JPH01295786A - Part transfer device - Google Patents

Abstract

PURPOSE:To enable a workpiece to be fitted and transferred by pinching a collar portion of a hand section with a thrust bearing and fastening it to one end of a two-dimensionally universal shaft and disposing pressedly hard balls through springs in conical recesses of a return plate provided on the other end to absorb the misalignment of transferred workpiece with inserted workpiece. CONSTITUTION:After a workpiece 3 is gripped by a hand section 2 and transferred to the upper proximity of an inserted workpiece 4, an arm 1 is lowered to fit the workpiece 3 into the inserted workpiece 4. Then, even if the workpiece 3 and the inserted workpiece 4 is in for slight misalignment with the inserted workpiece 4 in the directions of arrows X, Y (two dimensionally), a universal shaft 8 fastening the hand section 2 at one end, having the collar portion pinched by a thrust bearing 7, housed in a housing 6 and having the degree of freedom in the two dimensional direction moves in the housing 6 according to a guide surface 4-a of the inserted workpiece 4 to absorb such misalignment. Next, after the transfer of workpiece 3, a return plate 9, the universal shaft 8 and hand section 2 pressed by hard balls 10 through compressive springs 11 return to the initial positions together.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a transfer device such as a robot that transfers parts by suctioning them or holding them with a chuck or the like.〇 [Prior Art] Part 3 The figure is a perspective conceptual diagram showing a conventional parts transfer device.

In the figure, (1) is the drive tlH1! (not shown) A device arm that moves back and forth between coordinates set in advance in the direction of the fire source (2) is a device arm that moves back and forth between coordinates set in advance in the direction of the fire source. (4) is a work to be inserted into which the work (3) is inserted; (4-a) is a guide surface provided on the work to be inserted (4) ◇ Next, the operation will be explained. First, the workpiece (3) is moved by a drive mechanism to a device arm (1) that moves between coordinates set in a three-dimensional direction.
The device arm (1) is then held by the machine arm (1) and carried near the top of the workpiece to be inserted (4).
Workpiece (3) held by hand part (2) fastened to
is fitted onto and transferred to the inserted workpiece (4).

[Problem to be solved by the invention]

Conventional transfer equipment was configured as described above, so
Since the workpiece is fitted and transferred to the inserted workpiece, K must highly accurately control the stopping accuracy of the transfer device, assembly accuracy, workpiece and parts accuracy of the inserted workpiece, etc. In addition to increasing the manufacturing cost, if a slight misalignment occurs between the workpiece and the inserted workpiece, the workpiece cannot be fitted and transferred to the inserted workpiece, causing problems such as damage to the workpiece and the transfer device itself. there were.

This invention was made in order to solve the above-mentioned problems, and when a misalignment occurs between the work to be transferred and the work to be inserted by the transfer device, it is possible to freely move in two-dimensional directions. The object of the present invention is to provide a transfer device that can follow misalignment and fit and transfer the workpiece to the inserted workpiece.

[Means to solve the problem]

In the transfer device according to the present invention, a hand portion equipped with a holding means for holding by suction or a chuck, etc. is fastened to one end of a flexible shaft that is movable in two-dimensional directions by holding the brim portion with a thrust bearing. A return plate having a conical recess into which a plurality of hard balls fit is provided at the other end of the free shaft, and the hard balls are pressed against the return plate via a spring.

[Effect]

The transfer device according to the present invention has a hand section at one end equipped with a holding means such as suction or a chuck, and uses a flexible shaft whose brim is held by a thrust bearing to move freely in two-dimensional directions to place the workpiece onto the inserted workpiece. In addition to correcting the misalignment that occurs during transfer, the hand section is mounted by pressing the hard ball via a spring against a return plate that has a conical recess provided at the other end of the free shaft into which the hard ball fits. Return the free shaft to its initial position.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure is a perspective conceptual diagram showing the parts transfer device, and FIG. 2 is a sectional view taken along the vertical plane taken along the line AA in FIG. 1. In the figure, %(1) to (4) and C4-a) are the same as those shown in the conventional example of FIG. 3, so their explanation will be omitted. (5) is equipped +
The mechanism attached to the i-arm (1) is attached to the base,
(6) is a housing fastened to the base (5) for the mechanism, (7) is a thrust bearing housed in the housing (6), and (8) is held between the thrust bearings (7). The flexible shaft allows for free movement within the housing (6) in two-dimensional directions perpendicular to the axis. (9
) is a return plate provided at the other end of the free shaft (8) and has a plurality of conical recesses, α1 is a hard ball that fits into the conical recess of the return plate (9), and (2) is a hard ball θ1. The return board (
The compression spring % (2) that presses the compression spring (11)
) is housed in the spring case, 0 is the spring case (2) is fastened, and the mechanism attachment is the span plate that is housed in the base (5).

Next, the operation will be explained. The workpiece (3) is grasped by a hand part (2) fastened to a device arm (1) driven by a drive source (not shown), and is carried near above the workpiece to be inserted (4). Next, as the device 1-me (1) is lowered, the workpiece (3) is fitted into the inserted workpiece (4). At that time, the workpiece (3) and the inserted workpiece (4) are indicated by the arrow X in the figure.

Even if there is a slight deviation in the center of gravity in the Y and θ directions (hereinafter referred to as two-dimensional directions), as long as it does not deviate from the guide surface (4-a) of the inserted workpiece (4), the hand gls (2) should be placed at one end. The flexible shaft (8), which has a degree of freedom in two-dimensional directions and is housed in the housing (6), is connected to the guide surface r4- of the inserted workpiece (4). The workpiece (3) moves within the housing (6) in accordance with step a) to absorb the misalignment, and the workpiece (3) is fitted into the inserted workpieces (4)K.

Next, when the hand part (2) fastened to the flexible shaft (8) separates the workpiece (3) and completes the insertion and transfer, the flexible shaft (8)
8) The return plate (9), which is provided at the other end and whose conical recess is pressed by the hard ball OQ through the compression spring I, returns to its initial position, and the free shaft (8) fastened to the return plate (9) returns to its initial position. ), the hand portion (2) also returns to its initial position.

〔Effect of the invention〕

As described above, according to the present invention, in the parts transfer device,
The flange part is clamped with a wrist bearing and can be freely moved in two-dimensional directions.A hand part equipped with suction or holding means such as a chuck is provided at one end of the flexible shaft, and the other end has a conical shape into which multiple hard balls fit. A return plate with a recess was provided, and the hard ball was pressed against the return plate via a spring, so misalignment occurred between the workpiece to be fitted and transferred by the parts transfer device and the workpiece to be inserted. In this case, there is an effect that a transfer device that can freely follow misalignment in two-dimensional directions and fit and transfer a workpiece to an inserted workpiece can be made inexpensive with a simple mechanism.

[Brief explanation of the drawing]

FIG. 1 is a perspective conceptual diagram showing a parts transfer device according to an embodiment of the present invention, FIG. FIG. 2 is a perspective conceptual diagram showing the device. In the figure, (1) is the device arm, (2) is the hand part,
(3) is the workpiece, (4) is the workpiece to be inserted, (4-a) is the guide surface, (5) is the @crossing dimension is the pace, (6) is the nusing, (7) is the thrust bearing, (8) is a free shaft, (9) is a return plate, the head is a hard ball, αD is a compression spring, (2)
In the spring case, a3 is the spanning board. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Claims] In a parts transfer device that transfers parts by suctioning or holding them with a chuck, etc., a hand part equipped with holding means such as a suction or chuck is attached to one end of a flexible shaft that grips the parts with a thrust bearing and can freely move in two-dimensional directions. A parts transfer device characterized in that a return plate is provided at the other end with a conical recess into which a plurality of hard balls are fitted, and the hard balls are pressed against the return plate via a spring.