JP2544497Y2 - Spherical work robot - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION In the present invention, a first arm is attached to a rotatable first rotating shaft mounted on a base, and the first arm is rotatable and its axis is the first axis. A second rotating shaft is mounted so as to be orthogonal to the axis of one rotating shaft, and the second rotating shaft is attached to the tip of a second arm mounted on the second rotating shaft.
The work axis is arranged so as to be orthogonal to the axis of the arm and intersects with the axis of the first rotation axis, and a rotation drive source is arranged on each of the first rotation axis and the second rotation axis. The present invention relates to a spherical work robot provided with a work holding mechanism that moves on a rotation axis.

[0002]

2. Description of the Related Art The applicant of the present application has filed an application for Japanese Patent Application Laid-Open No. 2-33617 as a work reversing mechanism in a spherical work robot. A spherical work robot system was devised in which a work supply and discharge unit for discharging and then supplying a new work to the spherical work robot was arranged near the spherical work robot.

[0003]

However, since the work supply / discharge unit is arranged near the spherical working robot, the work can be processed efficiently, but the work area is still improved due to the problem of the installation area. Room was left. Therefore, two robots, a spherical work robot and a work supply / discharge unit, must be installed, which requires a considerable installation area.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems, and attach a first arm to a rotatable first rotating shaft installed on a base, and attach the first arm. A second rotating shaft is mounted so that the second rotating shaft is rotatable about the axis and the axis of the second rotating shaft is orthogonal to the axis of the first rotating shaft. The work axis is disposed so as to be orthogonal to the axis of the two arms and intersects with the axis of the first rotation axis, and a rotation drive source is disposed on each of the first rotation axis and the second rotation axis. In a spherical working robot provided with a work holding mechanism moving on one rotation axis, a work mounting table in which a magazine for mounting a work is annularly disposed is connected to the axis of the first rotation axis. Along the axis of rotation, move back and forth in the horizontal direction toward the first rotation axis, and rotate around the first rotation axis. May word - is characterized by having a click holding mechanism.

[0005]

1 and 2 show a first embodiment of the present invention.
A first arm 3 is attached to a first rotating shaft 2 which is installed on a base 1 and is rotatable by a first driving source A provided therein. The first arm 3 is located near the tip of the first arm 3.
A second rotating shaft 4 having a second drive source B therein is attached so as to be rotatable and its axis is orthogonal to the axis of the first rotating shaft 2.

In the vicinity of the tip of the second arm 5 attached to the second rotating shaft 4, its axis is orthogonal to the axis of the second arm 5 and crosses the axis of the first rotating shaft 2. Work axis 6
Is mounted. A gripping device 10 for gripping the work 9 is provided on the first rotating shaft 2.
A first work holding mechanism 11 having a front end attached thereto is disposed so as to be vertically movable by a ball screw mechanism or the like.

An air cylinder 12 is disposed in the hollow portion 8, and the lower end of the air cylinder 12 is fixed to the base 1. At the tip of a cylinder rod 13 of the air cylinder 12, a work mounting table 15 in which a magazine 14 on which a work 9 already processed or before processing is mounted is disposed in an annular shape is detachably mounted. Installed.
A hole 16 is formed in the center of the work mounting table 15 so that the first work holding mechanism 11 can pass through.

Further, a second wire is provided in the hollow portion of the second rotating shaft.
The air cylinder 17 which is a lock holding mechanism is fixed,
A work 9 is sucked and held at the tip of a cylinder rod 18 of the air cylinder 17, and a vertically movable suction device 19 having an air cylinder 19a therein is fixed.

Next, the operation will be described. A work 9 before processing is arranged on each magazine 14 of the work mounting table 15. First, the air cylinder 12 is actuated, and
The table 15 is raised. After the ascending, the suction device 19 of the air cylinder 17 is lowered to suck the work 9, and the work 9 is sucked.
The table 15 is lowered. After the work is sucked, the air cylinder 17 is operated to move the suction device 19 forward,
The suction device 19 is raised, and the first work holding mechanism 1 is moved.
1 is lifted and placed on the gripping device 10. Next, after the cylinder rod 18 is retracted, the work holding mechanism 11 is raised, whereby the work of the work 9 by the spherical working robot is started.

After the machining, the work mounting table 15 is raised, and at the same time, the suction device 19 is advanced again to suck the processed work 9. After the suction, the gripping device 10 is lowered,
The suction device 19 is retracted and the first rotating shaft 2 is rotated to place the work on the magazine 14 on which no work is mounted.

When processing the next work, the first rotating shaft 2 is rotated by a predetermined angle (the position where the processed work and the next work are located). Subsequent operations are the same as those described above, and a description thereof will be omitted.

FIG. 3 shows a second embodiment of the present invention. The description of the same configuration as in the first embodiment is omitted. An air cylinder 12 is disposed in the hollow portion 8 of the first rotating shaft 2, and the air cylinder 12 is fixed to the first rotating shaft 2. At the tip of the cylinder rod 13, a lift board 1 having a work mounting table 20 which is detachable on the upper surface is provided.
5 is attached. A drive source 21 for rotating the work table 20 is fixed to a side surface of the lift board 15.

A magazine 14 on which the work 9 is mounted is fixed to the upper surface of the work mounting table 20, similarly to the first embodiment.

Next, the operation will be described. In the operation different from that of the above-described embodiment, when the work 9 is replaced (replacement of the worked work and the work to be processed next), the first rotary shaft 2 is rotated in the above-described embodiment. For the work table 2
0 is rotated by the drive source 21.

By adopting the second embodiment, it is possible to prevent cutting chips and dust generated during processing from entering the first rotating shaft 2 as much as possible.

FIG. 4 shows a third embodiment of the present invention. First
An air cylinder 17 to which a suction device 19 is attached via a bracket 22 is arranged on the rotating shaft 2.

FIG. 5 shows a fourth embodiment. Work table 1
By disposing the air cylinder 17 on which the suction device 19 is mounted via the bracket 23 via the bracket 5, there is no need to insert the air cylinder 17 into the second rotating shaft 4, and the mechanism of the second rotating shaft 4 is simple. Mechanism. The operation is the same as in the first embodiment and the second embodiment, and a description thereof will be omitted.

[0018]

According to the invention of the present application, a first arm is attached to a rotatable first rotating shaft provided on a base, and the first arm is rotatable and its axis is the first rotating shaft. A second rotating shaft is mounted so as to be orthogonal to the axis of the shaft, and the axis of the second arm mounted on the second rotating shaft is orthogonal to the axis of the second arm, and the first rotating shaft is at a first rotation. A work shaft is arranged so as to intersect with the axis of the shaft, a rotation drive source is arranged on each of the first rotation shaft and the second rotation shaft, and a work holding mechanism for moving on the first rotation shaft is arranged. In the spherical working robot set up, a work mounting table having a magazine for mounting the work arranged in a ring is disposed so as to be vertically movable along the axis of the first rotary shaft. A work holding mechanism that can move back and forth in the horizontal direction and rotate about the first rotation axis. Bots location just word - Change click (feed, discharge) can be performed.

[Brief description of the drawings]

FIG. 1 is an external perspective view of a first embodiment of the present invention.

FIG. 2 is a front sectional view of a main part of FIG.

FIG. 3 is a front sectional view of a main part of a second embodiment of the present invention.

FIG. 4 is a front sectional view of a main part of a third embodiment of the present invention.

FIG. 5 is a front sectional view of an essential part of a fourth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Base 2 1st rotating shaft 3 1st arm 4 2nd rotating shaft 5 2nd arm 6 Working shaft 7 Tool shaft unit 8 Hollow part 9 Work 10 Gripping device 11 Work holding Mechanism 12 Air cylinder 13 Cylinder rod 14 Magazine 15 Work mounting table 17 Air cylinder 19 Suction device 20 Work mounting table 22 Bracket A First drive source B Second drive source

Claims (1)

(57) [Scope of request for utility model registration] A first arm is mounted on a rotatable first rotating shaft installed on a base, and the first arm is rotatable on the first arm.
A second rotating shaft is mounted so that its axis is orthogonal to the axis of the first rotating shaft, and the axis of the second arm is attached to the tip of a second arm attached to the second rotating shaft. A work axis is arranged so as to be orthogonal to the axis of rotation of the first rotation axis, and a rotation drive source is arranged on each of the first rotation axis and the second rotation axis to move on the first rotation axis. In a spherical working robot provided with a work holding mechanism for moving a work, a work mounting table in which a magazine for mounting the work is annularly disposed can be moved up and down along the axis of the first rotating shaft. And a work holding mechanism capable of moving back and forth in the horizontal direction toward the first rotation axis and rotating about the first rotation axis.