JP2020078843A - Fixing device and fixing system comprising the same - Google Patents

Abstract

To provide a fixing device capable of simplifying an operation.SOLUTION: A cylinder device (3) provided in a robot arm (2) makes an output member (15) pressed via an opening (12c) formed on the tip side of a fixing device (1). Thus, a locked state of the fixing device (1) is shifted to an unlocked state. Thereby, conveyance of a work pallet (M) and switching between the locked state and unlocked state of the fixing device (1) can be operated by the robot arm (2).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a fixing device, and more particularly to a fixing device that detachably fixes a movable member such as a work pallet to a reference member such as a table of a machining center.

  An example of this type of fixing device is described in Patent Document 1 (International Publication No. 2004/012902). The conventional technique is configured as follows.

  As shown in FIG. 1 of the conventional publication, pressure oil is supplied to a hydraulic chamber through a pressure oil supply/discharge passage provided in a reference member. The piston raises the rod against the clamp spring by the hydraulic pressure of the hydraulic chamber, and each ball (engagement ball) moves to the disengagement position facing the retracting groove, whereby the lock is released.

International Publication 2004/012902 Pamphlet

  The above conventional technique has the following problems. Usually, a movable member such as a work pallet is transferred by a transfer device such as a robot arm. Therefore, in the above-described conventional technique, it is necessary to separately perform the operation of transporting the movable member and the operation of switching the fixing device between the locked state and the unlocked state, and the operation is complicated.

  An object of the present invention is to provide a fixing device capable of simplifying operation.

In order to achieve the above object, the present invention has a fixing device configured as follows, for example, as shown in FIGS. 1 to 5.
In the fixing device 1 that detachably fixes the movable member M to the reference member R, the cylindrical member 12 that can be inserted into the first hole M1 formed in the movable member M has the opening 12c on the tip side. An engagement member 14 provided on the peripheral wall of the tubular member 12 and engaged with the movable member M is movable in the radial direction of the tubular member 12. The output member 15, which is inserted into the tubular member 12 and is movable in the axial direction of the tubular member 12, is pressed through the opening 12c so that the engaging member 14 is brought into the engaging position X or the engaging state. Move to position Y.

Since the present invention is configured as described above, it has the following operational effects.
For example, when the movable member is fixed to the reference member by the fixing device, the fixing device is switched from the locked state to the unlocked state by pressing the output member through the opening formed on the tip side of the fixing device. Can be For this reason, for example, by providing a pressing member for pressing the output member to a conveying device that conveys the movable member, the conveying device can perform the conveyance of the movable member and the switching between the locked state and the unlocked state of the fixing device. It becomes possible to operate with. Therefore, according to the present invention, it is possible to provide the fixing device capable of simplifying the operation.

The present invention is preferably configured as described in (1) to (3) below.
(1) For example, as shown in FIGS. 3 and 4, when the output member 15 is pressed, the engagement member 14 moves from the engagement position X to the engagement release position Y.

  In this case, it is possible to configure a fixing device that is in the unlocked state while the output member is pressed.

  (2) As shown in FIGS. 1 to 5, for example, a spring member 16 for urging the output member 15 toward the tip side is further provided.

  In this case, since the output member returns to the tip side when the output member is not pressed, it is possible to suitably switch between the locked state and the unlocked state of the fixing device in conjunction with the pressing operation of the output member. Further, since pressure fluid such as pressure oil is unnecessary for the operation of the fixing device, the configurations of the fixing device and the reference member can be simplified.

  (3) For example, as shown in FIGS. 1 to 5, the engaging member 14 is configured by a plurality of engaging balls 14, and the engaged member 6 is provided in the first hole M1. The ball 14 fixes the movable member M to the reference member R by engaging with the inner peripheral surface 61a of the engaged member 6 at the engaging position X.

  In this case, since the engaging ball engages with the inner peripheral surface of the engaged member provided in the first hole of the movable member, the movable member can be more reliably fixed to the reference member.

Further, in order to achieve the above object, the present invention has a fixing system configured as follows, for example, as shown in FIGS. 1 to 5.
A fixing system, which includes the fixing device 1 provided on the reference member R, a carrying device 2 for carrying the movable member M, and a cylinder device 3 provided on the carrying device 2, which is inserted into the opening 12c. A cylinder device 3 having a possible pressing member 32c, and a clamp device 4 provided in the transport device 2 for clamping the movable member M are provided.

  In this case, the transportation of the movable member and the switching between the locked state and the unlocked state of the fixing device can be operated by the transportation device. Therefore, according to the present invention, it is possible to provide the fixing system capable of simplifying the operation.

  The present invention described above is preferably configured as the following (4) and (5).

  (4) For example, as shown in FIGS. 2 to 5, the clamp device 4 clamps the movable member M by engaging with the inner peripheral surface of the second hole M2 formed in the movable member M.

  In this case, by inserting the cylinder device and the clamp device from the same direction into the first hole and the second hole formed in the movable member, the fixed device is switched between the locked state and the unlocked state, and the movable member It can be done with a clamp.

  (5) For example, as shown in FIG. 1 to FIG. 5, the transfer device 2 is configured by a robot arm 2, and the cylinder device 3 and the clamp device 4 are provided at the tip portion 2 a of the robot arm 2.

  In this case, the transfer of the movable member and the switching between the locked state and the unlocked state of the fixing device can be suitably operated by the robot arm.

FIG. 1 shows an embodiment of the present invention and is a cross-sectional view in elevation of a fixing system using a fixing device. FIG. 2 is a view similar to FIG. 1, showing a state where the clamping device of the fixing system clamps the work pallet. FIG. 3 is a view similar to FIG. 1 above, showing the unlocked state of the locking device of the locking system. FIG. 4 is a view similar to FIG. 1 above, showing a state where the robot arm of the fixing system is raised. FIG. 5 is a view similar to FIG. 1 above, showing a state where the robot arm is further raised.

  An embodiment of the present invention will be described below with reference to FIGS. 1 to 5.

  First, the structure of each part of the fixing system will be described with reference to FIGS. 1 to 5. The fixing system includes a fixing device 1 for fixing a work pallet M as a movable member to a table R as a reference member, a robot arm 2 as a transfer device, and a cylinder device 3 provided at a tip 2a of the robot arm 2. And a clamp device 4.

  First, the structure of the fixing device 1 will be described. As shown in FIG. 1, the housing 11 of the fixing device 1 is attached to the upper surface of the table R. The housing 11 has a distal end protruding from the upper surface of the table R and a proximal end embedded in the table R. The housing 11 has a tubular member 12 and a lower wall 13 fitted from below the tubular member 12.

  A housing hole 12a is formed in the vertical direction (axial direction of the tubular member 12) on the base end side in the tubular member 12. Further, an operation hole 12b having a diameter smaller than that of the accommodation hole 12a is formed in the vertical direction at the tip end side in the tubular member 12 so as to communicate with the accommodation hole 12a. The operation hole 12b forms an opening 12c by opening on the tip end side of the tubular member 12.

  Four guide holes 12d are formed on the peripheral wall of the tubular member 12 at predetermined intervals in the circumferential direction (only two guide holes 12d are shown in FIGS. 1 to 5). An engagement ball 14 as an engagement member is provided in each guide hole 12d so as to be movable in the radial direction of the tubular member 12. Further, the output member 15 is inserted into the accommodation hole 12a so as to be vertically movable. The upper surface of the output member 15 facing the operation hole 12b of the tubular member 12 functions as a pressed surface 15a. Further, the output member 15 is formed with a retreat groove 15b on its peripheral wall for retreating the engagement ball 14 in the circumferential direction, and is formed continuously with the retreat groove 15b so as to be expanded downward (the axial center is advanced downward). The output surface 15c is formed so as to be separated from the output surface 15c.

  The advancing spring 16 is mounted between the lower surface of the output member 15 and the upper surface of the lower wall 13, and the advancing spring 16 biases the output member 15 upward. Inside the advance spring 16, a protrusion 13 a protruding upward from the lower wall 13 is inserted. The protrusion 13a guides the advancing spring 16 in the vertical direction. The protrusion 13a is capable of contacting (receiving) the output member 15 from below.

  In the fixing device 1 having such a configuration, when the pressed surface 15a of the output member 15 is pressed through the opening 12c, the fixing device 1 switches between the locked state and the unlocked state. More specifically, as shown in FIGS. 1, 2 and 5, when the output member 15 is at the upper end position, the engagement ball 14 is pushed outward by the output surface 15c of the output member 15 in the radial direction. As a result, it is located at the engagement position X. As a result, the fixing device 1 is locked and the work pallet M is fixed to the table R. On the other hand, as shown in FIGS. 3 and 4, when the pressed surface 15a is pressed and the output member 15 descends from the upper end position, the engagement ball 14 moves inward in the radial direction, and the retracting groove of the output member 15 is moved. It is moved to the disengagement position Y by being received by 15b. As a result, the fixing device 1 is unlocked and the work pallet M can be transported from the table R.

  The work pallet M is formed with a first hole M1 into which the tip side of the fixing device 1 can be inserted and a second hole M2 into which the tip side of the clamping device 4 can be inserted. The first hole M1 is provided with a block 6 as an engaged member that engages with the engagement ball of the fixing device 1. The block 6 includes an annular ring member 61 that engages with the engagement balls of the fixing device 1 and an annular fixing member 62 that fixes the ring member 61 in the first hole M1. The inner peripheral surface 61a of the ring member 61 has a taper surface whose lower portion bulges inward and whose diameter gradually increases in the upward direction. The work pallet M is fixed to the table R by the engagement of the tapered surface with the engagement ball 14 at the engagement position X.

Next, the structures of the cylinder device 3 and the clamp device provided at the tip 2a of the robot arm 2 will be described.
A cylinder hole 31 a is formed inside the housing 31 of the cylinder device 3. A piston 32a is fitted into the cylinder hole 31a via a sealing member 33 in a hermetically sealed manner so as to be movable in the vertical direction (axial direction). A piston rod 32b is provided on the piston 32a so as to project from the piston 32a toward the tip side. The output member 32 is configured by the piston 32a and the piston rod 32b. A pressing member 32c that can be inserted into the opening 12c of the fixing device 1 is attached to the tip end side of the piston rod 32b. When the pressing member 32c presses the pressed surface 15a of the fixing device 1, the fixing device 1 is switched from the locked state to the unlocked state.

  A first working chamber 34 is formed above the piston 32a, and a second working chamber 35 is formed below the piston 32a. A first supply/discharge passage 36 for supplying and discharging a pressure fluid to/from the first working chamber 34 communicates with the first working chamber 34. The second working chamber 35 communicates with a second supply/discharge passage 37 for supplying and discharging the pressure fluid to and from the second working chamber 35.

  In the cylinder device 3 having such a configuration, the pressure fluid in the second working chamber 35 is discharged from the second supply/discharge passage 37, and the pressure fluid from the first supply/discharge passage 36 is supplied to the first working chamber 34. As a result, the output member 32 descends. Further, the pressure fluid from the first working chamber 34 is discharged from the first supply/discharge passage 36, and the pressure fluid from the second supply/discharge passage 37 is supplied to the second working chamber 35, so that the output member 32 is To rise.

  A housing hole 41a is formed in the vertical direction (axial direction) at the tip end side of the housing 41 of the clamp device 4. The support cylinder 42 is inserted into the accommodation hole 41a so as to be movable in the vertical direction and the radial direction. The support cylinder 42 has a top portion 42a, a peripheral wall 42b, and a flange portion 42c that are sequentially formed from the lower side. The top portion 42a and the peripheral wall 42b of the support cylinder 42 can be inserted into the second holes M2 of the work pallet M. The advancing spring 43 is mounted between the upper surface of the accommodation hole 41a and the upper surface of the support cylinder 42, and the advancing spring 43 biases the support cylinder 42 downward via the spring receiver 43a.

  Three guide holes 42d are formed in the peripheral wall 42b of the support cylinder 42 at predetermined intervals in the circumferential direction (only one guide hole 42d is shown in FIGS. 1 to 5). The engagement member 44 is inserted into each guide hole 42d so as to be movable in the radial direction along the wall surface of the guide hole 42d. A pressing portion 44a is formed on the outer peripheral portion of each engaging member 44, and the pressing portion 44a can press the inner peripheral surface of the second hole M2 of the work pallet M. Further, the receiving surface 44b is formed on the inner wall of the engaging member 44 so as to approach the axial center as it goes upward. Further, an annular elastic member 44c is mounted so as to straddle the outer peripheral wall of the engaging member 44 and the outer peripheral wall of the support cylinder 42.

  The clamp rod 45 is inserted into the support cylinder 42 so as to be vertically movable. The clamp rod 45 has a first rod 45a and a second rod 45b which are sequentially formed from the lower side. The first rod 45a is connected to the second rod 45b via a pin so as to be movable in the radial direction. The lower end portion (tip portion) of the first rod 45a is slidably inserted into the inner peripheral hole of the support cylinder 42. A wedge portion 46 is provided at the lower end of the first rod 45a. The wedge portion 46 has a wedge surface 46a formed so as to become narrower as it goes upward (closer to the axis as it goes upward), and the wedge surface 46a engages with the receiving surface 44b of the engaging member 44 from below. To do.

  A cylinder hole 47 communicating with the accommodation hole 41 a is formed in the housing 41 on the upper side (base end side). The cylinder hole 47 has a small diameter hole 47a and a large diameter hole 47b formed in order from the bottom. The second rod 45b of the clamp rod 45 is vertically movable and inserted into the small diameter hole 47a in a hermetically sealed manner.

  A cylindrical piston 48 is vertically movable and inserted into the large diameter hole 47b in a hermetically sealed manner. A first working chamber 49 is formed above the piston 48, and a second working chamber 50 is formed below the piston 48. The first working chamber 49 communicates with a first supply/discharge passage 51 for supplying and discharging the pressure fluid to/from the first working chamber 49. The second working chamber 50 communicates with a second supply/discharge passage 52 for supplying and discharging the pressure fluid to and from the second working chamber 50. A holding spring 53 is mounted between the upper wall of the housing 41 and the piston 48, and the holding spring 53 urges the piston 48 downward.

  A cylindrical supporting portion 54 is provided so as to project upward from the lower end surface of the large diameter hole 47b, and guide grooves 54a are formed in the upper end portion of the supporting portion 54 in the radial direction at intervals in the circumferential direction. A groove 45c is formed on the outer peripheral wall of the second rod 45b at a position corresponding to the guide groove 54a so as to approach the axis as it goes downward, and a receiving surface 45d is formed on the bottom wall of the groove 45c. A groove 48a is formed on the inner peripheral wall of the piston 48 at a position corresponding to the guide groove 54a so as to approach the axial center as it goes upward, and a pressing surface 48b is formed on the bottom wall of the groove 48a. The engagement ball 55 is inserted into the wedge space formed by the guide groove 54a, the receiving surface 45d, and the pressing surface 48b.

  In the clamp device 4 having such a configuration, the pressure fluid in the second working chamber 50 is discharged from the second supply/discharge passage 52, and the pressure fluid from the first supply/discharge passage 51 is supplied to the first working chamber 49. As a result, the piston 48 descends. More specifically, the piston 48 descends due to the pressing force corresponding to the pressure of the pressure fluid in the first working chamber 49 and the biasing force of the holding spring 53. Next, when the piston 48 pushes the engagement ball 55 inward in the radial direction along the guide groove 54a via the push surface 48b, the engagement ball 55 moves through the receiving surface 45d to the clamp rod 45. Is pushed upwards. Subsequently, the engagement members 44 are moved outward in the radial direction along the guide holes 42d via the wedge surfaces 46a of the wedge portions 46 and the receiving surfaces 44b of the engagement members 44. Then, the pushing portion 44a of each engaging member 44 is engaged with the inner peripheral surface of the second hole M2 of the work pallet M. As a result, the clamp device is in a clamped state in which the work pallet M is clamped.

  In the clamp device 4, the pressure fluid in the first working chamber 49 is discharged from the first supply/discharge passage 51, and the pressure fluid from the second supply/discharge passage 52 is supplied to the second working chamber 50. , The piston 48 rises. In more detail. The pressing force corresponding to the pressure fluid of the second working chamber 50 moves the piston 48 upward against the downward biasing force of the holding spring 53, and the pressure fluid of the second working chamber 50 Moves the clamp rod 45 downward. Then, by moving the wedge surface 46a of the wedge portion 46 downward, the elastic restoring force of the annular elastic member 44c mounted over the outer peripheral wall of the engaging member 44 and the outer peripheral wall of the support cylinder 42 causes The engagement member 44 is moved inward of the support cylinder 42. As a result, the clamp device is in a released state in which the work pallet M has been released.

The fixing system configured as described above operates as follows, as shown in FIGS. 1 to 5.
As shown in FIG. 1, when the work pallet M is fixed to the table R by the fixing device 1, the output member 15 of the fixing device 1 is at the upper end position. Therefore, the engagement ball 14 is pushed outward in the radial direction by the output surface 15c of the output member 15 and is located at the engagement position X.

  Next, as shown in FIG. 2, the robot arm 2 is lowered to insert the support cylinder 42 of the clamp device 4 into the second hole M2 of the work pallet M, and the pressing portion 44a of the engaging member 44 is moved to the work pallet M. The inner peripheral surface of the second hole M2 is engaged. As a result, the work pallet M is clamped by the clamp device 4.

  Next, as shown in FIG. 3, when the piston 32a of the cylinder device 3 is advanced downward, the pressing member 32c is inserted from the opening 12c of the fixing device 1. Next, the pressing member 32c moves the pressed surface 15a of the output member 15 downward. Then, the output member 15 of the fixing device 1 moves downward, a space is formed between the accommodation hole 12a and the retracting groove 15b of the output member 15, and the engagement ball 14 moves inward in the radial direction. Will be able to. As a result, the engagement ball 14 moves to the engagement release position Y in the space, the fixing device 1 is unlocked, and the work pallet M can be transported from the table R. Then, the output member 15 is received on the upper surface of the protrusion 13 a of the lower wall 13. At this time, the piston 32a of the cylinder device 3 is moved to the mid-stroke position, and is received by the upper surface of the protrusion 13a via the output member 15 at the mid-stroke position.

  Next, as shown in FIG. 4, the robot arm 2 is raised. Then, the clamp device 4 lifts the work pallet M. Then, the piston 32a of the cylinder device 3 advances downward from the mid-stroke position to the stroke end so as to follow the raising operation of the robot arm 2. Therefore, the state in which the pressing member 32c presses the output member 15 against the protrusion 13a of the lower wall 13 is maintained. Therefore, the unlocked state of the fixing device 1 is continued.

  Finally, as shown in FIG. 5, when the robot arm 2 is further raised, the pressing member 32c of the cylinder device 3 is pulled out from the fixing device 1. Then, the advancing spring 16 of the fixing device 1 moves the output member 15 upward. As a result, the output surface 15c of the output member 15 moves the engagement ball 14 to the outward engagement position X in the radial direction.

This embodiment has the following advantages.
When the pressing member 32c of the cylinder device 3 presses the pressed surface 15a of the output member 15, the fixing device 1 can be switched from the locked state to the unlocked state. Therefore, by providing the robot arm 2 with the cylinder device 3 for pressing the output member 15, the robot arm 2 operates to transfer the work pallet M and switch the fixing device 1 between the locked state and the unlocked state. It becomes possible to do.

  Therefore, according to this embodiment, the fixing device 1 capable of simplifying the operation can be realized.

The above embodiment can be modified as follows.
The pressure fluid may be pressure oil, compressed air, or the like.

  Further, the fixing device described above is not limited to the use of fixing a work pallet or a work piece, but it is needless to say that it can be used for fixing a mold, an attachment or the like. A plurality of fixing devices may be provided on the table, or only one fixing device may be provided.

  Further, the fixing device described above can be driven by fluid pressure such as hydraulic pressure or pneumatic pressure instead of being driven by spring force.

  Further, the engaging member included in the fixing device may be a collet that engages by a frictional force or a plastic deformation force, instead of the exemplified engaging ball.

  The engaged member provided in the first hole of the movable member may be a buried block or a flange block. In addition, it goes without saying that various modifications can be made within the range that can be imagined by those skilled in the art.

1: Fixing device, 2: Robot arm (conveying device), 3: Cylinder device, 4: Clamping device, 12: Cylindrical member, 12c: Opening, 14: Engaging ball (engaging member), 15: Output member, 16 : Spring member, 32c: pressing member, M: work pallet (movable member), M1: first hole, M2 second hole, R: table (reference member), X: engagement position, Y: engagement release position.

Claims (7)

A fixing device (1) for detachably fixing a movable member (M) to a reference member (R),
A tubular member (12) insertable into the first hole (M1) formed in the movable member (M), the tubular member (12) having an opening (12c) on the distal end side;
An engaging member (14) that is provided on the peripheral wall of the tubular member (12) and that engages with the movable member (M) and that is movable in the radial direction of the tubular member (12) ( 14),
An output member (15) that is inserted into the tubular member (12) and is movable in the axial direction of the tubular member (12) and is pressed through the opening (12c) to engage the engaging member. An output member (15) for moving (14) to an engagement position (X) or an engagement release position (Y),
Fixing device (1), characterized in that The fixing device (1) according to claim 1,
When the output member (15) is pressed, the engagement member (14) moves from the engagement position (X) to the engagement release position (Y),
Fixing device (1), characterized in that The fixing device (1) according to claim 1 or 2,
A spring member (16) for urging the output member (15) toward the tip side;
Fixing device (1), characterized in that The fixing device (1) according to any one of claims 1 to 3,
The engaging member (14) is composed of a plurality of engaging balls (14),
The engaged member (6) is provided in the first hole (M1),
The engagement ball (14) engages with the inner peripheral surface (61a) of the engaged member (6) at the engagement position (X), so that the reference member (R) causes the movable member (R). Fix M),
Fixing device (1), characterized in that The fixing device (1) according to any one of claims 1 to 4, which is provided on the reference member (R),
A transfer device (2) for transferring the movable member (M),
A cylinder device (3) provided in the transfer device (2), the cylinder device (3) having a pressing member (32c) insertable into the opening (12c);
A clamp device (4) provided on the transport device (2), comprising: a clamp device (4) for clamping the movable member (M).
Fixing system characterized by that. The fixed system according to claim 5,
The clamp device (4) clamps the movable member (M) by engaging the inner peripheral surface of the second hole (M2) formed in the movable member (M).
Fixing system characterized by that. The fixation system according to claim 5 or 6,
The transfer device (2) is composed of a robot arm (2),
The cylinder device (3) and the clamp device (4) are provided at the tip portion (2a) of the robot arm (2).
Fixing system characterized by that.

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