JP3801498B2 - Vacuum suction pad setting device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a setting device for presetting a vacuum suction pad for holding a workpiece by vacuum suction at a predetermined position and angle matching the shape of the workpiece.
[0002]
[Prior art]
FIG. 6 shows a transfer device conventionally used for transferring a workpiece w between press processes in a steel plate press forming line in an automobile factory, for example. The reciprocating body a supported by a robot arm r is shown in FIG. A plurality of attachment parts b are provided on one side, and an articulated arm d provided with a vacuum suction pad c at the tip is fixed by inserting a base e into each of the attachment parts. F is a vacuum suction hose, and g is a vacuum. It is a fastening screw provided to fix the position and angle of the suction pad. As is well known, this transfer device is configured to hold the workpiece by adsorbing the vacuum suction pad c to the flat surface of the workpiece w.
[0003]
[Problems to be solved by the invention]
By the way, since the desired suction holding force cannot be obtained unless the vacuum suction pad is always set to be perpendicular to the flat portion of the workpiece surface, the vacuum suction pad has conventionally been applied to the workpiece on a factory molding line. Although the position and angle were fixed by actually contacting the vacuum suction pad, it takes time to set up at the factory if the workpiece has a complicated curved surface shape, and it is used if it is not set as instructed in the design drawing There was also a risk of the workpiece falling off and damaging the press die.
Therefore, the present invention provides a setting device for enabling the vacuum suction pad to be accurately set in advance, and intends to solve the above-mentioned conventional problems.
[0004]
[Means for Solving the Problems]
Vacuum suction pad setting device of the present invention To this end, the height adjustably supported mounting frame to standoff, a stationary plate and a gyro support plate inclined angle adjustably supported in all directions, of the attachment frame A vertical and horizontal support mechanism that supports the gyro support plate so that the gyro support plate can move vertically and horizontally in a horizontal plane; a base of an articulated arm having a vacuum suction pad at the tip is fixed to the mounting frame; The position and angle of the vacuum suction pad with respect to the base by fixing the joint fixing means of the articulated arm after placing the vacuum suction pad on the stationary plate so that the arm can be bent freely Is set to be set.
In the setting device, the height display means for numerically displaying the support height of the mounting frame, the angle display means for numerically displaying the inclination angle of the stationary plate, and the amount of movement of the gyro support plate in the horizontal plane And a position display means for displaying numerical values.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a perspective view showing an embodiment of a vacuum suction pad setting device according to the present invention, and FIG. 2 is a longitudinal sectional view thereof. A pair of screw shafts 4 are rotatably supported by a bearing 3 on the front surface of a portal-shaped column 2 formed on the stand 1, and an endless chain 6 is wound around a sprocket 5 provided with the screw shafts at the upper end. Thus, the screw shaft 4 is connected so as to rotate synchronously. On the other hand, a handle shaft 8 provided at the upper end of a handle 7 is rotatably supported on the stand 1, and an endless chain 11 is wound around a sprocket 9 provided on the handle shaft and a sprocket 10 provided on one screw shaft 4. The mounting frame 13 is horizontally supported on the screw shaft 4 via the ball screw 12, and the handle 7 is rotated to rotate the pair of screw shafts 4 synchronously. Configured to be adjustable. Reference numeral 14 denotes a height display scale provided on the support column 2 so as to be a height display means for displaying the support height of the attachment frame 13 numerically. Reference numeral 15 denotes an attachment frame 13 for indicating the scale of the scale. It is a displayed guideline.
[0006]
Further, a horizontal rail 16 is provided on the lower surface of the mounting frame 13, and a fixture 18 is provided via a slider 17 so as to traverse along the horizontal rail. Reference numeral 19 denotes a lock handle provided on the slider 17 to lock the traversing of the fixture 18. As shown in FIG. 3, the fitting 18 has a fitting groove 20 and a fitting hole 21 formed on the front surface, and 22 is a push button for removal provided on one side. Reference numeral 23 is a display scale provided on the front surface of the mounting frame 13 so as to be a display means for displaying the position of the fixture 18 numerically, and 24 is a pointer displayed on the fixture 18 to indicate the scale of the scale. It is.
[0007]
Reference numeral 30 denotes a multi-joint arm having a rubber vacuum suction pad 31 at the tip. The multi-joint arm has a support shaft 34 inserted through a vertical hole 33 formed in a base 32 so as to be rotatable, and fixing screws 35, 36. The support shaft 34 can be fixed by tightening the shaft 34, and a hollow pipe 37 is extended perpendicularly to the support shaft 34, and a shaft arm 38 is inserted into the hollow pipe 37 so as to be extendable and contractible. The amount of expansion and contraction can be adjusted by loosening the fixing screw 39 screwed into the hollow pipe 37, and a fixing screw 40 is further provided at the tip of the shaft arm. The suction pad 31 is configured to be freely bent up and down in a swinging manner so that the angle can be adjusted. In addition, a fixed shaft 41 protrudes horizontally behind the base portion 32, and a circumferential groove 42 is formed on the outer periphery of the fixed shaft 41. For this reason, when the fixed shaft 41 is inserted into the mounting hole 21, an engagement piece (not shown) provided in the fixture 18 engages with the circumferential groove 42, and the base portion 32 becomes the fitting groove 20. It is fixed so that it cannot be removed and fixed when fitted. By operating the push button 22 for removal, the engagement with the circumferential groove 42 is released, the fixed shaft 41 is removed from the attachment hole 21, and the articulated arm causes the base 32 to be detached from the fixture 18. Can do. Reference numeral 43 denotes a connection port of a vacuum suction hose for sucking air in the vacuum suction pad 31.
[0008]
On the other hand, a vertical / horizontal support mechanism (XY table) 50 is provided below the mounting frame 13, and a gyro support board 70 is supported by the vertical / horizontal support mechanism so as to be movable vertically and horizontally within a horizontal plane. That is, the vertical and horizontal support mechanism 50 is provided with a pair of vertical rails 52 horizontally on a machine base 51, and a horizontal beam 54 is horizontally mounted on the vertical rail so as to be slidable via a slider 53. A horizontal rail 55 is provided on the horizontal rail, a moving table 57 is supported on the horizontal rail via a slider 56, and a gyro support board 70 is provided on the moving table. In addition, 58 is a vertical position display scale provided along the vertical rail 52 for displaying the amount of movement of the horizontal crosspiece 54, and 59 is along the horizontal rail 55 for displaying the amount of movement of the moving table 57 numerically. This is a horizontal position display scale. Reference numeral 60 denotes a lock handle provided on the slider 53 for locking the movement of the horizontal rail 54, and reference numeral 61 denotes a lock handle provided on the slider 56 for locking the movement of the moving table 57.
[0009]
The gyro support board 70 is established with a pair of support pillars 71 on the moving table 57 at an appropriate interval. As shown in an enlarged view in FIG. 4, a fulcrum shaft 72 and a fastening shaft 73 are provided on the support pillar 71. An annular frame 74 is supported in a tiltable manner, and a clamping knob 75 is provided on the tightening shaft 73 so that the tilting angle of the annular frame 74 can be fixed by the tightening, and the fulcrum shaft in the annular frame 74 is fixed. Further, a fulcrum shaft 76 and a fastening shaft 77 are provided at a position orthogonal to 72 and the fastening shaft 73, and a circular stationary plate 78 is tiltably supported by the fulcrum shaft 76 and the fastening shaft 77. The tilting angle of the stationary plate 78 can be fixed by tightening a tightening knob 79 provided on 77. Therefore, the stationary plate 78 is supported by the gyro support mechanism 70 so that the inclination angle can be adjusted in all directions. Reference numeral 80 denotes a protractor provided on the lower surface of the annular frame 74 so as to display the inclination angle of the annular frame 74 as a numerical value, 81 an index thereof, and 82 an angle display means for numerically displaying the inclination angle of the stationary plate 78. Therefore, the protractor is provided on the lower surface of the stationary plate 78. A concentric circle 83 is written on the upper surface of the stationary plate 78.
[0010]
In the vacuum suction pad setting device configured as described above, the base 32 of the articulated arm 30 is fixed to the fixture 18 as described above, while the position and angle of the stationary plate 78 are specified in the design drawing. Set according to the position and angle. That is, by moving the moving table 57 vertically and horizontally, the stationary plate 78 is fixed at the designated position by the lock handles 60, 61, and the stationary plate 78 is tilted in the free direction to tighten the clamping knobs 75, 79. The stationary plate 78 is fixed at an indicated angle in the design drawing. Then, as shown in FIG. 5, the handle 7 is turned to lower the articulated arm 30 supported by the mounting frame 13, and the fixing screws 35, 36, 39, 40 of the articulated arm are once loosened to loosen each joint. The vacuum suction pad 31 is placed at the center of the upper surface of the stationary plate 78 so that the vacuum suction pad 31 faces the front surface of the stationary plate 78, and the fixing screws 35, 36, 39, and 40 are tightened to fix the position and angle of the vacuum suction pad 31. Thereby, the position and angle of the vacuum suction pad 31 with respect to the base 32 can be set as specified in the design drawing. When the vacuum suction pad 31 is opposed to the stationary plate 78, it is easy to match the outer shape of the vacuum suction pad 31 with the concentric circle 83.
[0011]
The vacuum suction pad 31 set in this way is operated by operating the push button 22 for detachment, detaching the base portion 32, and carrying it in an automobile factory or the like, and being attached to the attachment portion of the transfer device as illustrated in FIG. . When mounting, the position and angle of the vacuum suction pad 31 are set in advance as specified in the design drawing, as described above. it can.
[0012]
【The invention's effect】
Thus vacuum suction pad setting apparatus of the present invention, the height adjustably supported mounting frame to standoff, a stationary plate and a gyro support plate inclined angle adjustably supported in all directions, the attachment frame The base of an articulated arm having a vacuum suction pad at the tip is fixed to the mounting frame, and the gyro support plate is movably supported vertically and horizontally within a horizontal plane. The position of the vacuum suction pad relative to the base by fixing each joint fixing means of the multi-joint arm after placing the vacuum suction pad on the stationary plate so that the joint arm can be bent freely Since the angle can be set, there is a beneficial effect that the necessity of adjustment at the site of use is eliminated and the vacuum suction pad can be easily set in a short time.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an embodiment of a vacuum suction pad setting device according to the present invention.
FIG. 2 is a longitudinal sectional view of the vacuum suction pad setting device of FIG.
FIG. 3 is an exploded enlarged view of a mounting portion of the vacuum suction pad of FIG.
4 is an enlarged perspective view of a gyro support board of the vacuum suction pad setting device of FIG. 1. FIG.
FIG. 5 is an operational state diagram of FIG. 1;
FIG. 6 is a perspective view showing a use state of a vacuum suction pad.
[Explanation of symbols]
2 Strut 13 Mounting frame 14 Height display scale 18 Mounting tool 30 Articulated arm 31 Vacuum suction pad 32 Base 34 Support shaft 34
35, 36 Fixing screw 37 Hollow pipe 38 Shaft arm 39, 40 Fixing screw 50 Vertical / horizontal support mechanism 52 Vertical rail 55 Horizontal rail 57 Moving table 58 Vertical position display scale 59 Horizontal position display scale 60, 61 Lock handle 70 Gyro Support plate 71 Support columns 72, 76 Support shafts 73, 77 Clamping shaft 74 Annular frame 75, 79 Clamping knob 78 Stationary plate 80, 82 Protractor

Claims (2)

Aspect and height adjustably supported mounting frame to standoff, a stationary plate and a gyro support plate inclined angle adjustably supported in all directions, the gyro support plate at the lower of the mounting frame in a horizontal plane The base of an articulated arm having a vacuum suction pad at the tip is fixed to the mounting frame, and the articulated arm can be bent freely. The position and angle of the vacuum suction pad with respect to the base are set by fixing each joint fixing means of the multi-joint arm after placing the suction pad on the stationary plate. Vacuum suction pad setting device. Height display means for numerically displaying the support height of the mounting frame, angle display means for numerically displaying the inclination angle of the stationary plate, and position display means for numerically displaying the amount of movement of the gyro support plate in the horizontal plane The vacuum suction pad setting device according to claim 1.

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