JPH01240226A - Inverting device having inverting device and chuck mechanism - Google Patents
Inverting device having inverting device and chuck mechanismInfo
- Publication number
- JPH01240226A JPH01240226A JP63064183A JP6418388A JPH01240226A JP H01240226 A JPH01240226 A JP H01240226A JP 63064183 A JP63064183 A JP 63064183A JP 6418388 A JP6418388 A JP 6418388A JP H01240226 A JPH01240226 A JP H01240226A
- Authority
- JP
- Japan
- Prior art keywords
- rotated
- pulley
- frame body
- shaft
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000006243 chemical reaction Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000036544 posture Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001131 transforming effect Effects 0.000 description 1
Landscapes
- Specific Conveyance Elements (AREA)
- Attitude Control For Articles On Conveyors (AREA)
- Automatic Assembly (AREA)
- Feeding Of Workpieces (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、精密機器の組立工程等に用いられる部品供給
装置において、水平・垂直の姿勢を同時に選択して変換
し、全数を整列供給する反転装置に関する。Detailed Description of the Invention [Industrial Application Field] The present invention is a parts supply device used in the assembly process of precision equipment, which simultaneously selects and converts horizontal and vertical postures, and supplies all parts in an aligned manner. Relating to a reversing device.
［従来の技術１
従来、第３図に示すように、フィーダで供給された部品
を姿勢判別し、その情報にしたがって、第１ステーシヨ
ンで水平変換、第２ステーシヨンで垂直変換を選択して
行ない、所定の姿勢に整列する反転装置が知られている
。[Prior art 1] Conventionally, as shown in FIG. 3, the orientation of parts fed by a feeder is determined, and according to the information, horizontal conversion is selected at a first station and vertical conversion is performed at a second station. A reversing device that aligns objects in a predetermined posture is known.
［発明が解決しようとする課題］
しかし、従来の２つのステーションに分割して反転する
装置では、次のような欠点があった。[Problems to be Solved by the Invention] However, the conventional device that splits into two stations and inverts has the following drawbacks.
（１）装置が大形になる。(1) The device becomes large.
（２）ステーション間を、部品自重により滑落して移動
するため、動作が確実でない。(2) Operation is not reliable because parts slide down and move between stations due to their own weight.
（３）第２ステーシヨンへ移動し、部品検知後に反転動
作をするので、サイクルタイムが長くなり高速化が難か
しい。(3) Since it moves to the second station and performs a reversal operation after detecting the component, the cycle time becomes long and it is difficult to increase the speed.
（４）枠体内での位置が保持されたいないため、形状差
・重心差のある部品には適さない。(4) Since the position within the frame is not maintained, it is not suitable for parts with differences in shape and center of gravity.
そこで、この発明は従来のこのような欠点を解決するた
め、一つのステーションにおいて、水平・垂直に４自由
度をもつ部品の姿勢を、所期の姿勢へ同時に変換するこ
とを目的としている。Therefore, in order to solve these conventional drawbacks, the present invention aims to simultaneously convert the posture of a component having four degrees of freedom horizontally and vertically into a desired posture at one station.
［課題を解決するための手段］
（１）上記課題を解決するために、本発明は、姿勢変換
する部品を保持する枠体を、直交する２軸によって支持
し、それぞれの軸を反転させる回転機構を有し、姿勢判
別情報によって、２軸を選択して旋回させ、所期の姿勢
に変換する。[Means for Solving the Problems] (1) In order to solve the above-mentioned problems, the present invention supports a frame body that holds a component whose posture is to be changed by two orthogonal axes, and rotates the respective axes by reversing them. It has a mechanism that selects and rotates two axes based on the attitude determination information and converts it to the desired attitude.
（２）また、枠体内の部品を保持し、位置ずれを防止す
るチャック機構を備えていることを特徴とする。(2) It is also characterized by being equipped with a chuck mechanism that holds the components inside the frame and prevents them from shifting.
［作 用］
上記のように構成された反転装置において、第２図に示
すように、水平・垂直の２軸を選択して動作させること
により、部品を所期の姿勢に全数整列して、次工程へ供
給することが可能となるのである。[Function] In the reversing device configured as described above, as shown in Fig. 2, by selecting and operating two axes, horizontal and vertical, all parts are aligned in the desired posture, and This makes it possible to supply it to the next process.
［実 施 例］
以下に本発明の実施例を図面にもとすいて説明する。第
１図に本発明の実施例を示す。ワークを保持する枠体８
は、垂直軸１によってヨーク９に回転自在に取り付けら
れている。プーリＡ５とプーリＢ６は、一対のプーリＣ
７によって軸方向が変換されるように、直交して取り付
けられている。今、プーリＡ５とプーリＢ６のピッチ円
径を、１−１と仮定すれば、アクチュエータＡｌｌによ
り、歯車Ａ３を１８０°回転さぜると、垂直軸１はロー
ブ１０によって動力伝達を受け１８０°回軸する。また
、アクチュエータＢ１２により歯車Ｂ４を１８０°回転
さぜると、ヨーク９が１８０°回転する。この時、枠体
８もプーリＢ６の自転運動により１８０°回転する。し
たがって、アクチュエータＡｌｌとアクチュエータＢ１
２を同時に動作させ、歯車Ａ３と歯車Ｂ４を各々同方向
へ１８０°回転させれば、自転運動が相殺され、枠体８
は水平軸２を回転中心として１８０°回転することにな
る。[Examples] Examples of the present invention will be described below with reference to the drawings. FIG. 1 shows an embodiment of the present invention. Frame body 8 that holds the workpiece
is rotatably attached to a yoke 9 by a vertical shaft 1. Pulley A5 and pulley B6 are a pair of pulleys C
They are mounted orthogonally so that the axial direction is transformed by 7. Now, assuming that the pitch diameter of pulley A5 and pulley B6 is 1-1, when gear A3 is rotated 180 degrees by actuator All, vertical shaft 1 is rotated 180 degrees due to power transmission by lobe 10. Axis. Further, when the gear B4 is rotated by 180 degrees by the actuator B12, the yoke 9 is rotated by 180 degrees. At this time, the frame 8 also rotates 180° due to the rotational movement of the pulley B6. Therefore, actuator All and actuator B1
2 and rotate gear A3 and gear B4 by 180° in the same direction, the rotational motions are canceled out and the frame body 8
is rotated by 180 degrees around the horizontal axis 2.
なお、付随的な機構として、回転中のワークを保持する
目的で、チャック１４が設けられている。ワークは、ば
ね１６の力により、レバー１５を介してチャック１４が
動作して、枠体８に固定される。ブツシャ１７が伸長動
作すると、プランジャ１８が移動して、チャック１４の
動作は解除される。Note that a chuck 14 is provided as an incidental mechanism for the purpose of holding a rotating workpiece. The workpiece is fixed to the frame 8 by operating the chuck 14 via the lever 15 by the force of the spring 16. When the button 17 extends, the plunger 18 moves and the chuck 14 is released.
第２図は、本発明による姿勢変換の説明図である。Ａ、
Ｂ、Ｃ，Ｄの４姿勢をへの１姿勢に変換する場合、歯車
Ａ３と歯車Ｂ４の回転は次のように組み合わせる。FIG. 2 is an explanatory diagram of posture conversion according to the present invention. A,
When converting the four postures B, C, and D into one posture, the rotations of gear A3 and gear B4 are combined as follows.
（１）どちらも回転しない。(1) Neither rotates.
（２）歯車Ａ３を１８０°回転させる。(2) Rotate gear A3 180°.
（３）歯車Ｂ４を１８０°回転さぜる。(3) Rotate gear B4 180 degrees.
（４）歯車Ａ３と歯車Ｂ４を、同一方向に１８０°回転
させる。(4) Rotate gear A3 and gear B4 180° in the same direction.
［発明の効果］
本発明の反転装置は、以上説明したように、水平・垂直
の２軸を選択して回転させることにより、姿勢に４自由
度をもつ直方体を所期の姿勢へ、１つのステーションに
おいて変換しつるという効果がある。[Effects of the Invention] As explained above, the reversing device of the present invention rotates a rectangular parallelepiped with four degrees of freedom to the desired orientation by selecting and rotating two axes, horizontal and vertical. It has the effect of transforming at the station.
また、かかる反転装置がもつチャック機構は。Also, what is the chuck mechanism of this reversing device?
形状差・重心差のあるワークへの適用をも可能とし、本
発明が対象とするワークの範囲を拡大している。The present invention can also be applied to workpieces with differences in shape and center of gravity, expanding the range of workpieces targeted by the present invention.
第１図は、本発明にかかる反転装置の実施例の断面図、
第２図は本発明による姿勢変換の説明図、第３図は従来
の反転装置の概要図である。
１・・・垂直軸
２・・・水平軸
３・・−歯車Ａ
４・・・歯車Ｂ
５・ ・ ・プーリＡ
６・ ・ ・プーリＢ
７・ ・ ・プーリＣ
８・・・枠体
９・・・ヨーク
１０・・・ローブ
１１・・ アクチュエータＡ
１２・・・アクチュエータＢ
１３・・・壁体
１４・・・ヂャック
１５・・・レバー
１６ ・・ばね
１７・・・ブツシャ
１８・・・プランジャ
以 」二
出願人 セイコーエプソン株式会社
代理人 弁理士 最 」二 務（化１名）垂直変換FIG. 1 is a sectional view of an embodiment of a reversing device according to the present invention;
FIG. 2 is an explanatory diagram of posture conversion according to the present invention, and FIG. 3 is a schematic diagram of a conventional reversing device. 1... Vertical axis 2... Horizontal axis 3... - Gear A 4... Gear B 5... Pulley A 6... Pulley B 7... Pulley C 8... Frame 9... ... Yoke 10 ... Lobe 11 ... Actuator A 12 ... Actuator B 13 ... Wall 14 ... Jack 15 ... Lever 16 ... Spring 17 ... Button 18 ... Plunger and beyond 2 Applicants Seiko Epson Co., Ltd. Agent Patent Attorney 2 (1 person) Vertical conversion
Claims (2)
軸によって支持し、それぞれの軸を反転させる回転機構
を有し、姿勢判別情報によって、２軸を選択して旋回さ
せ、所期の姿勢に変換する反転装置。(1) Place the frame holding the part whose posture is to be changed into two orthogonal positions.
An inversion device that is supported by axes and has a rotation mechanism that inverts each axis, and selects and rotates two axes based on attitude determination information to convert to a desired attitude.
ク機構を備えた反転装置。(2) The reversing device according to claim 1, wherein the reversing device includes a chuck mechanism on the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63064183A JPH01240226A (en) | 1988-03-17 | 1988-03-17 | Inverting device having inverting device and chuck mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63064183A JPH01240226A (en) | 1988-03-17 | 1988-03-17 | Inverting device having inverting device and chuck mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01240226A true JPH01240226A (en) | 1989-09-25 |
Family
ID=13250687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63064183A Pending JPH01240226A (en) | 1988-03-17 | 1988-03-17 | Inverting device having inverting device and chuck mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01240226A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104759861A (en) * | 2015-04-01 | 2015-07-08 | 中船黄埔文冲船舶有限公司 | Gear box centering based laser centering tool of ship shaft system and centering mounting method |
| CN108483371A (en) * | 2018-03-22 | 2018-09-04 | 通号建设集团有限公司 | A kind of turning operation mechanism and prefabricated piping lane method for turning |
| JP2019189403A (en) * | 2018-04-25 | 2019-10-31 | 株式会社Ｋｅｃ | Component feeding device |
| CN112693869A (en) * | 2020-12-14 | 2021-04-23 | 丽水思远信息技术有限公司 | Industrial automation steering mechanism based on new generation mobile communication technology |
| CN115122193A (en) * | 2022-08-05 | 2022-09-30 | 上海电气电站设备有限公司 | Auxiliary device for grinding wheel disc blade top |
-
1988
- 1988-03-17 JP JP63064183A patent/JPH01240226A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104759861A (en) * | 2015-04-01 | 2015-07-08 | 中船黄埔文冲船舶有限公司 | Gear box centering based laser centering tool of ship shaft system and centering mounting method |
| CN108483371A (en) * | 2018-03-22 | 2018-09-04 | 通号建设集团有限公司 | A kind of turning operation mechanism and prefabricated piping lane method for turning |
| JP2019189403A (en) * | 2018-04-25 | 2019-10-31 | 株式会社Ｋｅｃ | Component feeding device |
| CN112693869A (en) * | 2020-12-14 | 2021-04-23 | 丽水思远信息技术有限公司 | Industrial automation steering mechanism based on new generation mobile communication technology |
| CN112693869B (en) * | 2020-12-14 | 2022-09-02 | 宜宾市天珑通讯有限公司 | Industrial automation steering mechanism based on new generation mobile communication technology |
| CN115122193A (en) * | 2022-08-05 | 2022-09-30 | 上海电气电站设备有限公司 | Auxiliary device for grinding wheel disc blade top |
| CN115122193B (en) * | 2022-08-05 | 2024-03-19 | 上海电气电站设备有限公司 | Wheel disc blade top grinding auxiliary device |
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