driven and controlled.
Repeatedly finely move 27a and 27b up and down to correct the pressing state of the suction pad and achieve complete suction. Both vacuum circuits 57a, 57b
When the pressure reductions are simultaneously confirmed by the pressure reduction sensors 61b and 61b in FIG.

After complete adsorption, the supply of compressed air to the pressure reducing units 61, 61 is stopped by control such as switching the first solenoids 59a, 59b between the A and B ports, and the traveling drive motor M ₁ is stopped in the adsorption holding state. The machine body 7 is retracted by rotating it in the reverse direction. During this backward movement, the revolving means 18 and the reversing means 24 are driven to revolve the revolving arm 19 by 90 °, and the grip unit 23 is rotated 180 degrees.
Turn upside down. When the machine body 7 retreats to a predetermined position by this turning and reversing operation, the work 2 is positioned on the transfer table 3 with the opening surface facing down (the position indicated by the phantom line in FIG. 6).
At this position, the lifting means 11 is driven in the descending direction to move the shaft 12
To lower the work 2 onto the transfer table 3 (solid line position in FIG. 6). When the transfer table 3 is approached by descending, the first solenoid valve in the vacuum circuits 57a and 57b
Switch between 59a and 59b to release the A port to the atmosphere, set the back pressure to 0, and release the vacuum so that the work is not unduly pressed. If necessary, the second solenoid valve 60
By switching a and 60b between ports A and B, compressed air is sucked through the suction pad 27a through the squeezing portions of the flow control valves 63a and 63b.
-Feeding to 27a, 27b, 27b, the suction state is forcibly released, and the work 2 is transferred onto the transfer table 3. After the transfer,
Raise the swivel arm 19 and reverse it to its original state 90
It is turned back to the state shown in FIG.

[Effects of the Invention] As described in detail above, according to the present invention, a gripping unit for sucking and gripping the funnel portion of the cathode ray tube is attached to the tip of the swivel arm provided on the upper portion of the shaft, and the gripping unit is inverted. Since it is equipped with a reversing means, it does not cause misalignment or misalignment of the work conveyed by a trolley conveyor with the neck down, and it sucks and grips at the funnel part close to the center of gravity, and it is safe. It can be reversed in the state and transferred to a required position.

In addition, a work pedestal is attached to the pair of right and left fingers having a funnel basin so that it can be raised, a plurality of suction pads are provided on the work pedestal, and two suction pads at opposite positions in the intersecting direction with the grip center sandwiched therebetween. Since a set of pads is connected to each suction vacuum circuit, the pads can be accurately sucked by finely moving the work table vertically during abnormal suction.

[Brief description of drawings]

1 is a schematic perspective view of a funnel transfer machine for a cathode ray tube according to the present invention, FIG. 2 is a front view, FIG. 3 is a plan view, FIG. 4 is a left side view of FIG. 1, and FIG. Similar to FIG. 4, it is a view partially showing the left side surface and showing a state in which a work is sucked and gripped, and FIG. 6 is a left side showing a state in which the swivel arm swivels and reverses after the work is sucked and held to transfer the work. Floor plan, No. 7
Fig. 8 is an enlarged vertical sectional view of the swivel means, Fig. 8 is an enlarged side view showing the grip unit in a partially cutaway view, Fig. 9A is an enlarged plan view of the grip unit, and Fig. 9B is the same grip unit opening operation. FIG. 10 is a partial plan view showing the state of FIG.
-X line sectional view, FIG. 11 is a YY line sectional view of FIG. 9A, FIG.
The figure shows a vacuum circuit for driving the suction pad. 2: Work, 2a: Funnel, 3: Transfer stand, 5: Rail, 7: Machine, 11: Lifting means, 12: Shaft, 18: Swing means, 19: Swing arm, 23: Grasp unit, 24: Inversion means , 25: work pedestal, 26: funnel pedestal, 27a, 27b: suction pad, 41: open / close drive mechanism, 42, 51, 52: air cylinder lid, 57a, 57b: vacuum circuit.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location H01J 9/46 A 7250-5E

Claims (2)

[Claims] 1. A shaft is erected so as to be able to move up and down by an elevating means provided inside a body, and a horizontal swing arm which is rotated around the shaft as a swing center is attached to the upper part of the shaft.
A transfer machine by a cylindrical coordinate robot in which a gripping unit main body is attached to the tip of the swivel arm, wherein the gripping unit main body includes a gripping unit for adsorbing and holding a cathode ray tube, and the unit on an axis orthogonal to the swivel arm. The gripping unit comprises a pair of left and right fingers having a funnel seat abutting the funnel near the root of the cathode ray tube neck portion, and the gripping unit is capable of being raised with respect to each finger, and is located above the gripping center. It is composed of a work pedestal in which a plurality of sets of suction pads are mounted on a concentric circle, and the suction pad is a suction vacuum circuit having a pair of two suction pads at a position in a direction intersecting with each other with the grip center interposed therebetween. A CRT funnel transfer machine characterized by being connected. 2. The CRT funnel transfer machine according to claim 1, wherein the machine body is movable on a rail laid between a gripping position and a transfer position of the CRT funnel. .