JP2530960B2 - Table device for work - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work table device used when a work is placed and a predetermined work is performed while rotating the work, and more particularly, it is placed on the table when the rotation of the table is stopped. The table for work is equipped with a brake mechanism and a shock absorber mechanism that can stop the rotation of the table without changing the position of the work without giving a shock to the work and gently stopping the work table at a predetermined position. It relates to the device.

[0002]

2. Description of the Related Art Conventionally, for example, in a work feeder of a painting robot, a work (object to be coated) is placed on a work table and positioned at a painting position by the robot, and the table is rotated by a predetermined angle during the painting. A work table has been proposed in which the entire painting is performed. In such a work table, it is necessary to rotate the work at least once so as to perform uniform coating over the entire circumference of the work. From such a request, the work table is intermittently rotated by a predetermined angle, for example, 90 degrees. Is configured.

As described above, in the work table, the work is placed on the upper surface of the work table and is intermittently rotated, and the work is painted by the painting robot when the rotation is stopped. It is an important problem to brake the rotation of such a table without giving a shock to the work placed on it and without changing the position of the work and to quietly stop the table at a predetermined position. Further, considering the work efficiency of the robot, it is necessary to perform the braking and rotation stopping operation of the rotation of the work table as fast as possible.

The coating methods are roughly classified into jig coating and net coating. Jig coating is a coating method in which a work is fixed on a work table via a jig and coating is performed. In the case of tool coating, the work is fixed by a jig, so even if the work table is suddenly stopped at high speed, the position of the work does not shift when the rotation is stopped. No special braking mechanism is required to stop or stop the work without giving a shock to it.

On the other hand, the net coating is a method of coating while placing the work on the work table while covering the work with the net. In the case of such net coating, the work is fixed on the work table. Without any special measures,
Therefore, in order to stop the rotation of the work table without giving a shock to the work and changing the position of the work,
It is necessary to brake and stop rotation of the work table at an extremely low speed.

In this case, since the robot work efficiency is extremely lowered, a braking mechanism is provided even in the conventional work table, and such a braking mechanism mainly applies a belt to the table shaft of the work table. The table is configured to be braked and stopped by the frictional force between the belt and the table shaft, or mechanically braked and stopped by a gear mechanism or the like.

[0007]

However, the former braking mechanism among the above-mentioned conventional braking mechanisms is apt to cause a slip between the table shaft and the belt, so that the table can be stopped accurately at a predetermined position. However, there is a problem that when the frictional force between the table shaft and the belt is increased, the impact when the table is stopped is increased and the work on the table moves, which is not applicable to net painting.

The latter braking mechanism of the above-mentioned conventional braking mechanisms is a rotary braking of a table by a mechanical structure.
Since the rotation is stopped, the impact at the time of stopping the rotation of the table is large, and there is a possibility that the work on the table may move in the case of the net coating as in the former case. When the work moves from the predetermined position on the table in this way, the work of the robot becomes uneven (uneven paint in the case of a painting robot), and as a result, the work efficiency of the robot decreases and the appearance rate of defective products in the work There was a problem that would be high.

Further, the work table as described above is rotated.
As a mechanism for braking the rolling, for example, JP-A-3-367
Japanese Patent No. 30 discloses a spind that fixedly supports a rotary table.
Form a rim-shaped disc that protrudes on the outer periphery of the
In addition, the disc contact is
While providing the touch part,
The ring is fixed to the ring fixing part and close to the disc part of the ring.
The contacting part and the part close to the circumferential side surface of the spindle.
A thin-walled part with a thickness that elastically deforms when pressed
By applying the hydraulic pressure from the hydraulic chamber, the ring
Elastically deform each thin part of the
Contact the disk contact part and the inner peripheral surface of the spindle to
It is configured to clamp the handle and thus the rotary table.
The rotary table clamping device
It With such a clamping device, a rotary table is used when processing a workpiece.
On the upper surface of the rotary table by minimizing the deformation of the cable.
Although it can improve the accuracy and the indexing accuracy,
Between each thin part of the ring and the disk and the inner peripheral surface of the spindle
Clearance should be the same as described in the specification.
However, only about 1 to 10 μm are provided. Each of these
The rear lance is very narrow and each thin section has
Disk contact part and spin
Braking the rotary table by touching the inner surface of the dollar
Therefore, the braking and non-braking are clearly and surely responsive
Switching well is difficult. Therefore, the special
In addition, each thin-walled part and
A braking force is generated between the disk contact part and the inner peripheral surface of the spindle.
There is a possibility that it will occur, and in such a case the rotary drive of the rotary table
The dynamic problem remains.

Also, in Japanese Utility Model Laid-Open No. 59-163437.
Is the hydraulic motor and the device frame with the hydraulic motor attached.
And a rotary table fixed to the output shaft of the hydraulic motor,
Multiple dogs fixed to the rotary table according to the number of indexes
When the stopper Ru stops the rotary table, device frame
Fixed to the guide and guiding the stopper, and
It is composed of a hydraulic cylinder that moves the stopper up and down.
The contact surface between the dog and the stopper is angled,
A simple indexing device with a shock absorber on the stopper is described.
It In such a simple indexing device, the dog and the stopper are brought into contact with each other.
Through a shock absorber when stopping the rotary table.
The one that can smoothly stop the rotary table
Is. In this type of simple indexing device, the hydraulic
Timing of rotating the stopper up and down via the
Based on the rotation movement of the cable, the dog is close to the stopper.
As for the relationship with the
It is extremely important to do. But this simple
With the easy indexing device, the hydraulic cylinder moves the stopper up and down.
The dog based on the timing of rotation and the rotary motion of the rotary table.
For the relationship with the timing when is close to the stopper,
No description is given. Therefore, move the stopper up and down
Timing and rotary table dog are close to stopper
It is possible to think that the relationship with the timing may shift.
If this happens, stop the rotary table accurately.
There is a possibility that it will not be possible to perform indexing control.
Things.

The present invention has been made in order to solve the above-mentioned problems of the prior art, in which the rotation of the work table is prevented.
Brake mechanism and shock absorber for braking by air pressure
Table for work with brake mechanism
When switching between the braking state and the non-braking state of
For shock absorber drive timing and work
Consistency with the timing of table rotation operation
Allows the brake mechanism to be operated when the work table is stopped.
The shock absorber while braking the rotation of the work table.
Use a bussaw to gently stop the work table.
DOO are possible, a relatively rotational braking at high speed a work table without changing the position of the workpiece without impact the workpiece on the work table in any case of this from the jig coating and web coating An object of the present invention is to provide a work table device capable of performing rotation stop at a predetermined position without causing unevenness in work and suppressing the appearance rate of defective products in a work to be low. And

[0012]

In order to achieve this object, the present invention provides a work table on which a work to be subjected to a predetermined work is placed and which is supported by a rotating shaft, and the above-mentioned rotating table. A pneumatic rocking motor for rotating the rolling shaft to drive the work table, and a machine at a position near the rotating shaft.
The rotation of the work table, which is placed on the frame, is pneumatically
A braking mechanism for braking, in which compressed air is introduced
An air chamber body having an air chamber in which an introduction hole is formed, and its empty space.
The piston that is vertically movable in the air chamber and its piston
The friction plate connected to the stone and the rotary shaft
The braking disc, the friction plate and the braking disc
And a spring member that urges in a direction in which
The compressed air is introduced into the air chamber to urge the spring member.
Move the piston against the
Brake the rotation of the table by contacting
Brake mechanism and the rear of the work table.
A plurality of locking members installed and attached to the machine frame
And the work table that is locked by the locking member.
Shock absorber mechanism for braking the rotation of the
Holder having a rudder and an abutting member that abuts on the locking member
The rotating member rotatably supported on the upper side and the work table.
Urging member for urging the rotating member against the rotation of the table.
And contact a part of the rotating member and rotate the rotating member.
With a piston rod that internally mounts a damper member that buffers
Shock absorber mechanism, and the abutting member is a locking portion.
A first position that abuts the material and a second position that disengages from the locking member
Moving means for vertically moving the piston rod between
And that the contact member is in the first position or the second position.
Detecting means for detecting, the moving means, the air
The rotation of the work table is started by the pressure swing motor.
The contact portion according to the detection state by the detection means before
The material is moved to the second position and the work table
At the same time as or immediately after the rotation drive of the
Moves the contact member to the first position according to the detection state by the step
It is configured to let .

[0013]

In the present invention having the above structure, first, the air pressure fluctuation
The work motor starts rotating the work table.
Contact the rotating member of the shock absorber mechanism before
The contact member follows the detection state of the contact member by the detection means.
And is moved to the second position via the moving means. This state
The contact member on the back side of the work table.
The shock absorber
Since the braking mechanism of the bar mechanism does not work,
Le is in a rotatable state. And a pneumatic swing motor
At the same time when the rotation drive of the work table is started
Immediately or immediately after, the contact member is the contact member by the detection means.
Moves to the first position via the moving means according to the detection state of
To be done. In this state, the contact member contacts the locking member
Position, and therefore the work table
Control of the shock absorber mechanism when the rotation of the bull is stopped
It is in a state of working. In this way,
From the first position where the contact member abuts on the locking member and the locking member
The timing for moving to the second position where it comes off and the work table
Consistency with the timing at which the rotary drive of the bull starts
Therefore, the rotation of the work table is stopped.
It is possible to perform control reliably and accurately.
It is. Further, as described above, when the rotation of the work table rotationally driven by the pneumatic swing motor is stopped, a brake provided on the machine frame in the vicinity of the rotary shaft supporting the work table. A mechanism brakes the rotation of the table by air pressure and slows down the rotation. The braking action in such a brake mechanism is that the compressed air introduced into the air chamber body from the introduction hole moves the piston in the air chamber body to cause a friction plate connected to the piston and a braking disc provided on the rotary shaft body. It is performed by contact.
In addition, the rotation of the work table can be stopped by the brake mechanism.
If not performed, the introduction of compressed air to the introduction hole is stopped
To be done. At this time, the friction plate and the braking disc are the spring members.
Are separated from each other by the biasing force of. Of such a spring member
By the action, the braking state of the work table described above
It is also possible to switch between the braking state and the responsiveness.
It is.

Further, in the work table whose rotation is braked and decelerated by the brake mechanism, the engaging member arranged on the rear surface of the work table and the abutting member on the rotating member of the shock absorber mechanism. When abutting, the rotation of the rotating member is buffered via the damper member, so that the work table is quietly stopped at a predetermined position.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the drawings based on an embodiment in which the present invention is embodied in a work table device of a painting robot. FIG. 1 is a plan view showing a coating robot and a work feeder for supplying a work to a coating position by the robot.

In FIG. 1, a coating robot 1 is rotatably arranged on a base 2 and is provided with a robot arm 3 which can freely move in a predetermined range such as expansion and contraction. The robot arm 3 has a spray gun 4 attached to the tip of the robot arm 3 for spraying paint on a work arranged on a work table 15 described later. A known paint tank is connected to the spray gun 4 and is controlled by a robot controller 62, which will be described later, to paint a work.

A work feeder 5 is provided below the base 2 to supply the work to the coating position of the robot 1 and to position the work at that position. The work feeder 5 supports table devices 9 and 10 at both ends of a table support frame 6, and is rotatable about a feeder shaft 7 (see FIG. 2) at approximately the center of the table support frame 6. . A rotary actuator 8 (see FIG. 2) is connected to the feeder shaft 7, and the feeder shaft 7 is rotationally driven via the rotary actuator 8.

The rotary actuator 8 has a structure in which a piston arranged in a cylinder tube filled with oil is driven by compressed air and the feeder shaft 7 is rotated via a chain and a sprocket connected to the piston. However, such a rotary actuator 8 is well known and will not be described in detail here.

As described above, the table support frame 6 is rotated about the feeder shaft 7 by the rotary actuator 8 and is rotated from the solid line position to the two-dot chain line position in FIG. As a result, the table devices 9 and 10 supported on both ends of the table support frame 6 are alternately switched to the coating position for the robot 1.

Next, referring to FIG. 2, table devices 9 and 1
0 will be described. The table devices 9 and 10 have the same configuration, and therefore only one table device 9 will be described here.

FIG. 2 is a side view of the table device. A support arm 11 is provided upright from the end of the table support frame 6, and a table mounting plate 12 is fixed on the support arm 11. A brake mechanism B, which will be described later, is mounted on the table mounting plate 12 via a mounting member 13, and a center portion of the work table 15 is provided at the upper end of a table shaft 14 extending upward from the brake mechanism B. Is attached.

Next, the brake mechanism B will be described with reference to FIG. FIG. 3 shows a cross-sectional view of the brake mechanism B, in which the air introduction hole 16 is provided at the side end (the right end in FIG. 3).
Has a cover member 17 in which
A piston plate 18 is arranged below the device 7.
An air chamber 19 is formed by the cover member 17 and the piston plate 18, and a piston 20 is vertically movably inserted into the air chamber 19.

An O-ring 2 is provided on the upper edge of the piston 20.
1 is fitted and airtightness with the air chamber 19 is maintained,
The lower surface of the piston 20 is in close contact with the upper surface of the piston plate 18. A friction plate 22 is arranged on the lower surface of the piston plate 18, and the friction plate 22 is connected to the piston 20 by a screw 24 via a through hole 23 of the piston plate 18. This allows the piston 20
Is moved up and down in the air chamber 19, the piston plate 18,
Both the friction plates 22 move up and down as the piston 20 moves up and down.

At this time, between the cover member 17 and the piston plate 18, there are formed recesses 25, respectively.
A guide pin 28 is provided in a guide groove 27 formed by
Is inserted (in FIG. 3, only one place is shown, but it is provided at three places), and the guide pin 28
By this action, the piston plate 18 moves up and down while maintaining a horizontal state without tilting with respect to the cover member 17.

A bearing 29 is arranged at the center of the cover member 17, and a rotary member 30 formed integrally with the table shaft 14 is fitted into the bearing 29. As a result, the rotating member 30 becomes the cover member 17
It will be rotatably supported relative to. A braking disc 31 is integrally formed at the lower end of the rotating member 30, and the braking disc 31 is formed by the friction plate 22.
The lower surface of the rotating member 30 is brought into contact with the lower surface of the rotating member 30 to brake the rotation of the rotating member 30 to perform a braking action.

The recess 30A formed in the rotating member 30.
A drive shaft of a one-way type rotary actuator 34 having a one-way unit 35 and operated by air pressure is fitted to the rotary shaft 30. The rotary member 34 is driven to rotate together with the table shaft 14 by the rotary actuator 34.

Further, return springs 32 are provided at the left ends (see FIG. 3) of the cover member 17 and the piston plate 18 (only one position is shown in FIG. 3, but three return springs are provided). The return spring 32 has a function of urging the cover member 17 and the piston plate 18 in the direction of separating from each other.

In the brake mechanism B, when compressed air is introduced from the air introduction hole 16 into the air chamber 19, the piston 20 is moved downward by the action of the O-ring 21 while maintaining airtightness. Along with this, the piston plate 18 also moves downward, so that the friction plate 22 integrated with the piston plate 18 also moves downward via the screw 24. As a result, the friction plate 2
Since 2 is brought into contact with the braking disc 31, the rotating member 30
The rotation of the (table shaft 14) is braked and stopped.

As described above, since the brake mechanism B is adapted to brake the rotation of the rotating member 30 through the control by the compressed air, it is mounted on the work table 15 attached to the upper end of the table shaft 14. The rotation of the work table 15 can be stopped without giving a shock to the work and without changing the mounting position of the work.

At this time, the friction plate 22 and the braking disc 31
The braking force generated between and can be adjusted by adjusting the pressure of the compressed air introduced from the air introduction hole 16.

On the other hand, the friction plate 22 and the braking disc 3 are
In order to release the braking action with the air conditioner 1, the compressed air introduced into the air chamber 19 is released from the air introduction hole 16.
As a result, the friction plate 22 is moved upward together with the piston plate 18 and the piston 20 by the urging force of the return spring 32, and returns to the original position separated from the braking disc 31. In this way, the return spring 32 is always in contact with the friction plate 22.
Make sure that the braking disc 31 is biased in a direction to separate it from the braking disc 31.
From the above, the work table 15 by the brake mechanism B
A function to switch between the braking state and the non-braking state with good response.
In particular, the work table 15 is quickly and
It is possible to reliably return to the non-braking state.
It

Now, returning to FIG. 2 again, the table device 9
The shock absorber mechanism S is attached to the left side of the table attachment plate 12.
The shock absorber mechanism S is the work table 1
It abuts against the stopper 33 attached to the back surface of the work table 5 to alleviate the shock generated when the work table 15 stops rotating. This stopper 33 is the work table 1
5 is attached to the back surface of the table 15 corresponding to the coating position of the work on the work 5. In this embodiment, the work table 15 is used.
Since the work is coated on four sides by one rotation, the stoppers 33 are attached at four positions 90 degrees apart (FIG. 2 shows the state where the stoppers are attached at two positions).

As shown in a sectional view in FIG. 4, the shock absorber mechanism S basically performs a shock absorber action by an oil damper system. In FIG. 4, the lever holder 40 has a roller 41 at one end. A roller lever 42 that supports the roller lever 42 is rotatably attached via a pin 43. Further, a torsion spring 44 is attached to the pin 43.
Is inserted, and the roller lever 42 uses the torsion spring 4
4 always urges in the direction of arrow A.

Here, the roller 41 is the work table 1
When the rotation of 5 is stopped, it contacts one side surface of the stopper 33. Further, at the lower end of the roller lever 42, the steel ball 4
5 is fitted in the oil damper 4 when the roller lever 42 rotates in the direction opposite to the arrow A direction.
The damper rod 47 of No. 6 is abutted.

A rod cover 48 is fitted on the table mounting plate 12, and the rod cover 48 is attached.
A cylinder tube 49 is attached to the. Inside the rod cover 48 and the cylinder tube 49, an oil damper 46 having the damper rod 47 at the upper end and a piston 50 at the lower end is inserted so as to be vertically movable.

Further, an upper air introduction hole 51 is formed in the upper portion of the cylinder tube 49, and a lower air introduction hole 52 is formed in the lower portion of the cylinder tube 49. Upper air introduction hole 51
When compressed air is introduced from the
0 presses the upper surface of 0 to move the piston rod P downward, and when compressed air is introduced from the lower air introduction hole 52, the compressed air presses the lower surface of the piston 50 and the piston rod P moves upward. To be done.

A magnet holder 53 is fixedly attached to the left side wall of the lever holder 40 in FIG. 4, and a magnet 54 is held in the magnet holder 53 so that its lower end surface is exposed. The air switch 55 is mounted on the table mounting plate 12 separated from the magnet holder 53. This air switch 55 has a built-in iron piece,
A device for sending an air signal to a table control device 63 to be described later, which is generated when the air path is switched by the magnet 54 through the iron piece when the magnet holder 53 moves downward as the piston rod P moves downward. Is.

In the shock absorber mechanism S,
When the stopper 33 attached to the back surface of the table 15 comes into contact with the roller 41 when the rotation of the work table 15 is stopped, the roller lever 42 causes the torsion spring 44 around the pin 43.
It rotates in the direction opposite to the arrow A direction against the urging force of.
By the rotation of the roller lever 42, the steel ball 45 contacts the damper rod 47 and pushes the damper rod 47 downward. The pressing force generated when the damper rod 47 is pushed down is absorbed by the oil damper 46, so that the rotation of the work table 15 is extremely smoothly and quietly stopped.

The work table 15 which has stopped rotating
When starting to rotate again, compressed air is introduced from the upper air introduction hole 51 to move the piston rod P downward. As a result, the roller 41 and the stopper 33 do not come into contact with each other, so that the work table 15 can be rotated.
At this time, since the magnet holder 53 also moves with the downward movement of the piston rod P, the air switch 55 is operated by the magnet 54 and an air signal is sent to the table control device 63.

On the other hand, when the rotation of the work table 15 is stopped at the next coating position, compressed air is introduced from the lower air introduction hole 52 to move the piston rod P upward. As a result, the roller 41 is raised to the position where it abuts on the stopper 33, the above-described shock absorber action is performed, and the rotation of the work table 15 is stopped. At this time, since the magnet holder 53 also moves with the upward movement of the piston rod P, the magnet 54 and the air switch 55 are separated from each other, the operation of the air switch 55 by the magnet 54 is released, and the table control device 63 for the air signal. Sending is stopped.

Continuing with the description of the table device 9 with reference to FIG. 2 again, two air switches 57 and 58 are arranged on the right side of the table mounting plate 12 by the mounting member 56 in the vicinity of the stopper 33. It is set up. These air switches 57 and 58 have the same structure as the air switch 55 described above, and magnets (not shown) embedded in the stopper 33 corresponding to the air switches 57 and 58.
Activated by

The air switch 57 is for detecting the origin position of the work table 15, and
The air switch 58 detects that the work table 15 is in the coating position.

Next, the control system of the coating robot of this embodiment will be described with reference to FIG. FIG. 5 is a control block diagram of the coating robot, in which the coating robot 1, the work feeder 5, and the tables 9 and 10 are controlled by a controller 60 having a microcomputer as a core. In FIG. 5, the coating robot 1 is electrically connected to a robot controller 62 via a robot drive circuit 61. As a result, the robot controller 62 controls the coating robot 1 via the robot control circuit 61 according to a predetermined coating program to coat the work on the work table 15.

Further, both the shock absorber mechanism S and the air switch 55 for detecting the vertical movement of the piston rod P are pneumatically connected to the table controller 63, and the origin position of the work table 15 and the coating position are set. The two air switches 57 and 58 for detection are also air-connected to the table control device 63. Further, the rotary actuator 34 is pneumatically connected to the table control device 63 via the drive circuit 64 thereof, so that the rotary actuator 34 is rotationally driven by the table control device 63 via the drive circuit 64.

Further, air switches 65, 65 for detecting the left and right turning ends of the table support frame 6 are provided on the lower surfaces of both ends of the table support frame 6 in the work feeder 5, and both air switches are provided. Stopper cylinders 66, 66 are arranged near the switch 65. The air switch 65 is operated by magnets (not shown) embedded in the lower surfaces of both end portions of the table support frame 6 to operate the work feeder control device 6.
8 sends a turning end detection air signal to
The stopper cylinder 66 is driven by the work feeder control device 68 in response to an air signal from the air switch 65 and cooperates with a positioning groove (not shown) of the table support frame 6 to position the table support frame 6.

The rotary actuator 8 for rotating the table support frame 6 is connected to the work feeder control device 68 via the rotary actuator drive circuit 69.

Next, the coating robot 1, the table devices 9, 10 and the work feeder 5 of the present embodiment having the above-mentioned structure.
The operation of will be described. First, after the power of the coating robot 1 and the work feeder 5 is turned on, the start switch is started. At this point, the origin position of the table 15 is detected by the magnet embedded in the stopper 33 on the back surface of the table 15 and the air switch 57. Such a detection signal is sent to the table control device 63 and the origin position of the table 15 is confirmed.

After confirming the origin position, the table controller 63
Sends a confirmation signal to the work feeder control device 68.
In response to this, the work feeder control device 68 drives the stopper cylinder 66 to release the positioning of the table support frame 6. After that, the work feeder control device 68 sends compressed air to the rotary actuator 8 via the rotary actuator drive circuit 69 to drive the rotary actuator 8 to rotate, thereby rotating the table support frame 6 by 180 degrees.

Next, when the air switch 65 detects the left and right turning ends of the table support frame 6, the work feeder control device 68 receives the air detection signal and drives the stopper cylinder 66 again to move the table support frame 6 in position. Position. As a result, the work on the work table 15 is set at the painting position for the robot 1.

In response to the feeder lock completion signal from the work feeder control device 68, the robot control device 62 drives the coating robot 1 via the robot drive circuit 61 to coat one surface of the work. When this painting is completed, a painting completion signal is sent from the robot controller 62 to the table controller 6
3, the table control device 63 receives the painting completion signal and air-drives the shock absorber mechanism S.
That is, the table control device 63 introduces compressed air from the upper air introduction hole 51, moves the piston cylinder P downward, separates the roller 41 from the stopper 33, and the air switch 5
5 and the magnet 54 move until it is detected that the piston rod P has moved to a predetermined position.

When the detection signal from the air switch 55 is sent to the table control device 63, the work table 15 becomes rotatable, and after it is confirmed by the air switch 58 that the table 15 is at the predetermined position, the table is turned off. The control device 63 drives the rotary actuator 34 to rotate 90 degrees via the rotary actuator drive circuit 64. Simultaneously with or immediately after the start of the rotation , the table control device 63 introduces compressed air from the lower air introduction hole 52 of the shock absorber mechanism S to move the piston rod P upward and move the work table 15 to the upper side. To stop the rotation of.

Further, the table control device 63 introduces compressed air from the air introduction hole 16 of the brake mechanism B at a predetermined timing timed by a timer or the like in order to perform the stop control of the work table 15 and rotates the rotating member 30. Then, the table shaft 14 is braked and the rotation of the work table 15 is stopped.

As described above, the work table 15 is quietly stopped while being rotated 90 degrees by the action of the brake mechanism B and the shock absorber mechanism S, and at the same time, the work table 15 is moved to the 90 degree position by the air switch 58. The rotation is detected, and the detection signal is sent to the table controller 63.

The table control device 63 sends such a detection signal to the robot control device 62, and in response to this, the robot control device 62 drives the coating robot 1 via the robot drive circuit 61, and further paints one surface of the work. I do. When the painting is completed, a painting completion signal is sent to the robot controller 62, and the table controller 63 receives the painting completion signal and further performs the same operation as described above to rotate the work table 15 by 90 degrees.

The coating of the four surfaces of the work is performed by repeating the above-mentioned operation, and the coating is continuously performed until the origin position of the table 15 is detected again by the air switch 57. When the origin position of the table 15 is detected again by the air switch 57, the detection signal is sent to the table control device 63, and the work feeder control device 68 receives the detection signal and operates the rotary actuator drive circuit 69 in the same manner as described above. Through the rotary actuator 8, the table support frame 6 is rotated 180 degrees in a direction opposite to the above-described rotation direction.

In this state, the operator removes the painted work from the work table 15 and places a new work on the table 15. By performing such work continuously, the work is sequentially coated.

As described in detail above, in the work table devices 9 and 10 of the coating robot 1 according to this example .
Brakes the rotation of the work table 15 by air pressure.
A brake mechanism B and a shock absorber mechanism S are installed.
Braking of the work table 15 by the brake mechanism B
While switching between the state and the non-braking state with good responsiveness,
Drive timing of shock absorber and table for work
The timing of the rotary motion of the
The brake mechanism is used when the work table is stopped.
While braking the rotation of the work table to decelerate,
The work table is quietly stopped by the absorber.
You can As a result, via the brake mechanism B
It is faster than the conventional braking mechanism and the table
15 Change the position of the work without giving a shock to the work.
The braking of the table 15 can be performed without difficulty,
In both cases of jig coating and net coating , work
Must move from a predetermined position on the work table 15.
To prevent uneven painting by the robot 1 due to
As a result, the work efficiency of the robot 1 is kept high.
While suppressing the appearance rate of defective products in the work
it can.

Further, the work table device according to the present embodiment.
Since the shock absorber mechanism S is provided in each of the units 9 and 10 in addition to the brake mechanism B, the rotation of the work table 15 is braked and decelerated by the shock absorber mechanism S via the brake mechanism B. The stop can be performed accurately, surely and quieter, and the cooperation of both mechanisms B and S makes it possible to stop the work table 1
The braking of rotation 5 and the stop of rotation can be continuously and efficiently performed.

Further, if the work feeder 5 is controlled as described above, the worker can work alone while standing at one side position of the work table outside the rotation range of the work feeder 5. Further, if the supply and removal of the unpainted work or the completed work to the table 15 is automated, it is possible to cope with the automation of a series of painting operations.

The present invention is not limited to the above embodiments, and various improvements and changes can be made without departing from the gist of the present invention. For example, in the present embodiment, the work table devices 9 and 10 are configured to be driven in conjunction with the coating robot 1, but the work table devices 9 and 10 can be used independently from the robot. Needless to say, it can be used for automation of various operations and labor saving.

[0061]

As described above, the present invention is applicable to the work table.
Brake mechanism to brake the rotation of the table with air pressure and
A shock absorber mechanism is installed and the brake mechanism
Response of brake table for braking and non-braking
While switching, shock absorber drive timing
And the timing of the rotating operation of the work table
Compatibility to prevent the work table from stopping when stopped.
Do not brake the rotation for the word click table through the rake mechanism
With a shock absorber mechanism, the work table is gently
It is possible to stop the work table in this way, and in both cases of jig coating and net coating, the work table can be relatively moved without impacting the work on the work table without changing the work position. Rotational braking is performed at high speed,
Further, it is possible to provide a work table device capable of stopping rotation at a predetermined position, thereby preventing unevenness in work and suppressing the appearance rate of defective products in a work to be low. The effect that it plays in industry is great.

[Brief description of drawings]

FIG. 1 is a plan view showing a coating robot and a work feeder together.

FIG. 2 is a side view of the table device.

FIG. 3 is a sectional view of a brake mechanism.

FIG. 4 is a cross-sectional view of a shock absorber mechanism.

FIG. 5 is a block diagram of a control system of the coating robot.

[Explanation of symbols]

 1 Painting Robot 5 Work Feeder 8 Rotary Actuator 9, 10 Table Device 12 Table Mounting Plate 14 Table Shaft 15 Work Table 16 Air Inlet Hole 19 Air Chamber 20 Piston 22 Friction Plate 30 Rotating Member 31 Braking Disc 33 Stopper 34 Rotary Actuator 40 Lever Holder 41 Roller 42 Roller lever 43 Torsion spring 46 Oil damper 47 Damper rod 60 Controller 62 Robot controller 63 Table controller 68 Work feeder controller B Brake mechanism S Shock absorber mechanism

Claims (1)

(57) [Claims] 1. A and supported work table to the rotation shaft member with mounting a workpiece predetermined work is performed, the air pressure swing motor for rotating the workpiece table by rotating the rotary shaft body And for workpieces placed on the machine frame in the vicinity of the rotary shaft
With a brake mechanism that brakes the rotation of the table with air pressure
The air in which the introduction hole for introducing compressed air is formed
An air chamber body with a chamber that can move up and down within the air chamber body
Disposed piston and friction connected to the piston
Friction between the plate and the braking disk provided on the rotary shaft
A bar for urging the plate and the braking disc in the direction of separating them from each other.
And a compressed air from the introduction hole through the air chamber.
Introduced into the inside to move the piston against the biasing force of the spring member
To bring the friction plate and the braking disc into contact with each other.
Brake mechanism for braking the rotation of the table, and a plurality of locks arranged on the back surface of the work table
Member and attached to the machine frame and locked to the locking member
The shock absorber that brakes the rotation of the work table.
A sober mechanism that contacts the holder and the locking member
Rotatably supported on the holder with a contact member
Rotation against the rotation of the member and the work table
A biasing member for biasing the member and a part of the rotating member
In addition, a damper member that cushions the rotation of the rotating member is installed internally.
Shock absorber mechanism having a piston rod
And a first position where the abutting member abuts on the locking member and the locking member
The piston rod up and down between the second position
Detecting that the moving means for moving the contact member and the contact member are in the first position or the second position
And a moving means for the work by the pneumatic swing motor.
Before the rotational driving of the table is started,
When the contact member is moved to the second position according to the detection state of
Both are the same when the rotation drive of the work table is started.
Depending on the detection status of the detection means, immediately or immediately after
A work characterized in that the contact member is moved to the first position.
Table device for ku.