JPH0551583U - Handling chuck - Google Patents

Abstract

(57) [Summary] [Purpose] This relates to a robot handling chuck for loading and unloading workpieces on the spindle of turning machines and loading and unloading bobbins on spindles of textile machines. It is possible to obtain a handling chuck that can be attached and detached, has a simple structure, has a small rotational inertia, and is easy to maintain. [Structure] A fluid pressure is supplied to an empty space 31 formed between a support plate 5 and a diaphragm 6, and the deformation of the diaphragm 6 caused by this fluid pressure is used to open and close a claw 22 mounted on the front surface of the diaphragm 6. The support plate 5 is provided on the shaft 4 rotatably supported, and a fluid pressure is supplied to the vacant chamber 31 from the rotary joint 26 through a through hole 32 provided in the shaft 4. Preferably, the shaft 4 is provided with a protruding portion 11 penetrating the center of the diaphragm 6, and the protruding portion 11 is provided with a knockout pin 13 biased by a spring 17 in the protruding direction. The work holding portion of the claw 22 is formed of carbon or another low friction member.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a robot handling chuck that loads and unloads a work piece from a spindle of a turning machine and a bobbin to and from a spindle of a textile machine.It does not stop the rotation of the work spindle or the spindle. The present invention relates to a handling chuck that can be loaded and unloaded.

[0002]

[Prior Art]

 It has been widely practiced in the past to automate the loading and unloading of workpieces to and from lathes and other turning machines using robots.Robots transfer workpieces between the work conveyor or work stocker and the spindle chuck of the turning machine. It is carried out.

The operation at this time is to insert the work gripped by the handling chuck of the robot into the stopped spindle chuck, pass the work from the handling chuck to the spindle chuck, and start the rotation of the spindle and move the handling chuck. When the spindle is retracted, the workpiece is machined according to the set program when the spindle reaches the specified number of rotations, and when the machining is completed, the spindle is stopped and the workpiece is transferred from the spindle chuck to the handling chuck.

As described above, the conventional loading and unloading of the work by the robot is performed while the rotation of the spindle is stopped. Therefore, the machining time for one cycle of work includes the time required to raise and lower the spindle rotation.

[0005]

[Problems to be solved by the device]

 Machine tools are strongly required to shorten the machining time, and by improving the tool post, the machining time is shortened, and the high-power spindle motor is used to shorten the spindle start-up and fall times. ..

However, the shortening of the machining time by the above-mentioned means has almost reached the limit, and in order to further shorten the machining time, it is required to load / unload the work without stopping the spindle. It However, if you try to load or unload a workpiece while the spindle is still rotating, the handling chuck must be rotated synchronously with the spindle chuck when transferring the workpiece, which complicates the structure and control of the handling chuck, or increases the handling chuck. Due to the rotational inertia of the work piece, the work piece may be scratched when it is handed over, and maintenance of the handling chuck may be troublesome.

Therefore, the present invention aims at obtaining a handling chuck capable of loading and unloading a work without stopping a spindle or a spindle, and has a simple structure and a small rotary inertia, and therefore, when transferring a work. The challenge is to obtain the above-mentioned device that the handling chuck quickly follows the rotation of the spindle and spindle and is easy to maintain.

[0008]

[Means for Solving the Problems]

 The chuck of the present invention supplies a fluid pressure to a chamber 31 formed between a support plate 5 and a diaphragm 6 whose periphery is fixed to the support plate, and utilizes the deformation of the diaphragm 6 due to the fluid pressure. A diaphragm chuck having a structure for opening and closing the claw 22 mounted on the front surface of the diaphragm 6 is used. In this invention, the support plate 5 is provided on the shaft 4 supported so as to be freely rotatable, and the fluid pressure is supplied to the vacant chamber 31 from the rotary joint 26 through the through hole 32 provided in the shaft 4.

The shaft 4 may be provided with a projecting portion 11 penetrating the center of the diaphragm 6, and a knockout pin 13 biased in the projecting direction by a spring 17 may be provided on the tip end axial core of the projecting portion 11. In this case, the center of the diaphragm 6 is fitted axially slidably and airtightly on the protrusion 11 of the shaft.

Further, at least the work holding portion at the tip of the claw 22 is formed of carbon or another low friction member so that smooth sliding between the work and the chuck at the time of holding the work is ensured.

[0011]

[Action]

 When the fluid pressure is not supplied to the empty chamber 31, the claw 22 is biased in the closing direction by the elasticity of the diaphragm 6, and grips the work 24 inserted between the plurality of claws 22. The elasticity of the diaphragm 6 should be designed so that the gripping force at this time is larger than the pushing force of the knockout pin 13.

On the other hand, when fluid pressure is supplied to the vacant chamber 31 through the rotary joint 26 and the through hole 32 of the shaft, the diaphragm 6 is deformed so that the center portion thereof advances forward, and the claw 22 opens. The grip of the work 24 is released.

The opening / closing mechanism of the claw 22 of such a diaphragm chuck has a simple structure and is easy to maintain because the claw 22 does not slide with respect to the chuck body (diaphragm) during opening / closing. Further, since the holding member of the claw 22 is formed of the thin diaphragm 6, the rotational inertia of the handling chuck can be minimized.

When the work 24 is transferred to and from the rotating spindle or spindle, the handling chuck starts rotating at the moment when the work 24 is gripped by both the handling chuck and the spindle chuck, and the handling chuck is lowered. Since it is supported by rotation due to friction and has a small rotational inertia, the handling chuck quickly synchronizes with the rotation of the spindle or spindle, and in that state, the workpiece between the spindle or spindle and the handling chuck is Delivery is done.

Further, by forming the work holding portion of the claw 22 with a low friction member, it is possible to prevent the work 24 from being damaged by the slip between the claw 22 and the work 24, and to attach the work piece to the front end of the shaft 4 in the forward direction. By providing the knockout pin 13 which is biased, the work 24 is pushed out in the axial direction when the work 24 is released from the handling chuck, and the work 24 is reliably discharged from the handling chuck. When the work 24 is transferred from the handling chuck to the spindle chuck, the axial position of the work 24 can be accurately regulated.

[0016]

【Example】

 Next, an embodiment shown in the drawings will be described. In a housing 1 mounted on the tip of an arm of a robot, a shaft 4 is held in a freely rotating state by rolling bearings 2 and 3. A circular support plate 5 is integrally provided at one end of the shaft 4, and a shallow pan-shaped diaphragm 6 is attached with its inner periphery fixed to the outer periphery of the support plate 5 in an airtight manner. The diaphragm 6 has a circular hole 8 in the center thereof, and a sliding sleeve 9 is fastened and fixed to the circular hole portion by a nut 10. The sliding sleeve 9 is slidably fitted to a protruding portion 11 at the tip of the shaft 4, and an O-ring 12 seals between the sliding sleeve 9 and the protruding portion 11.

The projecting portion 11 of the shaft has a tubular shape, and a stopper nut 14 that restricts forward moving ends of the sliding sleeve 9 and a knockout pin 13 described later is screwed into the tip of the tubular projecting portion 11. The stopper nut 14 has a through hole 15 at its center, and a knockout pin 13 having a flange 16 at the base end is inserted into this through hole 15 and is urged forward by a spring 17 installed in the protrusion 11. There is.

The diaphragm 6 is provided with six circular seats 18 formed in a slight recess at an intermediate position in the radial direction, and holders 21 are fixed to three of them, and a claw 22 is fastened to the holder 21 with a nut 23. And is fixed. The claw 22 is made of carbon so that the work 22 will not be damaged even if it slips with the work 24 and that it will not be worn.

A rotary joint 26 is attached to the rear end of the housing 1. The rotary joint 26 is composed of a body 28 fixed to the housing 1 with bolts 27, and a base end portion 30 of the shaft rotatably inserted to the air chamber 29 of the body 28. The shaft 4 is provided with a through hole 32 that communicates from the end face of the base end portion 30 thereof to a void space 31 formed between the support plate 5 and the diaphragm 6. A pressurized air source 34 is connected to the air chamber 29 of the rotary joint via a switching valve 33.

After the pawl 22 is fixed to the diaphragm 6, the tip of the pawl 22 is machined on site so that the work 24 can be gripped in a state where air pressure is not supplied to the vacant chamber 31. When the switching valve 33 is switched and air pressure is supplied to the vacant chamber 31, the diaphragm 6 is deformed in the direction of advancing the central portion thereof, whereby the pawl 22 is opened forward and outward to release the grip of the work piece 24.

At the center of the handling chuck of the illustrated embodiment, a knockout pin 13 for pushing out the work 24 is provided in a state of being always urged forward by a spring 17. Therefore, when the work 24 is gripped while the knockout pin 13 is pushed in and the handling chuck is moved to a predetermined position to release the pawl 22, the work 24 is knocked out. Further, when it is necessary to push the work 24 in the axial direction, such as when mounting the work 24 on the spindle chuck of the lathe, if the claw 22 is unclamped immediately before the spindle chuck of the lathe clamps the work 24, the knockout pin 13 The work 24 is pressed against the spindle chuck in the axial direction by the urging force, and the work 24 is reliably seated on the spindle chuck.

The fitting portion between the base end portion 30 of the shaft of the rotary joint 26 and the body 28 is arranged so that the shaft 4 rotates in a non-contact state with a slight gap. The body 28 is made of a carbon material having good lubricity so that seizure will not occur even if the body 28 and the base end portion 30 of the shaft come into contact with each other. Since there is a gap in the fitting portion between the body 28 and the base end portion 30 of the shaft, when air pressure is supplied to release the pawl 22, air leaks from this gap, but the working medium Since it is air and air pressure needs to be supplied only for a short time to open the chuck, the leakage of the working fluid does not become a problem, and the good rotation of the shaft 4 due to the contactless rotation of the shaft 4 can be achieved. Rotational followability is realized.

In the handling chuck having the above structure, when a solenoid valve is used as the switching valve 33, the time from the switching of the valve to the operation of the pawl 22 is about 16 milliseconds, and the response of the solenoid valve is 15 to. The response time from the opening / closing signal of the claw 22 to the actual opening / closing of the claw 22 is about 35 msec, and good responsiveness is realized.

[0024]

[Effect of the device]

 According to the handling chuck of the present invention described above, the work and bobbin can be loaded and unloaded without stopping the spindle of the turning machine or the spindle of the fiber machine, and the handling chuck supported in a freely rotating state can be rotated. Since the mass can be made extremely small, the rotation of the handling chuck follows the rotation of the spindle or spindle, and there is no sliding part between the claw and the chuck body, so the structure is simple and maintenance is easy. The device can be provided at low cost.

Further, according to the apparatus of the illustrated embodiment, the work piece can be axially positioned by the knockout pin, and since the pawl is made of carbon, it has excellent wear resistance and may cause harmful scratches to the work piece. In addition, since the shaft rotates without contact in the rotary joint, the rotational resistance of the shaft is small, and the rotation followability of the handling chuck can be further improved.

Further, since the handling chuck of the present invention can deliver a work in a freely rotating state, it can not only deliver a work to a turning machine or a bobbin to a spindle of a textile machine, but also various experimental devices and It can be used as a handling chuck when transferring materials to nuclear equipment and other rotating equipment.

[Brief description of drawings]

FIG. 1 is a sectional view showing an embodiment of a chuck of the present invention.

FIG. 2 is a front view showing an embodiment of the chuck of the present invention.

FIG. 3 is a cross-sectional view schematically showing the opening / closing operation of the claw.

[Explanation of symbols]

 4 Shaft 5 Support plate 6 Diaphragm 11 Projection 13 Knockout pin 22 Claw 26 Rotary joint 31 Vacancy 32 Through hole

Claims (2)

[Scope of utility model registration request] 1. A vacant chamber (31) is formed between a support plate (5) provided on a shaft (4) rotatably supported and a diaphragm (6) whose periphery is fixed to the support plate. , Diaphragm
A plurality of claws (22) are fixed on the front surface of (6) toward the center extension line of the shaft (4), and the fluid pressure supplied from the rotary joint (26) is applied to the shaft (4). A handling chuck, characterized in that a through hole (32) leading to the vacant chamber (31) is provided. 2. The shaft (4) has a projecting portion (11) penetrating the center of the diaphragm (6), and a knockout pin (13) is biased in the projecting direction on the tip axis of the projecting portion (11). The center of the diaphragm (6) is fitted axially slidably and confidentially on the protrusion (11) of the shaft, and at least the work gripping part of the claw (22) is made of carbon or other material. The handling chuck according to claim 1, wherein the handling chuck is formed of a low friction member.