JP4754011B2 - Inclination angle setting device for stationary plate in vacuum suction pad setting device - Google Patents

Description

  The present invention simply sets the inclination angle of a stationary plate on which a vacuum suction pad is placed in a vacuum suction pad setting device for presetting the vacuum suction pad to a predetermined inclination angle so as to match the shape of the workpiece. It is related with the apparatus for.

  In the vacuum suction pad setting device according to the inventor's invention, as shown in the following Patent Document 1, the inclination angle of the vacuum suction pad provided at the tip of the articulated arm is indicated in the design drawing. For example, it is possible to accurately set in advance so as to always be perpendicular to a flat portion of a workpiece surface. In addition to solving this problem, it is possible to prevent an accident that a workpiece falls off during use because it can be set accurately.

Japanese Patent No. 3801498

By the way, in the apparatus shown in Patent Document 1, a stationary plate on which a vacuum suction pad is placed is supported by a gyro support plate, and two angle display means such as a protractor provided on the lower side of the stationary plate are viewed. However, the stationary plate is tilted in all directions from the horizontal state by manually rotating the two knobs of the gyro support plate. For this reason, the setting operation is difficult, and the setting angle may become ambiguous. Then, although it was considered to set the angle of the stationary plate with a servo motor that can freely command the rotation angle, the servo motor was simply provided on two orthogonal axes of the gyro support plate as shown in Patent Document 1. However, since two servo motors protrude from the peripheral edge of the stationary plate, there arises a problem that the vacuum suction pad is hindered when being moved and placed on the stationary plate.
Therefore, the present invention is intended to make it possible to set the angle of the stationary plate easily and accurately without hindering the movement of the vacuum suction pad by the servo motor.

  For this purpose, the tilt angle setting device for the stationary plate in the vacuum suction pad setting device according to the present invention is configured such that the first servo motor and the second servo motor are placed on a moving plate supported so as to be movable vertically and horizontally within a horizontal plane. The rotation output shaft is fixed so that it is perpendicular to the horizontal plane, and the first servo motor is fixed to the rotation output shaft of the first servo motor with the same length as the balance, and the rotation output of the second servo motor is fixed. A second arm that protrudes from the left and right to the shaft in the same length as the balance is fixed, and a pair of first links having the same height are rotated at both ends of the first arm only within the plane in which the first arm rotates. And a pair of second links having the same height at both ends of the second arm so as to be allowed to rotate only within the plane in which the second arm rotates. A stationary plate having a flat mounting surface on which the suction pad is mounted A support beam for rotatably supporting the stationary plate at the center of the stationary plate is provided in a transverse shape below the stationary plate, and both ends of the supporting beam protrude outward from the outer peripheral edge of the stationary plate. A pair of first universal joints are provided on both ends of the support beam and concentrically around the center of the mounting surface of the stationary plate, and the upper end of the first link is connected to the first universal joint. A pair of projecting arm portions projecting on a straight line perpendicular to the support beam at the outer peripheral edge of the stationary plate, and each projecting arm portion having the same concentric circle as the concentric circle A pair of second universal joints are provided, and the upper ends of the second links are connected to the stationary plate via the second universal joints, and the first servo motor and the second servo motor are driven to The stationary plate is configured to tilt in all directions from the horizontal state A.

  By instructing the rotation angle to each of the first servo motor and the second servo motor, the stationary plate can be easily set to the required inclination state. In addition, since the first servo motor and the second servo motor are provided below the stationary plate, the servo motors do not hinder the movement of the vacuum suction pad on the stationary plate.

The front view of the inclination-angle setting apparatus of the stationary plate in the vacuum suction pad setting apparatus which concerns on this invention. The side view of the inclination-angle setting apparatus of FIG. The top view of the inclination-angle setting apparatus of FIG. The perspective view of the inclination-angle setting apparatus of FIG. The operation state figure of FIG. The perspective view of the vacuum suction pad setting device concerning the present invention.

  1 to 5 show an inclination angle setting device for a stationary plate according to the present invention, and FIG. 6 shows a vacuum suction pad setting device provided with the inclination angle setting device. First, the structure of the tilt angle setting device of the present invention will be described with reference to FIGS. In the figure, reference numeral 1 denotes a moving plate supported by the vacuum suction pad setting device so as to be movable in the horizontal and vertical directions in the XY direction. A motor mounting base 101 is provided on the moving board 1, a first servo motor 102 is horizontally fixed, and a first arm that protrudes to the left and right of the rotary output shaft of the first servo motor 102 in the same length as a balance. 103 is fixed. Further, a motor mounting base 201 is provided on the moving board 1, and a second servo motor 202 is horizontally fixed so that its rotation output shaft is orthogonal to the rotation output shaft of the first servo motor 102 in a horizontal plane, A second arm 203 is fixed to the rotation output shaft of the second servo motor 202 to the left and right in the form of a balance with the same length. The second arm 203 is formed in a crank shape in plan view to avoid interference with other members, but the left and right sides of the rotation output shaft of the second servo motor 202 are the same as the first arm 103. It is overhanging in the form of a balance with the same length.

  Both end portions 104a and 104b of the first arm 103 are formed in a bifurcated shape in plan view. 105a and 105b are a pair of first links having the same height direction component. The first link is inserted by inserting the lower end of the first link between the bifurcated portions and penetrating the pins 106a and 106b. 105a and 105b are pivotally attached so that the rotation is allowed only in the plane in which the first arm 103 rotates. Also, both end portions 204a and 204b of the second arm 203 are formed in a bifurcated shape in plan view. 205a and 205b are a pair of second links having the same height direction component, and the second link is inserted by inserting the lower end of the second link between the bifurcated portions and inserting the pins 206a and 206b. 205a and 205b are pivotally attached so that the rotation is allowed only in the plane in which the second arm 203 rotates. In short, the second links 205a and 205b and the first links 105a and 105b are pivotally attached so as to be allowed to rotate in vertical planes orthogonal to each other. In addition, the 2nd link 205b is formed in the shape refracted | inclined in order to avoid interference with another member as shown in the figure.

  Reference numeral 300 denotes a disc-shaped stationary plate having a flat placement surface 301. The placement surface 301 has a plurality of concentric circles 303 centered on the center 302 of the placement surface, which will be described later. The suction pad is positioned at the center of the placement surface 301 so that it can be placed easily.

  Reference numeral 304 denotes a support beam provided in a transverse manner below the stationary plate 300, and reference numeral 305 denotes a bearing provided above the intermediate point of the support beam so as to rotatably support the stationary plate at the center of the stationary plate. It is. Both end portions 306a and 306b of the support beam 304 protrude outward from the outer peripheral edge of the stationary plate, and the both end portions 306a and 306b are centered on the center 302 of the mounting surface 301 of the stationary plate. A pair of first universal joints 107a and 107b is provided on a concentric circle (a virtual concentric circle having a diameter larger than that of the concentric circle 303), and the upper ends of the first links 105a and 105b are connected to the first universal joints 107a and 107b. Via both ends 306a and 306b. Specifically, as shown in FIG. 3, the upper ends of the first links 105a and 105b are formed in a bifurcated shape in plan view, and the first universal joints 107a and 107b having two axes orthogonal to the T-shape. Both end shafts 108 are rotatably provided between the bifurcated portions, and a third shaft 109 is rotatably inserted into both end portions 306a and 306b of the support beam.

  On the other hand, a pair of projecting arm portions 307a and 307b are provided on the outer peripheral edge of the stationary plate 300 on a straight line orthogonal to the support beam 304, and a pair of concentric circles located on the same concentric circle as the concentric circles. The second universal joints 207a and 207b are provided, and the upper ends of the second links 205a and 205b are connected to the stationary plate 300 via the second universal joints 207a and 207b. Specifically, as shown in FIG. 3, the second links 205a and 205b are formed with bifurcated upper ends of the second links 205a and 205b. Both end shafts 208 of 207b are rotatably provided between the bifurcated portions, and a third shaft 209 of the second universal joint is rotatably inserted into the projecting arm portions 307a and 307b.

  In the tilt angle setting device configured as described above, a rotation command is issued from the control panel to the first servo motor 102, and the first arm 103 provided on the rotation output shaft of the first servo motor 102 is rotated by a predetermined angle (tilt). ), The first links 105a and 105b pivotally supported at both ends of the first arm 103 move up and down, and the support beam 304 tilts. For this reason, the stationary plate 300 is tilted around a center 302 of the mounting surface 301 in a vertical plane orthogonal to the rotation output axis of the first servo motor 102. When a rotation command is issued from the control panel to the second servo motor 202 and the second arm 203 provided on the rotation output shaft of the second servo motor 202 is rotated (tilted) by a certain angle, the second arm 203 Since the second links 205a and 205b pivotally supported at both ends move up and down, the stationary plate 300 is placed in a vertical plane perpendicular to the rotation output axis of the second servomotor 202 with the center 302 of the mounting surface 301 as the center. And tilt. At this time, since the stationary plate 300 is rotatably supported on the support beam 304, it can be tilted without interfering with each other. Therefore, by driving the first servo motor 102 and the second servo motor 202, the stationary plate 300 can be tilted in all directions from the horizontal state. FIG. 5 shows an example of the inclined state.

  Next, a vacuum suction pad setting device equipped with this inclination angle setting device will be described with reference to FIG. The movable platen 1 is provided on the linear guide 2 so as to be supported in a horizontal plane so as to be movable back and forth in the X direction. Further, the linear guide 2 is provided on the linear guide 3 orthogonal to the linear guide 2 so that the movement is achieved. The board 1 is supported in a horizontal plane so as to be movable back and forth in the Y direction. That is, the movable board 1 is supported by a vertical / horizontal support mechanism (XY table) comprising a linear guide 2 and a linear guide 3 so as to be movable in the horizontal and vertical directions. The linear guide 2 and the linear guide 3 are each provided with a servo motor (not shown) as a drive source, and the movable board 1 is rotated by rotating the servo motor a required number in response to a command from a control board (not shown). The movement can be stopped at a predetermined position on the horizontal plane.

  On the other hand, 4 is a linear guide provided vertically upright on one side of the vertical and horizontal support mechanism, and 5 is a linear guide which is long in the horizontal direction so as to be moved up and down by the linear guide 4. The bracket 10 is provided so as to be movable in the X direction in a horizontal plane, the mounting fixture 6 is provided on the bracket, the lock fixture 7 is provided on the mounting fixture 6, and by operating the lock handle 7, The base 9 of the vacuum suction pad 8 is detachably attached to the mounting fixture 6. The linear guide 4 and the linear guide 5 are provided with a servo motor (not shown) as a drive source, and the servo motor is rotated in accordance with a command from a control panel (not shown), whereby the mounting fixture 6 is moved. The mounting fixture 6 can be moved in the X direction in a horizontal plane at the same time as being moved up and down.

  Therefore, the moving board 1 is moved in the X and Y directions in the horizontal plane to stop moving to predetermined positions, and the first servo motor 102 and the second servo motor 202 provided on the moving board 1 are driven. After the stationary plate 300 is set to a predetermined inclination state, the mounting fixture 6 is moved up and down, and the mounting fixture 6 is moved in the X direction within the horizontal plane, as shown in FIG. A vacuum suction pad 8 can be placed on 300. As a result, the position and angle of the vacuum suction pad 8 can be easily set with respect to the base 9, so that the vacuum suction pad 8 can be easily used at the site of use such as an assembly factory without the need for adjusting the angle. become.

  In this tilt angle setting device, since the first servo motor 102 and the second servo motor 202 are provided below the stationary plate 300, the periphery of the stationary plate is in an open state free from obstacles, and vacuum suction is performed. When the pad 8 is moved and placed on the stationary plate 300, these servomotors can move the vacuum suction pad vertically and horizontally from each direction without hindering the movement, thereby improving workability. Can be improved.

DESCRIPTION OF SYMBOLS 1 Moving board 2,3,4,5 Linear guide 6 Mounting fixture 7 Lock handle 8 Vacuum suction pad 101 Motor mounting base 102 1st servo motor 103 1st arm 104a, 104b Both ends 105a, 105b of 1st arm 1st Links 106a, 106b Pins 107a, 107b First universal joint 201 Motor mounting base 202 Second servo motor 203 Second arms 204a, 204b Second arm ends 205a, 205b Second links 206a, 206b Pins 207a, 207b Second universal Joint 300 Stationary plate 301 Placement surface 302 Placement surface center 303 Concentric circle 304 Support beam 305 Bearings 306a and 306b Both ends 307a and 307b of the support beam

Claims (1)

  A first servo motor and a second servo motor are fixed on a moving plate supported so as to be movable vertically and horizontally in a horizontal plane so that their rotational output axes are orthogonal to each other in the horizontal plane, and the rotation of the first servo motor is performed. A first arm that protrudes to the left and right with the same length as the balance is fixed to the output shaft, and a second arm that protrudes to the left and right with the same length as the balance is fixed to the rotation output shaft of the second servo motor. A pair of first links having the same height are pivotally attached to both ends of the first arm so as to be allowed to rotate only within the plane in which the first arm rotates, and the same height is provided to both ends of the second arm. A pair of second links are pivotally attached so as to be allowed to rotate only within a plane in which the second arm rotates, and a stationary plate having a flat placement surface on which a vacuum suction pad is placed is provided. A support beam that supports the plate rotatably at the center of the stationary plate is provided transversely below the stationary plate. Both ends of the support beam protrude outward from the outer peripheral edge of the stationary plate, and a pair of first beams are formed on concentric circles centering on the center of the mounting surface of the stationary plate at both ends of the support beam. A universal joint is provided, and the upper end portion of the first link is connected to the support beam via the first universal joint, and a pair of protrusions are formed on a straight line that is an outer peripheral edge of the stationary plate and is orthogonal to the support beam. A pair of second universal joints is provided on each of the protruding arm parts, and the upper end part of the second link is connected to the stationary plate via the second universal joint. Inclination angle of the stationary plate in the vacuum suction pad setting device, wherein the stationary plate is tilted in all directions from the horizontal state by driving the first servo motor and the second servo motor. Setting device.

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