JPH0239684Y2 - - Google Patents

Description

[Detailed description of the invention] Industrial application field This invention is based on the invention: When the chuck of a machine tool is used to grip a workpiece by a conveyance device, a pusher is attached to the conveyance device to bring the workpiece into contact with the reference surface of the chuck. What we are doing is about improvement.

Prior Art When a workpiece is attached to the chuck of a lathe or the like by a robot or loader, a pusher is used to stabilize chucking by bringing the end face of the workpiece into contact with the reference surface of the chuck, and then finally chucking is performed. ing. One type of pusher is mounted on the robot hand in line with the gripper, such that it is located over the center of the gripper's grasp. This method has the disadvantage that there are restrictions on the shape of the robot and the length of the workpiece to be gripped. Also, JP-A-56-
In the device known from No. 62786, a pusher is provided in the finger case alongside the finger, and the pusher presses the workpiece when the workpiece is delivered to the chuck. For this reason, the workpiece is limited and lacks versatility. Still another type is one in which a pusher is attached to the tool attachment part of the turret of the turret tool post. This method requires time for indexing and positioning the turret, and has the problem that the number of tools that can be attached is reduced because one station of the turret is used.

Problems to be Solved by the Invention Therefore, the present invention was created in view of the above, and its purpose is to reduce the limitations by not placing any restrictions on the shape of the robot hand or the workpiece, and without using a turret. .

Means for Solving the Problem The gripper hand is provided at the wrist of the gripper hand, which is approximately on the line along which the gripping center of the gripper moves when the arm of the transfer device is extended, and has an axis parallel to the center of the gripped workpiece, and is gripped by the chuck. The push plate is equipped with a pusher supported by a floating structure, which abuts approximately the center of the end surface of the workpiece.

Embodiments Hereinafter, embodiments of the present invention will be described based on the drawings. A hand portion of a known robot arm 1 includes a gripper 2 having a V surface 2a at the upper end and supported so as to be movable in the arm axis direction, and a gripper 2 having a V surface 3a at the tip opposite to the V surface 2a and extending in the arm axis direction. A gripper 2 supported so as to be movable back and forth in the direction of the arm axis and a gripper 3 having a V surface 3a facing the V surface 2a at the tip and supported so as to be movable in the direction of the arm axis are simultaneously and interchangeably in the same amount by one drive device (not shown). The gripper is opened and closed by moving forward and backward in opposite directions, and the workpiece is always gripped on the same gripping center. A pusher 4 is provided at the wrist of the gripper hand on the side that has an axis parallel to the gripping center of the grippers 2 and 3 and chucks a workpiece. This pusher has a cylindrical mount 11 having a flange, which is fastened to the wrist of the robot hand with a bolt, and a pusher tube 12 is inserted through the center of the mount 11 so as to be slidable in the axial direction.
The pusher cylinder 12 has a stepped through hole 12a, 1 in the center.
2b and 12c are bored, a spring receiver 13 is inserted into the stepped portion 12d, and a compression spring 15 is interposed between the step portion 12d and the bottom plate 14 to urge the pusher tube 12 in the projecting direction. A long groove 12g is cut in the axial direction on the outside of the pusher cylinder 12.
A restricting pin 16 screwed into the mounting base 11 in the direction perpendicular to the axis is fitted in g to restrict the amount of movement of the pusher cylinder 12. The hole 12c has a concave spherical end surface 17.
A spherical seat 17 is inserted with enough room to move in the radial direction. 18 is housed, and by pushing the ball 19 outward, the spherical seat 17 is held in the center position. Spherical seat 17 and bottom step 12 of hole 12c
A thrust bearing 20 is interposed between the spherical seat 17 and the spherical seat 17, and a through hole 17b is bored in the center of the spherical seat 17. The concave spherical surface 17a receives a spherical body 21 forming a part of a spherical surface having the same curvature as that of the concave spherical surface 17a, and a stepped support shaft 22 is placed in the center hole of the spherical body 21.
is inserted, and the stepped support shaft 22 is loosely inserted into the center hole of the spherical seat 17 with enough room to move in the direction perpendicular to the axis, forming a floating structure. A spring 23 is installed between the flange surface and the stepped portion 12f of the pusher cylinder 12.
is inserted, and by pulling the support shaft 22, the spherical body 21 is constantly pressed against the concave spherical surface 17a. A push plate 24 is attached to the outer end of the support shaft 22, and a push plate 24 is attached to the end face of the pusher cylinder 12, and a hole 24a is bored at a position away from the center of the push plate 24. The pin 25 is inserted with a margin, and the range in which the push plate 24 can move is restricted.

Operation When the workpiece W is gripped by the V surfaces 2a and 3a of the grippers 2 and 3 of the robot, and is conveyed to the chuck of the lathe spindle (not shown) and gripped by the chuck claws, the gripper 2 of the robot arm 1 grips the workpiece W. , 3 are opened to release the workpiece W. Next, the robot arm 1 is extended and the pusher 4 is positioned to face the front surface of the workpiece W. Then, when the robot moves toward the chuck side and the push plate 24 of the pusher 4 comes into contact with the end surface of the workpiece, the chuck claw is temporarily loosened. After that, the robot moves and the push plate 24 moves to the workpiece W.
Press firmly. At this time, if the end face of the workpiece W or the surface of the push plate 24 is inclined, the sphere 21 and the spherical surface 17a float, and the push plate 24 follows suit, causing the support shaft 22 to interfere in the hole 17b of the spherical seat 17. tilt without any problem. When the end face of the workpiece W and the surface of the push plate 24 come into close contact, the pusher tube 12 is retracted against the force of the spring 15, and the workpiece W is pressed against the chuck reference surface by the force of the spring 15. The chuck's claws close and the workpiece is completely gripped in an accurate position.

Effects As detailed above, in the present invention, the pusher is provided on the wrist of the robot hand, so there is no restriction on the shape of the robot hand or the length of the workpiece, and the gripper can grip any workpiece of any shape. However, it can be pressed with a pusher, expanding the working range, and can easily be expanded to double-handed. Furthermore, there is an effect that the number of tools such as turrets is not reduced.

[Brief explanation of the drawing]

FIG. 1 is an external view of the robot hand, FIG. 2 is a longitudinal cross-sectional view of the pusher, and FIG. 3 is a view taken along the - line in FIG. 1. 2, 3...Grizpa, 4...Putsiya, 11...
...Mounting base, 12... Pusher tube, 15, 23...
Spring, 17... Spherical seat, 21... Sphere.

Claims (1)

[Scope of utility model registration request] It is installed at the wrist of the gripper hand, which is approximately on the line along which the gripping center of the gripper moves when the arm of a transfer device such as a robot or loader that rotates by extension and contraction or joints is extended and is parallel to the center of the gripped workpiece. 1. A transfer device with a pusher, comprising a pusher in which a push plate having an axis and abutting approximately the center of an end face of a workpiece gripped by a chuck is supported by a floating structure.