JPH0316809Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to an automatic moving device that moves a gripping device on a path or trajectory defined between two points having intervals, and the automatic moving device automatically moves the gripping device along a predetermined path or trajectory between two points having intervals. A reciprocating movement path is provided between two points, and a displacement movement that alternates in one transverse direction is provided at the start and end of the path.

Such a device is useful primarily as an automatic moving device during manufacturing processes in which the gripping device grips the workpiece at one point and moves back from this point to another point for installation or manipulation.

The automatic moving device according to the present invention includes a reciprocating drive device having a member having a reciprocating movement path connected to a sliding member movable between two points spaced apart from each other about the path, and a reciprocating drive device configured to be movable in the direction of the free path. a conveyor member having a gripping device which is displaceable transversely to the path thereof and is guided by a guide member along a path parallel to the path of the slide member; the slide member and the conveyor member; and an engagement/disengagement control device for the engagement/disengagement joint provided on at least one of the paths of the two slide members and the conveying member. The engagement and disengagement control device causes the engagement and disengagement joint to engage and disengage at predetermined points along the path.

In a particularly preferred embodiment of the invention, the slide member and the conveying member of the gripping device are guided to move inside a slide groove body with a U-shaped cross section, the slide groove body being arranged between two parallel guide surfaces. and 1
It has two bottom walls. In particular, this bottom wall is intended to incorporate a disengagement control device which acts on the disengagement joint in a mutually complementary manner.

Furthermore, in the present invention, the conveying member and gripping device are
The slide member is slidably guided in parallel to approach and move away from it during movement.
The engagement/disengagement joint is brought into the engaged position by the movement of the conveying member towards the slide member, and is disengaged by the movement away from the slide member.

In the embodiment of the present invention, the engagement/disengagement control device that acts on the engagement/disengagement joint is a push member that is provided so as to be movable against the bottom wall of the sliding groove body under the action of pressing against the conveying member of the gripping device. and a cam mechanism that is interlocked by a cam groove and its driven member, and the cam mechanism allows the conveying member and the slide member to approach each other under the action of the pushing member. or move away against the action of the pushing member.

A particularly suitable cam groove, for example with an inverted U-shaped contour, is provided on one of the parallel guide walls of the sliding groove body.

When the path of the slide member is a straight line, a hydraulic reciprocating drive device is used, which is provided parallel to the slide member, and one of its ends is pivoted to a fixed point located at one end of the slide groove body. Advantageously, the gripping device is provided at the opposite end of the conveying member. In this way, it is possible to provide a device that is compact and can be installed with the bottom wall of the sliding groove main body stationary on the outer surface.

The drawings related to the embodiments of the present invention will be described in detail below.

The embodiments described below concern the installation of the gripping member 1 in the case of a generally straight path. The invention is also suitable for other curved paths, especially circular paths. For devices which have chosen a linear path, it is advantageous to have a reciprocating drive constituted by a conventional reciprocating pneumatic reciprocating drive 2. All other types of drives adapted to the shape of the path are used, for example rotary drives for circular paths and rotary drives coupled to screw systems for straight paths.

The reciprocating drive 2 has a piston rod 3;
The rod moves alternately between two opposite end positions and has a slide member 4 connected to its free end. This sliding member also forms a linear stroke between two opposing points.

The gripping device 1 is intended for gripping or holding or gripping a part of some workpiece to be moved between two points. The gripping device 1 is of any convenient type for the type of parts to be moved.

A sliding groove body 6 is used for this purpose, which body is U-shaped in cross section and has two parallel side walls 6A, 6B and a bottom wall 6C. In particular, either of the ends of the main body 6 is closed by an end wall 7 held at its end, which end walls include side walls 6A,
6B and to which end wall the cylinder of the reciprocating drive 2 is connected on the opposite side 8 of the piston rod 3. The reciprocating drive device 2 extends above the side walls 6A, 6B, and as shown in FIG. 2, grooves are provided in the vertical planes of the opposing interiors of the two side walls 6A, 6B. Each groove is fitted with a tongue provided on the corresponding opposite side of the slide member 4. In other words,
One pair of grooves and tongues 9 and another pair of grooves and tongues 10 are provided at corresponding locations on the inner surfaces of the side walls 6A and 6B and the side surface of the slide member 4.
The tongue slides into the groove during a reciprocating movement controlled by the reciprocating drive 2.

The conveying member 5 that conveys the gripping device 1 has a side wall 6
Between A and 6B, the slide member 4 and the bottom wall 6
It is provided between C. As shown in FIG. 2, this conveying member 5 is guided by the inner surfaces of the side walls 6A and 6B (which are plane), and the conveying member 5 can be moved in the longitudinal direction and can be freely displaced transversely towards and away from the slide member 4 between the flat surfaces of the slide member 4 .

While the conveyance member 5 is displaced in the transverse direction,
The spring 21 is compressed and released, and the roller 16 slides on the underside of the slide member 4 or engages the notch 13.

The engagement/disengagement joints 11 and 12 are respectively the slide members 4
and the conveying member 5. In this embodiment, the locking and disengaging joint comprises a V-shaped transverse notch 13 with inclined sides on the slide member 4, which is open towards the conveyor member 5. In the conveying member, a shaft 15 passes through a pair of lug pieces 14, and rollers 16 are mounted on the same shaft with some play. The rollers 16 are oriented and have a selected diameter so that they can be engaged into the corresponding notch 13 without being positively fixed, but can be displaced along the sides of this notch. is being used.

There are several engagement/disengagement joints between the slide member 4 and the conveyance member 5, and at least two engagement/disengagement joints 11, 12 are present. The notches 13 on the slide member 4 and the rollers 16 on the conveyor member 5 engage and disengage at the same time, although they are spaced apart from each other.
These actions are performed by the engagement/disengagement control device described below.

There is a gap between the bottom wall 6C and the conveying member 5,
A push member 17 is provided which pushes transversely to the longitudinal direction of the device in said space and has a pin 18 which engages and is guided in a hole 19 provided in the bottom wall 6C. ing. Each of the pins 18 is provided with a flat head 20, on which is placed a compression spring 21 which surrounds the pin 18 and supports the flat head against the bottom wall 6C.

Each of the pushing elements 17 faces towards the conveying element 5 and is pressed against it by means of a flat head 20 under the force of a spring 21 . Therefore, the roller 16 itself is also pressed against the slide member 4 by the same force of the spring 21. The slide member 4 on the outside of the notch 13 has a flat surface on which the rollers 16 roll. When the roller 16 reaches the surface of the notch 13, it engages therein. At this time, engagement is performed between the sliding member 4 driven by the reciprocating drive device 2 and the conveying member 5 that conveys and supports the gripping device 1 for longitudinal movement. The pushing member 17 has a tendency to always bring the slide member 4 and the conveying member 5 close to each other so as to connect them.

Each of the axes 15 of the rollers 16 is elongated and traverses at least one side wall 6A. For this purpose, a suitable cam groove slit 22 is provided in this wall (see FIG. 3). Each of the slits 22 acts as a cam mechanism in conjunction with the shaft 15. Each of the slits 22 has a straight intermediate portion 22A, which is parallel to the path of the slide member 4 and which allows the shaft 15 to move when the associated roller 16 engages in the corresponding notch 13. It comes in this middle part 22A.
In other words, the shaft 15 is the middle part 22 of the slit 22.
As long as the slide member 4 and the conveying member 5 are located within the A, the slide member 4 and the conveying member 5 are engaged with each other. During its longitudinal movement, this conveying member 5 is entrained by the slide member 4, so that the shaft 15 slides in the intermediate section 22A.

Each of the slits 22 further has two end portions 2
2B, 22C, and the end portion is a slide member 4.
It extends perpendicularly to the intermediate portion 22A in a direction away from the intermediate portion 22A. The end portions 22B and 22C are the springs 21
is compressed and the rollers 16 disengage from the notches 13 and roll on the flat outer surface of the slide member 4.
This corresponds to the movement position of 5.

Each part 22A or 22 depending on its position and direction
B, 22C either engage or couple roller 16 into notch 13 or disengage roller 16 from notch 13 during movement of shaft 15 in its longitudinal direction. When the roller 16 is released from the notch 13 (the shaft 15 is stopped from moving in the longitudinal direction inside the slit 22 by the end portion 22C, and the slide member 4 is further moved in the longitudinal direction by the reciprocating drive device 2). rollers 16 are displaced outside the notches 13 and run on the underside of the slide member 4. Therefore, Figures (Figures 4b and 7)
As seen in Figure), a displacement movement of the rollers 16 and the conveying member 5 in the transverse direction occurs in the vertical direction. The conveyance member 5 is being separated from the slide member 4,
Meanwhile, spring 21 is being compressed. This transverse displacement distance of the device has the value e (Figs. 4b and 7).
The size is according to This is the transverse displacement distance of the conveyor member 5 with respect to the slide member 4.

This effect is illustrated in Figures 4a to 4c. In FIG. 4a, the slide member 4 is indicated by the arrow F.
1 by means of a reciprocating drive 2, while the conveying member 5 is kept immobile in that direction by means of an axle 15. At that time, this axis 1
5 is engaged in the end portion 22C of the slit 22, and the roller 16 is pressed by the flat outer surface of the slide member 4.

During this movement, when the notch 13 comes to the roller 16, the roller engages with said notch 13 by the force of the spring 21 of the pushing member 17, and the shaft 15 is moved to the portion 22C.
to reach the end of the intermediate portion 22A.
Then, as the conveyance member 5 approaches the slide member 4, engagement is performed. The sliding member 4 drives the conveying member 5 and the gripping device 1 in the direction of arrow F1. This situation is illustrated in FIG. 4b and continues as long as the shaft 15 runs through the intermediate section 22A of the slit 22. When the shaft 15 reaches the end portion 22B of the slit 22 and is locked therein, the force of the reciprocating drive 2 forces the rollers 16 to roll on the side walls of the notch 13 and disengage from the notch. This disengagement is made possible by the end portion 22B in which the shaft 15 is engaged. The engagement is released and the conveying member 5 and the gripping device 1 become immobile, while the sliding member 4 continues its movement in the direction of the arrow F1 (see FIG. 4c). The rollers 16 roll again on the outer surface of the slide member 4, and the conveyor member 5 is separated from the slide member 4. A similar movement takes place in reverse when the slide member 4 is guided by the reciprocating drive 2 towards the rear in the direction of the arrow F1.

When roller 16 enters notch 13, notch 1
3, the rollers 16 undergo a transverse vertical or transverse displacement e (with respect to the longitudinal direction). In other words, the conveying member 5
is always guided by the side walls 6A, 6B, and is displaced in the transverse direction between the slide member 4 and the bottom wall 6C.

As a result of the above, the movement path of the reciprocating drive device 2 and the movement path of the slide member 4 are longer than the desired movement path of the gripping device 1. The movement path of the gripping device 1 is determined by the distance d separating the end portions 22B, 22C of the slit 22 (see FIG. 5).

When the piston rod 3 of the reciprocating drive 2 reaches the end of its travel path, the direction of the compressed air supply of the reciprocating drive 2 must be reversed. All known means are used for this purpose. According to the invention, electromagnetic valves 23, 24, known per se, are provided as switching devices, and a switch suitable for controlling the shaft 15 or the like is provided on the outside of the side wall 6A,
For example, it is advantageous to actuate the same shaft 15 when it reaches the respective end of the end portions 22B, 22C of the slit 22, as shown in FIG.

In the above embodiment, the slit 22 and the notch 1
3 is the thickness of the side wall 6A and the slide member 4, respectively. In this way, the starting and ending points of the movement path of the gripping device 1 can be accurately determined. If an opening is provided in the side wall 6A and a small plate provided with a slit 22 whose position is adjustable is fixed to the opening, the intermediate portion 22A of said slit can have different lengths. I can do it. In this way, the length of the moving path of the conveyance member 5 is adjusted. Similarly, if the notch 13 is provided in a member placed above the slide member 4, its position can be adjusted.

By making the position of the pairs of ears 14 adjustable along the conveying member 5, the points of engagement and disengagement (disengagement) can be adjusted within the limits of the travel path of the reciprocating drive 2 of a given device. The position of the gripping device 1 can be adjusted.

It will be understood that the gripping device 1 may be of any suitable electrical or pneumatic type for gripping or moving the workpiece.

If the bottom wall 6C of the sliding groove body 6 has a flat outer surface 25, it is very convenient to assemble and fix the device on a workbench, and the device itself is compact and consists of a small number of simple parts. You'll understand.

In the embodiment described above, the amplitude e of the transverse displacement movement is uniquely defined. That is, it is desirable to adjust the position of the gripping device so that it is at the end position of the transverse displacement movement.

According to the modified embodiment shown in FIGS. 6 to 8, two adjustable stoppers 26 and 27 are provided in parallel to the push member 17 through the bottom wall 6C. It is in contact with the surface of the conveying member 5 that is already subjected to a force.

The positions of the stoppers 26 and 27 are as follows, that is, so that the same effect as that described above can be obtained (in this case, the stoppers are inserted into the bottom wall 6C).
Alternatively, the roller 16 may be attached to the side wall 13' or 1 of the notch 13.
3'' and when the shaft 15 moves into the end portions 22b, 22c of the slit 22 (see FIGS. 7 and 8), it is displaced transversely by an amount q that is less than the value e. selected.

In order to prevent the reciprocating drive device 2 from applying excessive force to the rollers, electromagnetic valves 23 and 24, which are switching devices for the direction of movement of the reciprocating drive device 2, are used to control the transfer member 5.
shaft 1 as soon as it comes into contact with the stoppers 26, 27.
5. In this last case, the shaft 15 is connected to the end portions 22B, 22C.
It is clear that it does not run the entire length of.

[Brief explanation of the drawing]

FIG. 1 is a front view of the device according to the present invention, and is a partial longitudinal cross-sectional view taken along the line - in FIG. 2. FIG. 2 is a cross-sectional view taken along the - line in FIG. FIG. 3 is a side view of arrow F3 in FIG. Figures 4a, 4b and 4c are detailed enlarged views for explaining the operation of the device. FIG. 5 is a detailed enlarged view of the engagement/disengagement control device constituted by a cam groove that acts on the engagement/disengagement joint. FIG. 6 is a simplified partially longitudinal elevational view of the device illustrating another alternative embodiment capable of adjusting the transverse displacement movements permitted by the device of the present invention. 7 and 8 are detailed enlarged views for explaining the operation of the embodiment shown in FIG. 6. Symbols in the figure, 1... Grasping device, 2... Reciprocating drive device, 4... Slide member, 5... Conveying member,
6... Sliding groove body, 6A, 6B... Side wall, 6C...
... Bottom wall, 7 ... End wall, 11, 12 ... Disconnection joint,
13...notch, 13', 13''...side wall of notch, 15...shaft as cam driven member, 15, 22
... Engagement/disengagement control device which is a cam mechanism, 16... Roller, 17... Push member which is a displacement device, 22... Slit which is a cam groove, 22A... Middle part of the slit, 22B, 22C... End part, 2
6, 27...Stopper member.

Claims (1)

[Claims for Utility Model Registration] (1) A reciprocating drive device 2, a conveyor member having a workpiece gripping device 1 guided along a path and displaceable in a transverse direction with respect to the path. 5. A slide member 4 coupled to the reciprocating drive 2 and guided along a path parallel to the path of the transport member 5; the slide member 4 and the transport member 5;
In an automatic movement device for processing material between two points using a gripping device equipped with a control device for engaging and disengaging the engaging and disengaging joints, the engaging and disengaging joints 11 and 12 are connected to the notch 13, the roll 16, and The switching device 22 is provided with a pushing member 17, and the engaging/disengaging joints 11 and 12 are actuated by the pushing member 17, which is a displacement device capable of displacing in the transverse direction with respect to the path of the slide member 4 and the conveying member 5. ,23
Under the control of the engagement and disengagement control devices 15 and 22, which are cam mechanisms that perform switching operations, the engagement and disengagement control device 1
5 and 22, the movement of the engagement joints 11 and 12 in the transverse direction and the movement of the slide member 4 and the engagement joint 1
An automatic moving device characterized in that a movement in the longitudinal direction with the conveying member 5 engaged by 1 and 12 is carried out. (2) The conveying member 5 and the slide member 4 are guided inside the slide groove main body 6 which has two parallel guide side walls 6A, 6B and a bottom wall 6C and has a U-shaped cross section. , the sliding member 4 is guided freely in the longitudinal direction between the two parallel side walls 6A, 6B, but is immobilized in the transverse direction;
The conveying member 5 is freely guided between the side walls in the longitudinal and transverse directions, and the engagement and disengagement joints 11 and 12 are respectively provided on the surfaces of the sliding member 4 and the conveying member 5, Push member 1
7 tends to engage the engagement/disengagement joints 11 and 12, and is provided between the bottom wall 6C and the conveying member 5. Automatic movement according to claim 1) of the utility model registration. Device. (3) The engagement and disengagement joints 11 and 12 include V-shaped notches 13 and 16, and the rollers are engaged with the above-mentioned notches and combined with the pushing member 17 to roll on the V-shaped inclined sides. The automatic moving device according to claim (2), wherein the pushing member is provided between the bottom wall 6C and the conveying member 5. (4) A notch 13 is provided in the flat surface of the slide member 4, a roller 16 is provided to freely rotate around a shaft 15 supported by the conveying member 5, and a push member 17 is provided. is equipped with a spring 21, which is supported by the bottom wall 6C and is supported by the conveying member 5.
toward the slide member 4, and press the roller 16 against the flat surface of the slide member 4 or the side wall 1 of the notch 13.
3′, 13″, etc. The automatic moving device according to claim (3) of the utility model registration claim is characterized in that the device presses the automatic moving device according to claim (3).
2 is provided with a cam groove 22 having an inverted U-shaped outline, and the shaft 15, which is a driven member of the cam mechanism, is engaged with the conveying member 5 through the cam groove.
The utility model registration claim (4) is characterized in that the transverse displacement movement of the conveying member 5 of the gripping device 1 and the engagement and disengagement of the engagement and disengagement joints 11 and 12 due to this transverse displacement movement are performed simultaneously. ) Automatic movement device described in ). (6) The cam groove 22 has an intermediate portion 22A parallel to the path of the conveying member 5, and two end portions 22B, 22 extending in a direction away from the intermediate portion 22A.
C, and is a slit 22 provided in the wall of the sliding groove main body 6, and a driven member of a cam mechanism cooperating with this slit 22 is provided on the conveying member 5, and the driven member of the cam mechanism is provided on the conveying member 5. 5. The automatic moving device according to claim (5) of the utility model registration, characterized in that the shaft 15 forms a portion of the engagement/disengagement joints 11, 12 between the slide member 4 and the slide member 4. (7) The utility model according to claim (6), characterized in that the shaft 15 is a shaft on which a roller 16 interlocking with the conveying member 5 is provided to freely rotate. Automatic moving device. (8) Switching device 2 for the direction of movement of the reciprocating drive device 2
3, 24, the shaft 15 extends across the slit 22 on the outside of the side wall 6A, and the switching device 23, 24 connects to the end portions 22B, 22 of the slit 22.
22C and is operated by a shaft 15. The automatic moving device according to claim (6) of the utility model registration. (9) The notch 13 of the slide member 4, the roller 16 provided in the conveying member 5, the shaft 15 of the roller, and the slit 22 provided in the side wall 6A are connected to the slide member 4, the conveying member 5, and the side wall 6A, respectively. The automatic moving device according to claim (6) of claim 6, characterized in that the automatic moving device is comprised of a member held so that its upper position can be adjusted. (10) The reciprocating drive device 2 is connected to the slide member 4, and the slide groove body 6 is provided with an end wall 7,
The end wall is made higher than the side walls 6A and 6B, and the reciprocating drive device 2 is pivotally attached to the upper end of the end wall 7. ) Automatic movement device described in ). (11) Stopper members 26 and 27, which are adjustably provided on the slide groove body 6, stop the slide member 4.
The utility model patent claim is characterized in that the rollers 16 are always supported on at least one side wall 13', 13'' of the notch 13, limiting the transverse relative displacement movement of the conveying member 5 with respect to the notch 13.
The automatic moving device according to any one of (4) to (10).