JPH0333437Y2 - - Google Patents

Description

[Detailed Description of the Invention] This invention relates to a robot for transporting annular or cylindrical articles such as rolled balls.

For example, when a wound ball of synthetic fiber is transferred by a robot, if the outer shape of the wound ball is grasped by a robot hand, there is a risk that the fibers on the outer periphery of the wound ball may be soiled or damaged. bad.

Therefore, in order to pick the above-mentioned wound ball by a robot, the core tube of the wound ball is used, and a rod-shaped member for picking provided at the tip of the robot arm is inserted into the core tube. It is desirable to do so.

However, the above-mentioned rolled balls are usually inserted and mounted on a rolled-up stand in which a number of pegs are installed, and the pegs are installed at an angle for convenient loading and unloading of the rolled balls. Therefore, the above-mentioned insertion of the picking rod member into the core tube is in a diagonal direction with respect to the horizontal direction, and in a normal cylindrical coordinate type or polar coordinate type PTP control robot, insertion in the diagonal direction at the end of the arm is required. It is difficult to get it to work.

On the other hand, the above-mentioned transportation of the rolled ball and the like does not require operations as complex as the use of a multi-articulation type robot.

Therefore, in this invention, the article picking member at the end of the arm is made into a cylindrical insertion head which is moved back and forth by a cylinder, and the holding head is made to be freely pivotable in a vertical plane at the tip of the arm, and By providing an article crimp holding device at the tip of the insertion head to hold the article while the insertion head is inserted into the article, the above operations and transfer can be performed by a normal cylindrical coordinate robot. It has also been made easy to do.

Hereinafter, embodiments will be described based on the drawings.

Figures 1 and 2 show an overall system for transferring a large number of rolled balls 3 mounted on a winding stand 2 onto a pallet 5 on a fixed station 4 using the transfer robot 1 of this invention. The rolled balls 3 are mounted on a cart-like movable ball winding stand 2 by being inserted into a large number of pegs 6 installed diagonally.

The transfer robot 1 consists of a rotating post 8 that can freely rotate on a base 7, a horizontal arm 9 that can move up and down along the rotating post 8, and an article holding rod 11 provided at the tip of the horizontal arm 9. cylindrical coordinate type
It is a PTP controlled robot and holds the following:
1 will be explained in detail.

That is, a vertical shaft 13 rotated by a swing motor 12 is provided at the tip of the horizontal arm 9, as shown in FIG. Mounting plates 15 are connected to each other so as to be pivotable in a vertical plane, and the mounting plates 1
In this embodiment, the mounting plate 15 is a long member extending in the horizontal direction, and three holding bolts 11 are provided on the mounting plate 15.

16 is a mounting bracket for mounting the mounting plate 15 on the horizontal shaft 14; 17 is a stopper bolt fixed to the bracket 16; when the stopper bolt 17 comes into contact with a pin 18 protruding from the horizontal shaft 14, the mounting plate 15 is fixed to the horizontal shaft 14;
The turning range of the vehicle can be restricted.

As mentioned above, in this example there are 3 retaining ports 1
The holding head 11 is further connected to the mounting plate 15 via a distance changing device 19 as described below.
They are attached to each other so that the distance between them can be changed.

That is, as shown in FIG.
A fixed indicator plate 21 having a circular shape at one end and a T-shape at the other end is fixed to the center of the frame 5 with bolts 22, and the bolt 11 is fixed to the fixed support plate 21 in the center. On the left and right sides of the mounting plate 15, swing support plates 23 each having a circular end are swingably provided via bolts 24 and boss portions 23a. The bolts 11 are fixed to the left and right retainers, and the T-shaped head of the fixed support plate 21 and the head of the swing support plate 23 are connected by cylinders 25, respectively.
By expanding and contracting, the holding head 11 fixed to the left and right swing support plates 23 approaches and moves away from the central holding head 11, thereby changing the spacing.

Note that 26 is two stopper bolts fixed to the mounting plate 15, and the side surface of the swing support plate 23 comes into contact with the stopper bolts 26 to restrict the range of swing.

Next, the holding head 11 itself will be explained. As shown in FIGS.
A cylinder 29 supported 28 in a housing 27 fixed to the cylinder 29 and a rod 29a of the cylinder 29
A cylindrical insertion head 31 that is indirectly connected to the end and moves forward and backward as the rod 29a advances and retreats, and a crimp holding device 32 that is attached to the tip of the rod 29a.
When the cylinder 29 is contracted,
The insertion head 31 is retracted into the housing 27, and in the extended state, the insertion head 31 enters into the core tube 33 of the wound ball 3, and when picking up the wound ball, the insertion head 31 is pressed into contact with the crimp holding device 32, which will be described later. The member 34 opens laterally to press and hold the wound ball 3 from the inside, and when the wound ball is released, the pressure holding device 32 closes to release the wound ball 3.

That is, the flange portion 31a provided at the base end of the cylindrical insertion head 31 is locked to the housing 27 to restrict its forward end, but the stroke of the cylinder 29 is made slightly smaller than the forward stroke of the insertion head 31. Rod 29 with a long eggplant
Disc 35 and insertion head 31 fixed at the middle position of a
Four tension springs 37 are tensioned between the rod 29a and the pin 36 at the proximal end, so that after the cylindrical insertion head 31 has extended its entire stroke, the tip of the rod 29a can move forward and backward by a slight amount. By moving the rod 29a forward and backward by a certain amount, the crimp holding device 32 provided at the tip of the rod 29a is opened and closed as described above.

The crimp holding device 32 includes a support block 38 fixed to the end of the rod 29a, and a support block 38 fixed to the end of the rod 29a.
The head is supported by a disc-shaped weight 41a.
It consists of a swinging member 41 and a pair of links 42 and 43 that connect one end of the swinging member 41 and the support block 38, and the side surface of the swinging member 41 and the side surface of the link 43 are made of urethane material. When the insertion head 31 is in a horizontal position, that is, in the state shown in FIG.
9a protrudes from the insertion head 31 by a certain amount, the engagement protrusion 41b formed at the base end of the swinging member 41
comes off from the engaging portion 31b at the front end of the insertion head 31,
Since the head of the swinging member 41 is a weight 41a, it rotates in the direction of arrow A in FIG. 9, and at the same time, the link 43 also rotates (FIG. 9).
When the insertion head 31 is pulled into the insertion head 31 again, the engaging protrusion 41b of the swinging member 41 rides on the outside of the engaging part 31b of the insertion head 31 and is locked, and the swinging member 41 The rotational displacement in the direction of arrow A and the rotational displacement of the link 43 are maintained, so that the inner wall of the core tube 33 can be pressed and held outward via the pressing member 34. (Figure 10).

Then, when the insertion head 31 pivots around the horizontal axis 14 and enters the vertical state, that is, the state shown by the chain line in FIG. 3 and the solid line in FIG. When the amount protrudes, the swinging member 41 will become the weight 41a.
The rotation returns in the direction of arrow B, and the engagement protrusion 41b disengages from the outside of the engagement portion 31b.
After that, when the rod 29a is pulled into the insertion head 31 again, the swinging member 41 and the link 43 are pulled in with the state in which they have both returned to rotation inward, and the pressure contact member 34 is pressed against the inner wall of the core tube 33. It is now released (Fig. 11). 31c is a locking key between the insertion head 31 and the housing 27, and 31d is an escape window for the peg 6 provided by cutting the outer periphery of the insertion head 31 to an appropriate width in the longitudinal direction.

In the above example, the head of the swinging member 41 is used as a weight 41a, so when the insertion head 31 is in a horizontal state, the crimp holding device 32 is crimped by one movement of the rod 29a, and the insertion head is 31 is in a vertical state, the crimp is released, but in other examples, the swinging member 41
By using the side part of the insertion head 31, that is, the mounting part of the pressure contact member 34 as a weight, and making the direction in which the rotational moment of the swing member 41 is generated opposite to the above example, the insertion head 31 performs a crimping operation when it is vertical, and when it is in a horizontal state. Then, the crimping may be released.

A cylinder 46 is disposed via brackets 44 and 45 between the mounting plate 15 on which three of the holding heads 11 are mounted and the vertical shaft 13, and the cylinder 46 is adapted to expand and contract. This makes it possible to pivot the mounting plate 15, that is, pivot the holding head 11 about the horizontal axis 14.

Since the transfer robot 1 of this embodiment is constructed as described above, the rolled ball 3 can be transferred as follows.

That is, first, the spacing changing device 19 of the holding head 11 is adjusted to change the spacing between large and small balls, so that each spacing is adapted to the winding balls 3 mounted on the winding stand 2, and the winding balls 3 on the pallet 5 are adjusted. The horizontal arm 9 is moved and rotated so that the holding head 11 is positioned in front of three predetermined rows of rolled balls 3.

Next, the cylinders 46 are expanded and contracted appropriately to rotate the holding heads 11 in the vertical axis plane so that each holding head 11 is on the same axis as the core tube 33 of the winding ball 3. In other words, the holding heads 11 are After making the inclination angle the same as that of the core tube 33, the cylinders 25 are contracted to change the spacing between the holding heads 11 to large intervals, and then the cylinders 29 of the holding heads 11 are extended.

Then, as mentioned above, first the cylindrical insertion head 3
1 is extended and the tip enters the core tube 33 of the winding ball 3, the crimp holding device 32 at the tip opens slightly due to the insertion head 31 being in a substantially horizontal state.
Next, when the cylinder 29 is contracted, the crimp holding device 3
2 crimp is maintained as described above.

In other words, the holding head 11 and the winding ball 3 are integrally crimped and connected.

Therefore, when the cylinder 29 is subsequently contracted, the insertion head 31 is pulled out from the peg 6 together with the wound ball 3.

The pulling operation at this time is also carried out smoothly without any hindrance because the inclination of the holding head 11 matches the inclination of the core tube 33.

The winding ball 3, which is crimped and connected to the holding head 11 in the above manner, has the swinging member 41 at the engaging portion 31b.
and is urged in the engagement direction by the tension spring 37, so it is held securely by the pressure contact member 34, and then the horizontal arm 9 is moved and rotated to move onto the pallet 5. It can be transferred without accidentally falling off during transportation.

After being transferred onto the pallet 5, the cylinder 46 is contracted and the cylinder 11 is moved to each holding position.
When the holding heads 11 are rotated in a vertical plane so that they are vertical, the spacing between the holding heads 11 is changed to small intervals, and the cylinder 29 of the holding heads 11 is extended again, the insertion head 31 holds the wound ball 3. While holding it, go down, and at the end of the stroke, insert head 31
is in a vertical state, the crimp holding device 3
2 is closed as described above, the crimping on the winding ball 3 is released, and then the cylinder 29 is contracted and the insertion head 31 is pulled out from the winding core tube 33, and the winding ball 3 is placed on the pallet 5. They will be left behind in an orderly manner.

In the above embodiment, the crimp holding device 32 is connected to the swinging member 41 provided with the weight 41a and the link 4.
2 and 43, and further includes a swinging member 41.
An engaging protrusion 41b is provided at the base end of the insertion head 31, and an engaging portion 31b is provided at the distal end of the insertion head 31 so that the opening/closing operation of the crimp holding device 32 can be performed by the cylinder 29 that moves the insertion head 31 forward and backward. Therefore, there is no need to provide a separate and special drive source for operating the crimp holding device 32, and the opening and closing of the crimp holding device 32 is automatically selected and operated depending on the posture of the insertion head 31. Since it is, the rolled ball is 3
Insertion of the insertion head 31 into the press, holding the crimping, removing the wound ball 3 from the peg 6, releasing the crimping, and inserting the insertion head 3
The series of operations necessary to extract the rolled ball 3 from the first rolled ball 3 and to transport the rolled ball 3 are performed simply by one cylinder 29.
There is an advantage in that it can be done only by expanding and contracting.

In addition, the objects that can be handled by the robot of this invention are not limited to the above-mentioned rolled balls, but can also be applied to other annular, cylindrical, or similar objects that have holes of appropriate depth. It is obvious that it can be done.

As described above, according to the robot for transferring cylindrical articles of this invention, it is possible to transfer the annular or cylindrical articles, such as rolled balls, etc., which are mounted on the winding stand or the like mentioned at the beginning and are arranged in any direction. Easily transport objects such as
And it can be done quickly.

Furthermore, since the crimping operation of the crimping holding device is selected depending on the posture of the insertion head, the series of operations necessary to transfer the wound ball, etc. can be performed simply by the expansion and contraction of a single cylinder, simplifying the configuration. , making it easier to operate and control.

Furthermore, since the robot body is of the cylindrical coordinate type, control is relatively easy.

[Brief explanation of the drawing]

Figure 1 is an overall side view of a system for transferring rolled balls on a winding stand onto a pallet using the transfer robot of this invention, Figure 2 is a plan view of the same, and Figure 3 is an enlarged side view of the tip of the arm. 4 is a view taken along the - line in FIG. 3, FIG. 5 is a vertical cross-sectional side view of the article holding head, FIG. FIG. 8 is a sectional view taken along the line - in FIG. 5, and FIGS. 9 to 11 are longitudinal sectional side views showing the operation of the crimp holding device. DESCRIPTION OF SYMBOLS 1... Transfer robot, 3... Winding ball, 8... Rotating post, 9... Horizontal arm, 11... Article holding head, 13... Vertical axis, 14... Horizontal axis, 1
5... Mounting plate, 29... Cylinder, 31... Cylindrical insertion head, 32... Crimp holding device.

Claims (1)

[Claims for Utility Model Registration] A cylindrical coordinate robot for transporting annular or cylindrical articles, comprising a horizontal arm that moves up and down along a rotating post, and an article holding head provided at the tip of the horizontal arm. A vertical shaft is provided at the tip of the horizontal arm, and a holding head mounting plate is rotatably connected in a vertical plane via the horizontal shaft fixed to the lower end of the vertical shaft, and the holding head is attached to the mounting plate. A cylinder fixed to the rod, a cylindrical insertion head connected to the rod end of the cylinder and moved back and forth as the rod advances and retreats, and a swinging member and link attached to the rod tip and provided with a weight part. The crimp holding device is configured to select whether or not to hold the crimp on the article by adjusting the weight balance of the swinging member depending on the posture of the insertion head caused by the rotational movement of the article holding head. A robot for transporting annular or cylindrical articles such as rolled balls, characterized in that it operates.