JP2021090916A - table - Google Patents

Abstract

To provide a table on which various objects can be mounted.SOLUTION: A table 33 has: a table plate 34 on which an object 17 is loaded; a positioner 35 having a first rotating device 39 which is rotatable around a pin rotation axis 46 and is located on the table plate 34, a first off-set rotary plate 43 which is located on the first rotating device 39 and is rotatable around the pin rotation axis 46, and a positioning pin 44 which is apart from the pin rotation axis 46 and is located on the first off-set rotary plate 43; and a clamp 61 which is located on the table plate 34 and fixes the object 17.SELECTED DRAWING: Figure 3

Description

The present invention relates to a table.

Jet washers with a wash table equipped with positioning pins and link clamps are provided (eg, Sugino Machine Limited Catalog "General Purpose High Efficiency Cleaning System JCC series Jet Clean Center Series" (Catalog No. Q2426N), p. 12 "Table (option)", hereinafter, Non-Patent Document 1).

In the table described in Non-Patent Document 1, only objects having substantially the same configuration of positioning holes and installation surfaces on the mounting surface can be mounted.
An object of the present invention is to provide a table on which various objects can be mounted.

A typical aspect of the present invention is
A table board on which the object is placed and
A positioning device that can rotate around the pin rotation axis.
The first rotating device arranged on the table plate and
A first offset rotating plate arranged in the first rotating device and rotatable about the pin rotating axis, and a first offset rotating plate.
A positioning pin arranged on the first offset rotating plate, separated from the pin rotating shaft,
With a positioning device,
A clamp placed on the table plate and fixing the object,
It is a table having.

The table is used, for example, in a cleaning machine. The cleaning machine is, for example, a washing machine, an air blower, and a suction type cleaning machine. The cleaning machine has a cleaning nozzle (for example, a cleaning nozzle, an air blow nozzle, a suction nozzle). The cleaner preferably has a moving device. The moving device moves the nozzle relative to the table.
The mobile device has, for example, a traverse column and a feed post located on the traverse column. The mobile device may be, for example, an articulated robot. For example, the nozzle is placed in the moving device. The moving device may have, for example, a turret in which a plurality of nozzles are arranged.

The cleaning nozzle ejects the cleaning liquid. The washing machine cleans the object by a jet of washing liquid. The washing machine is, for example, a deburring machine using a jet. Cleaning is, for example, deburring with a jet.
The suction nozzle is installed together with the suction device. The suction nozzle is connected to a suction device and sucks foreign matter or the like from the nozzle opening.
For example, the cleaning nozzle can be inserted between the object and the table plate. For example, a cleaning nozzle has a shaft and a nozzle located at the tip of the shaft. Desirably, the axis of the cleaning nozzle extends along the axis of rotation of the nozzle, and the nozzle ejects fluid in a direction perpendicular to the axis of the nozzle. At this time, the nozzle is arranged in the moving device so as to be rotatable about the nozzle rotation axis. For example, the diameter of the shaft is smaller than the distance between the object and the table.

The table plate is, for example, a flat plate. For convenience, the surface on which the object is placed with respect to the table plate is referred to as the upper surface, and the surface opposite to the surface is referred to as the lower surface. The surface of the table may be formed in a chevron shape.
Preferably, the offset rotating plate and the positioning pin are arranged on the upper surface of the table plate. Preferably, the rotating device is located on the underside of the table.
The positioning pin is, for example, a columnar shape having a tapered surface at the tip portion. The positioning pin may be cut into a diamond shape when viewed from the axial direction.

The first rotating device, the second rotating device, and the third rotating device have the same structure.
The rotating device may have a motor. The motor is, for example, a servo motor or a stepping motor. The output shaft of the pin rotation motor may be coupled to the pin rotation shaft by a coupling. The pin rotation motor may be connected to the pin rotation shaft via a reduction mechanism (for example, a gear mechanism or a timing belt mechanism). Desirably, the coupling, reduction mechanism and servomotor are covered with a cover.
The motor may be replaced with a rotating cylinder.

The rotating device may include a shaft, a rotating lever and a telescopic cylinder. The shaft penetrates the table plate and is rotatably supported by the table plate. The offset rotary plate and rotary lever are fixed to the shaft. The telescopic cylinder is rotatably supported by the table. The cylinder rod is connected to the rotary lever, for example, with a knuckle joint.

The clamp member is, for example, a clamp pin or a clamp claw arranged on an offset rotating plate. The clamp pins may be arranged perpendicular to the table surface. The clamp pin applies a force to the object in the direction of rotation from the side surface of the object. The clamp pin is, for example, cylindrical or conical. The clamp pin may have a cross-sectional shape that decreases in diameter as it approaches the table surface.
The clamp claw protrudes in the direction of rotation of the offset rotating plate. The clamp claw is, for example, a triangular or trapezoidal protrusion when viewed toward the table surface. The clamp member is fixed to the offset rotating plate. The clamp member may be removable. The clamp member may be formed integrally with the offset rotating plate.

The detection grooves are arranged in an annular shape around the stem, for example. A flow path connecting the detection groove and the outside may be arranged. The reciprocating direction of the piston of the seating detection switch is the same as the axial direction of the positioning pin. When the object is placed on the table, the object pushes the piston down to the detection position.

The clamp roller may be a cylinder. Preferably, the clamp roller has a tapered surface. A flange may be placed on top of the clamp roller. The roller applies a force to the object from the side surface of the object in the direction along the trajectory of the roller pin. When the roller has an inclined surface, when the roller pin presses the object from the side surface, a component force in the direction toward the table acts on the object. When the roller presses the object, the object is fixed to the table.

A fixed reference seat may also be placed on the table. The fixed reference seat has, for example, a stem arranged on a table plate and a reference seat surface arranged at the tip of the stem. The object is placed on the reference seat surface. The reference seat surface can receive the objects at different positions when the objects having a plurality of shapes are arranged.

A plurality of rotation reference seats may be arranged on the table. A seating detection switch function may be provided in a part of the plurality of rotation reference seats. At this time, preferably, the seating detection switch function is provided on the two rotation reference seats.

The table may have both a rotating reference seat and a fixed reference seat. The table may have only one of a rotating reference seat and a fixed reference seat.

According to the table of the present invention, various objects can be mounted.

Perspective view of the washing machine of the embodiment Top view of the table of the embodiment Longitudinal sectional view of the positioning device of an example of the embodiment Longitudinal cross-sectional view of positioning devices of different embodiments V arrow view of FIG. Longitudinal section of the clamp of the embodiment Side view of the fixed reference seat of the embodiment Vertical sectional view of the seating detection switch of the embodiment Longitudinal section of the rotary reference seat of the embodiment Longitudinal section of the cleaning nozzle of the embodiment The figure which shows the use state of the washing machine of embodiment

As shown in FIG. 1, the washing machine 10 of the embodiment includes a washing chamber 11, a moving device 14, a nozzle 15, a table 33, and a control device 29. The washing machine 10 may have a pump 18 and a turret 13. The washing machine 10 cleans the object 17. The moving device 14, the nozzle 15, the turret 13 and the table 33 are arranged in the cleaning chamber 11. The turret 13 is arranged in the moving device 14. The nozzle 15 is arranged on the moving device 14 or the turret 13. The nozzle 15 is, for example, a direct irradiation nozzle 151 and an offset nozzle 153. Desirably, the nozzle 15 rotates about the nozzle rotation shaft 16. Desirably, the table 33 rotates about the table rotation shaft 21. The table rotation shaft 21 is perpendicular to the nozzle rotation shaft 16. The control device 29 is, for example, a numerical control device, and controls the mobile device 14, the turret 13, and the table 33.

As shown in FIG. 2, the table 33 has a table plate 34, a positioning device 35, a clamp 61, a fixed reference seat 73, and a seating detection switch 86. The object 17 is, for example, objects 171 and 172. The objects 171 and 172 differ in the position of the positioning hole, the outer shape, and the clamp position, respectively. The object 17 is placed on the fixed reference seat 73. The positioning device 35 and the clamp 61 rotate respectively according to the shape of the object 17 to be installed. The positioning device 35 is, for example, the positioning device 351 shown in FIG. 3 and the positioning device 352 shown in FIG. Instead of the seating detection switch 86 and the fixed reference seat 73, the rotation reference seat 75 (see FIG. 9) shown in FIG. 9 may be arranged.

As shown in FIGS. 3 to 5, the positioning device 351 has a rotating device (first rotating device) 39, an offset rotating plate (first offset rotating plate) 43, and a positioning pin 44. The rotating device 39 is, for example, the rotating device 391 shown in FIG. 3 and the rotating device 392 shown in FIGS. 4 and 5. The rotating device 39 is arranged on the lower surface side of the table plate 34. The offset rotating plate 43 is arranged on the upper surface side of the table plate 34 and rotates about the pin rotating shaft 46. The offset rotating plate 43 is, for example, a disk or a rod. The positioning pin 44 has a columnar shape and is fixed to the offset rotating plate 43. The positioning pin 44 is arranged apart from the pin rotation shaft 46. The tip of the positioning pin 44 is a tapered taper. When the offset rotating plate 43 rotates, the positioning pin 44 moves.

As shown in FIG. 3, the positioning device 351 has a rotating device 391. The rotating device 391 includes a motor support 36, a motor 37, a coupling 38, and a cover 45. The rotating device 391 may have a bearing 40, a shaft 42, and a seal 41. The bearing 40 is arranged inside the table plate 34. The shaft 42 penetrates the table plate 34 and is supported by the bearing 40. The shaft 42 is coaxial with the pin rotation shaft 46. The offset rotating plate 43 is fixed to the shaft 42. The motor support base 36 has a trapezoidal shape and is arranged on the lower surface of the table plate 34. The motor 37 has an output shaft 371 and is fixed to the motor support base 36. The output shaft 371 is arranged coaxially with the pin rotation shaft 46. The coupling 38 connects the shaft 42 and the output shaft 371. The cover 45 is provided on the lower surface of the table plate 34 and surrounds the rotating device 391. The cover 45 suppresses the intrusion of the cleaning liquid into the rotating device 39.
A speed reducer may be provided in the motor 37. The speed reducer is, for example, a worm gear, a helical gear, a planetary gear mechanism, and a timing belt mechanism.

As shown in FIGS. 4 and 5, the positioning device 352 has a rotating device 392. The rotating device 392 includes a lever 53, a knuckle pin 54, a knuckle joint 52, a cylinder 55, and a cylinder support shaft 56. The lever 53 is fixed to the shaft 42. One end of the lever 53 is fixed to the base end of the shaft 42. The knuckle pin 54 is arranged at the other end of the lever 53. The knuckle joint 52 is fixed to the cylinder rod of the cylinder 55. The knuckle joint 52 is rotatably connected to the knuckle pin 54. The cylinder support shaft 56 is arranged on the table plate 34. The cylinder 55 is rotatably supported by the cylinder support shaft 56. The cylinder support shaft 56 is arranged at a base end portion or a front end portion of the cylinder 55.

As shown in FIG. 6, the clamp 61 includes a rotating device (second rotating device) 39, an offset rotating plate (second offset rotating plate) 43, a roller pin (roller rotating shaft) 64, a flange 67, and a clamp roller ( It has a clamp member) 65 and a bush 66. The clamp 61 may have a support shaft 62. The offset rotary plate 43 rotates about the clamp rotation shaft 47. The support shaft 62 is fixed to the offset rotary plate 43 apart from the clamp rotary shaft 47. The roller pin 64 is fixed to the tip of the support shaft 62. The flange 67 is arranged at the tip of the roller pin 64. The bush 66 is inserted into the roller pin 64. The clamp roller 65 is inserted into the bush 66 and rotates about the roller pin 64. The clamp roller 65 is a truncated cone and has a conical surface that tapers toward the table plate 34. When the offset rotating plate 43 rotates, the clamp roller 65 moves.
The clamp roller 65 may be fixed to the support shaft 62 or the offset rotating plate 43.

As shown in FIG. 7, the fixed reference seat 73 has a stem 732 and a seat plate 731. The stem 732 is, for example, a cylinder and stands on the table plate 34. The seat plate 731 is, for example, a disk and is fixed to the tip of the stem 732. The seat plate 731 and the stem 732 may be integrated. The tip surface of the seat plate 731 is a reference seat surface 69. The reference seat surface 69 serves as an installation standard for the object 17.

The object 17 is placed on the seat plate 731. Since the seat plate 731 is wide, various objects 171 and 172 having different seat surface shapes and seat surface positions can be placed on the seat plate 731. When the cleaning nozzle 15 is inserted between the object 17 and the table plate 34 to clean the object 17, the stem 732 is thin, so that the cleaning nozzle 15 can be brought close to the central axis of the stem 732. Therefore, the area where the cleaning nozzle 15 can be moved becomes wide.

As shown in FIG. 8, the seating detection switch 86 has a cylinder 90, a piston 87, a bushing 89, a coil spring (elastic body) 91, a nozzle body 84, and a flow path (third flow path) 83. The cylinder 90 has a hollow cylindrical shape and is arranged on the table plate 34. The bushing 89 is embedded in the table plate 34. The piston 87 has a seat plate 871, a stem 872, a stopper 873, and a detection groove 874.
The stem 872 penetrates the cylinder 90 and the table plate 34. The seat plate 871 is arranged at the tip of the stem 872. The stopper 873 is arranged inside the cylinder 90. The stopper 873 prevents the piston 87 from coming off toward the tip end.

The coil spring 91 is arranged inside the cylinder 90 between the stopper 873 and the table plate 34. A stem 872 is passed through the coil spring 91. The coil spring 91 is a compression coil spring and pushes up the stem 872 toward the tip end.
The detection groove 874 is arranged at the base end portion of the stem 872. The detection groove 874 is arranged on the lower surface of the table plate 34, for example. The detection groove 874 is an annular groove arranged in the circumferential direction.

The nozzle body 84 has a nozzle 88 and is arranged on the table plate 34. The nozzle body 84 has, for example, a hollow cylinder shape and is arranged on the lower surface of the table plate 34. The stem 872 may penetrate the nozzle body 84. For example, the nozzle 88 is arranged on the inner surface of the nozzle body 84 so as to face the detection groove 874. When the object 17 is placed on the seat plate 871 and the piston 87 is lowered, the nozzle 88 faces the stem 872. The position of the piston 87 is called a detection position.
The flow path 83 connects the injection port 88 and the pressure switch 77. The flow path 95 is arranged at the base end portion of the stem 872 and connects the detection groove 874 to the outside. The flow path 95 is, for example, a groove arranged on the outer periphery of the stem 872.

When the object 17 is not placed on the table 33, the piston 87 of the seating detection switch 86 is in the raised position. At this time, the detection groove 874 faces the injection port 88. The compressed air supplied from the compressed air source 76 to the injection port 88 is discharged to the atmosphere through the detection groove 874 and the flow path 95, and the pressure in the flow path 83 becomes atmospheric pressure.
When the object 17 is placed on the table 33, the piston 87 is lowered and the stem 872 comes into contact with the nozzle 88. Then, the outflow of compressed air from the nozzle 88 is suppressed, and the pressure in the flow path 83 rises. The pressure switch 77 detects an increase in pressure and issues a seating signal. The control device 29 detects the seating of the object 17.

As shown in FIG. 9, the rotation reference seat 75 has a rotation device (third rotation device) 39, an offset rotation plate (third offset rotation plate) 43, and a reference seat 81. The reference seat 81 is, for example, a cylinder. The tip of the reference seat 81 is the reference seat surface 69. The reference seat 81 is separated from the reference seat rotation shaft 48. When the offset rotating plate 43 rotates, the reference seat 81 moves.

The rotation reference seat 75 may have a seating detection function 96. The seating detection function 96 includes a nozzle 85, an annular flow path 80, a flow path (first flow path) 82, a seal 79, and a flow path (second flow path) 78. The nozzle 85 is arranged on the reference seat surface 69. The annular flow path 80 is arranged at the center of the shaft 42, for example, in the middle of the bearing 40. The annular flow path 80 is, for example, an annular groove arranged in the circumferential direction of the shaft 42. The seal 79 is a rotary seal and is arranged on both sides of the annular flow path 80.
The flow path 82 connects the injection port 85 and the annular flow path 80. The flow path 78 connects the annular flow path 80 and the pressure switch 77. The flow path 78 is arranged on the table plate 34, for example. When the object 17 is not installed on the reference seat surface 69, the pressure in the flow path 78 indicates atmospheric pressure. When the object 17 comes into contact with the reference seat surface 69, the pressure in the flow path 78 rises, and the pressure switch 77 emits a seating signal.

As shown in FIG. 10, the moving device 14 or the turret 13 has a spindle case 23, a bearing 25, a spindle 26, an annular flow path 92, a seal 24, and a flow path 93. The spindle case 23 has a hollow cylindrical shape. The bearing 25 is arranged in the spindle case 23. The spindle 26 is supported by the bearing 25. The annular flow path 92 is arranged around the spindle 26. The seal 24 is a rotary seal and is arranged on both sides of the annular flow path 92. The flow path 93 is arranged in the spindle case 23 and connects the pump 18 and the annular flow path 92.

The offset nozzle 153 has an offset block 153a, a shaft body 153b, a nozzle 153c, and a flow path 94. The offset block 153a is, for example, a rectangular plate, one end of which is fixed to the main shaft 26. The shaft body 153b extends along the nozzle rotation shaft 16 and is arranged at the other end of the offset block 153a. The nozzle 153c is arranged at the tip of the shaft body 153b. For example, the nozzle 153c is arranged on a plane passing through the shaft body 153b and the nozzle rotation shaft 16 so as to be perpendicular to the nozzle rotation shaft 16 and toward the nozzle rotation shaft 16.

Next, how to use the table 33 will be described with reference to FIGS. 1, 2 and 11. The control device 29 controls the rotating device 39 of the positioning device 35 according to the shape of the object 17. That is, the rotating device 39 is rotated so that the distance between the positioning holes of the object 17 and the distance of the positioning pin 44 match, and the installation surface (not shown) of the object 17 coincides with the fixed reference seat 73. .. The worker or the carry-in device (for example, a robot) installs the object 17 on the table 33. Then, the seating detection switch 86 detects the installation of the object 17. Next, the control device 29 rotates the clamp 61, and the clamp roller 65 presses the object 17 against the object 17. The object 17 is fixed to the table 33.

The control device 29 drives the pump 18 to inject the cleaning liquid from the nozzle 15. The control device 29 moves the moving device 14 based on the cleaning program, and cleans the object 17 by the cleaning liquid jet 97 ejected from the nozzle 15.

As shown in FIG. 11, the offset nozzle 153 can be inserted between the table plate 34 and the object 17. From the nozzle 153c, the surface of the object 17 on the table plate 34 side can be cleaned. The offset nozzle 153 has a shaft body 153b offset from the nozzle rotation shaft 16. Therefore, when the shaft body 153b is inserted between the object 17 and the table plate 34 and moved, the moving device 14 is less likely to interfere. Further, since the rotating device 39 is on the back surface of the table plate 34, the rotating device 39 does not interfere with the movement of the nozzle 15.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention, and all of the technical matters included in the technical idea described in the claims of the present invention are the present invention. Is the target of. Although the above-described embodiment shows a suitable example, those skilled in the art can realize various alternative examples, modified examples, modified examples, or improved examples from the contents disclosed in the present specification. These are included in the technical scope described in the appended claims.

10 Washing machine 33 Table 34 Table plate 35, 351, 352 Positioning device 39, 391, 392 Rotating device 43 Offset rotating plate 44 Positioning pin 46 Pin rotating shaft 47 Clamp rotating shaft 61 Clamp 65 Clamp member (clamp roller)

Claims (9)

A table board on which the object is placed and
A positioning device that can rotate around the pin rotation axis.
The first rotating device arranged on the table plate and
A first offset rotating plate arranged in the first rotating device and rotatable about the pin rotating axis, and a first offset rotating plate.
A positioning pin arranged on the first offset rotating plate, separated from the pin rotating shaft,
With a positioning device,
A clamp placed on the table plate and fixing the object,
Table with. The pin rotation axis extends perpendicular to the table plate and extends.
The positioning pin extends perpendicular to the table plate.
The table according to claim 1. The clamp
A second rotating device arranged on the table plate and
A second offset rotary plate arranged in the second rotary device and rotatable about a clamp rotation axis, and a second offset rotary plate.
It has a clamp member arranged on the second offset rotary plate, separated from the clamp rotary shaft.
The table according to claim 1 or 2. The clamp member is a clamp roller supported by the second offset rotating plate so as to be rotatable about a roller rotating shaft extending in parallel with the clamp rotating shaft.
The table according to claim 3. The clamp rotation axis extends perpendicular to the table plate.
The table according to claim 3 or 4. The diameter of the clamp roller decreases toward the table plate.
The table according to any one of claims 3 to 5. Reference seat A rotation reference seat that can rotate around the rotation axis.
A third rotating device arranged on the table plate and
A third offset rotating plate arranged in the third rotating device and rotatable about the reference seat rotation axis, and a third offset rotating plate.
A reference seat having a reference seat surface on which the object is placed, and a reference seat arranged on the third offset rotating plate at a distance from the reference seat rotation axis.
Has a rotation reference seat,
The table according to any one of claims 1 to 6. The rotation reference seat is
With a compressed air source,
A nozzle placed on the reference seat surface and blocked by the object,
An annular flow path arranged around the reference seat rotation axis and
A first flow path arranged on the reference seat and connecting the ring road and the injection port,
A second flow path connecting the annular flow path and the compressed air supply source,
It has a pressure switch that is arranged in the second flow path and detects a change in pressure in the second flow path due to the object being placed on the reference seat surface.
The table according to claim 7. It is a seating detection switch,
With a compressed air source,
Cylinders arranged on the table plate and
A piston having a stem penetrating the cylinder, a detection groove arranged in the stem, and a seat plate arranged at the tip of the stem, which is arranged so as to be able to advance and retreat in the cylinder, and the object in the seat plate. When an object is placed, the piston is pushed down to the detection position,
An elastic body that urges the piston in the direction of pushing it up from the table plate,
With a nozzle that faces the detection groove when the piston is pushed up, and is located so as to deviate from the detection groove and face the stem when the object is placed and the piston is in the detection position. ,
A third flow path connecting the compressed air source and the nozzle,
It has a pressure switch which is arranged in the third flow path and detects a change in pressure in the third flow path.
Has a seating detection switch,
The table according to any one of claims 1 to 7.

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