JPH0582019A - Method and device for holding article - Google Patents

Abstract

PURPOSE:To detect the generation of chuck miss instantly and accurately at the time of concluding the article holding operation by chucks. CONSTITUTION:A panel 11 is held by chucks 15, 16 to be driven by a driving device 18. In this panel holding method, holding of the panel 11 by the chucks 15, 16 is judged on the basis of a detection, that the driving device 18 outputs the holding torque of the panel 11 previously, and a detection, that the chucks 15, 16 reach a preset panel holding position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for gripping an article such as a cathode ray tube panel.

[0002]

2. Description of the Related Art Conventionally, as a device for holding a panel for a cathode ray tube, there is one as shown in FIGS. This gripping device 1
When the fluorescent paint is applied to the inner surface of the panel, the panel is gripped and transferred to the application position.
The gripping device 1 rotatably supports a chuck head 4 around a horizontal support shaft 3 provided on an index frame 2,
The chuck head 4 is equipped with a chuck 5. The chuck head 4 is expanded and contracted via the pressure spring 5B by the swing of the chuck arm 5A pushed by the cylinder 7 while the pin 4A is positioned by being sandwiched by the positioning claws 6A and 6B. , Hold the panel 8. Further, the chuck head 4 rotates 180 degrees around the horizontal support shaft 3 so that the panel 8 held by the chuck 5 faces upward, and the motor 4B is supplied with the fluorescent paint in the panel 8.
And the fluorescent paint is centrifugally applied to the inner surface of the panel 8.

Reference numeral 9 is a receiving plate, and the receiving plate 9 is a cylinder 7
The rotation of the chuck head 4 around the horizontal support shaft 3 due to the pressing force applied by is suppressed. Further, the positioning claws 6A and 6B are composed of a fixed claw 6A and an opening / closing claw 6B. By opening / closing the opening / closing claw 6B with respect to the fixed claw 6A, the pin 4A is sandwiched between the both claws 6A and 6B (FIG. 8).
(See (A) to (C)).

That is, in the gripping device 1, the following (1)-
The panel 8 is gripped and transferred by (4).

(1) Mounting table 8A below the chuck head 4
To supply panel 8. (2) The panel 8 is positioned (in the X and Y directions) by the positioning claws 8B located on both sides in the X direction and both sides in the Y direction of the mounting table 8A. After positioning, positioning claw 8B
Returns to its original position.

(3) The mounting table 8A is raised, and the panel 8 is gripped by the chuck 5 provided on the chuck head 4 above.

(4) The panel 8 is transferred to the coating position by turning the index frame 2. At the coating position, the chuck head 4 rotates 180 degrees around the horizontal support shaft 3 so that the panel 8 faces upward. The chuck head 4 is rotated around the vertical axis by the motor 4B in a state where the fluorescent paint is supplied into the panel 8 facing upward, and the fluorescent paint is centrifugally applied to the inner surface of the panel 8.

[0008]

However, in the prior art, when the mounting table 8A returns below the chuck head 4 after the holding operation of the panel 8 by the chuck 5 of the above (3), the mounting table 8A is returned. The presence or absence of the panel 8 on the mounting table 8
It is detected by the panel detection sensor provided around A and the above is provided on the condition that the panel detection sensor does not detect the panel 8.
In (3), it is determined that the panel 8 has been securely gripped, and it is determined that the chuck error has occurred in (3) above on condition that the panel detection sensor detects the panel 8.

That is, in the prior art, it is impossible to immediately detect the occurrence of a chuck error at the end of the gripping operation of the panel 8 by the chuck 5.

It is an object of the present invention to immediately and accurately detect the occurrence of a chuck error at the end of the gripping operation of an article by the chuck.

[0011]

According to a first aspect of the present invention, in a method of gripping an article by a chuck driven by a drive device, the drive device outputs a predetermined article gripping torque. It is determined that the chuck is gripping an article on the condition that it has detected that the chuck has reached a predetermined article gripping position. ..

According to a second aspect of the present invention, in a gripping device for gripping an article by a chuck driven by a driving device, a torque detector for detecting an output torque of the driving device and a position of the chuck are detected. The chuck position detector, the torque detector, and the chuck position detector each detecting results are obtained, and it is detected that the drive device outputs a predetermined article gripping torque, and the chuck is predetermined. On the condition that the arrival at the article gripping position is detected, the chuck is provided with a judging means for judging that the chuck is gripping the article.

[0013]

According to the present invention, it is possible to detect that the necessary gripping force has been secured by detecting the output torque of the gripping device,
Moreover, it is possible to detect that the chuck is at the article gripping position by detecting the chuck position.

Therefore, even if the drive unit outputs the article gripping torque, if the chuck has not reached the article gripping position, the occurrence of a chuck error due to galling of the chuck drive system is detected. Further, even if the chuck has reached the article gripping position, if the driving device does not output the article gripping torque, the occurrence of a chuck error due to insufficient gripping force is detected.

That is, it is possible to immediately and accurately detect the occurrence of a chuck error at the end of the gripping operation of the article by the chuck.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic diagram showing a main part of a panel gripping device to which the present invention is applied, FIG. 2 is a schematic diagram showing a driving device constituting the panel gripping device, and FIG. 3 is a chuck constituting the panel gripping device. FIG. 4 is a schematic diagram showing a head positioning device, FIG. 4 is a schematic diagram showing a chuck head casing, FIG. 5 is a block diagram showing a control circuit of the panel gripping device, and FIG. 6 is a schematic diagram showing another example of the panel gripping device. is there.

The panel gripping device 10 grips the panel 11 when the fluorescent paint is applied to the inner surface of the panel 11 and transfers the panel 11 to the coating position. The gripping device 10 rotatably supports a chuck head 14 around a horizontal support shaft 13 provided on the index frame 12, and the chuck head 14 includes a pair of chucks 15 and 16. The chuck head 14 includes a positioning device 17
In the state of being positioned by, the chucks 15 and 16 are expanded / contracted by the driving device 18 to grip the panel 11. Further, the chuck head 14 rotates 180 degrees around the horizontal support shaft 13 so that the panel 11 held by the chucks 15 and 16 faces upward, and is rotated by the motor 19 while the fluorescent paint is supplied into the panel 11. Then, the fluorescent paint is centrifugally applied to the inner surface of the panel 11.

Therefore, the chuck head 14 is constructed as follows (see FIGS. 1 and 4). Chuck head 1
In the casing 21 of No. 4, the two screw shafts 22 and 23 are X-shaped.
They are coaxially arranged on the shaft and integrated by a joint 24.
Each screw shaft 22, 23 has two bushes 25A, 25
It is rotatable with respect to the casing 21 by B, 25C and 25D. The screw shaft 22 has a right-hand thread portion 26, the screw shaft 2
Left-hand threaded portions 27 are formed on the respective parts 3. These screw portions 26 and 27 are trapezoidal screws.

Each screw portion 26, 27 has a slider 28,
29 is screwed on. The sliders 28 and 29 have arms 30 (30A and 30B) and 31 (31A and 31A), respectively.
B) is attached, and each arm 30, 31 is attached to the slider 2
The side openings 21A of the casing 21 are projected from 8 and 29, extend horizontally, and extend downward, and the rubber chucks 15 and 16 are provided at the lower ends thereof. Casing 21
Include slide guides 32, 3 for guiding sliders 28, 29 that move in the axial direction as the screw shafts 22, 23 rotate.
3 is fixedly supported.

One end of the screw shaft 22 extends to the outside of the casing 21, and a nut member 34 is fixed to the end thereof. Further, a piece 36 is rotatably supported on the outer periphery of the bearing 35 having the bush 25A.

At the lower part of the casing 21, a disc 37 is fixedly arranged to prevent the coating liquid from scattering during the coating process. The disk 37 is formed with four elongated holes 38A to 38D, and each arm 30, 31 has a corresponding elongated hole 38A to 38D.
It is made to extend below the disk 37 through D. In the figure,
Reference numeral 39 denotes a bellows, which covers the side opening 21A of the casing 21 from which the arms 30 and 31 project.

The positioning device 17 is constructed as follows (see FIG. 3). The positioning device 17 is disposed above the driving device 18, and includes a fixing claw 43A and an opening / closing claw 43B on an elevating table 42 that is moved up and down by an elevating cylinder 41, and an opening / closing cylinder 44 that opens / closes the opening / closing claw 43B with respect to the fixing claw 43A. Is equipped with. As a result, the positioning device 17 sets the lift table 42 to the lowered position, and opens / closes the claw 43.
By closing B to the fixed claw 43A, both claws 43
The piece 36 on the chuck head 14 side is sandwiched between A and 43B to position the chuck head 14.

The drive device 18 is constructed as follows (see FIGS. 2 and 5). The drive unit 18 is the forward-backward traveling cylinder 5
A nut runner 53 is mounted on a movable table 52 which can be moved forward and backward by the No. 1 method. As shown in FIG. 5, the nut runner 53 includes an AC servo motor 54, an encoder 55, a speed reducer 56, a torque detector 57, and a socket 58.
It has a driver 59 for the motor 54 and a control device 60 for controlling the driver 59.

In the control device 60, the panel gripping torque to be applied to the panel 11 to be gripped this time is preset by the torque setting device 61. Then, the control device 60 obtains the setting signal of the torque setting device 61 and the detection signal of the torque detector 57, and feedback-controls the output torque of the nut runner 53 to the panel gripping torque predetermined by the torque setting device 61.

The above gripping device 10 grips and transfers the panel 11 according to the following (1) to (4). (1) The panel 11 is supplied to the mounting table below the chuck head 14. (2) After roughly positioning the panel 11 on the mounting table,
Raise the mounting table and use the chuck head 14 above to
The panel 11 is gripped as in (3).

(3) Casing 21 of chuck head 14
When the whole is rotated, the piece 36 moves the claw 43A of the positioning device 17,
When it is positioned at a predetermined position by 43B, its rotation is stopped. The nut runner 53 of the drive device 18 is moved forward, and the socket 58 at the tip is moved to the nut member 34 of the screw shaft 22.
And the nut member 34 is rotated. This rotation causes the screw shafts 22 and 23 to rotate. Then, the sliders 28 and 29 screwed to the screw portions 26 and 27 of the screw shafts 22 and 23 move in the directions approaching each other while being guided by the slide guides 32 and 33. With the movement of the sliders 28 and 29, both chucks 15 and 16 move in the closing direction, and eventually the chucks 15 and 16 are moved to the panel 1.
Hold 1 When the rotation of the nut runner 53 is stopped, fluctuations in the output torque detected by the torque detector 57 are controlled by the control device 60.
This is done by detecting at.

While the chucks 15 and 16 hold the panel, the nut runner 53 retracts from the nut member 34 and returns to the original position. At this time, since the screw portions 26 and 27 are trapezoidal screws, their self-holding (locking) function does not weaken the gripping force with respect to the panel 11.

(4) The panel 11 is transferred to the coating position by turning the index frame 12. At the coating position, the chuck head 14 rotates 180 degrees around the horizontal support shaft 13 so that the panel 11 faces upward. Then, the chuck head 14 is rotated about the vertical axis by the motor 19 in a state where the fluorescent paint is supplied into the upward panel 11.
The fluorescent paint is centrifugally applied to the inner surface of the panel 11.

Therefore, in the gripping device 10, the control device 60 has a function of judging the quality of the gripping state of gripping the panel 11 of the chucks 15 and 16 as follows.

That is, the gripping device 10 includes the chuck head 1
4 to the slider 28 of the one chuck 15 and the dog 7
1, and chuck position detectors 72A to 72C are arranged at a plurality of positions (three positions in this embodiment) along the slide guide 32 in the casing 21. Each of the chuck position detectors 72A to 72C corresponds to the stop position of the chuck 15 that has completed gripping the panels 11 of different sizes A to C, respectively.

On the other hand, the control device 60 sets the panel gripping torque to be applied to the panel 11 to be gripped this time in advance by the torque detector 61 as described above, and also corresponds to the size of the panel 11. The grip position is preset by the size setting device 73. Then, the control device 60
Is a torque detector 57 and chuck position detectors 72A-7
Obtaining each detection signal of 2C, it is detected that the nut runner 53 is outputting a predetermined panel gripping torque,
On the condition that the chuck 15 has reached a predetermined panel gripping position according to the sizes A to C of the panel 11, both chucks 15 and 16 are connected to the panel 1.
It is determined that 1 is securely gripped.

The judgment result of the controller 60 is displayed on the display 74.
The result of the chuck error determination is notified by a buzzer sounding, a lamp lighting, or the like.

Next, the operation of this embodiment will be described.
According to the above-described embodiment, it is possible to detect that the necessary gripping force has been secured by detecting the output torque of the drive device 18,
Moreover, it is possible to detect that the chuck 15 is at the panel gripping position by detecting the chuck position.

Therefore, even if the driving device 18 outputs the panel gripping torque, if the chuck 15 has not reached the panel gripping position, the occurrence of a chuck error due to galling of the chuck drive system is detected. Also, chuck 1
Even if 5 has reached the panel gripping position, if the drive device 18 does not output the panel gripping torque, the occurrence of a chuck error due to insufficient gripping force is detected.

That is, the occurrence of a chuck error is detected by the chuck 1
When the gripping operation of the panel 11 by 5 and 16 is completed, it can be detected immediately and accurately.

In the above embodiment, the present invention is applied to an apparatus for holding the panels by the chucks 15 and 16 facing each other in the X-axis direction. However, the present invention is as shown in FIG.
Chucks 15 and 16 facing the panel 11 in the X-axis direction
Also, it can be applied to a device that grips with two chucks 15A and 15B facing each other in the Y direction.

[0037]

As described above, according to the present invention, the occurrence of a chuck error can be immediately and accurately detected at the end of the gripping operation of the article by the chuck.

[Brief description of drawings]

FIG. 1 is a schematic view showing a main part of a panel gripping device to which the present invention is applied.

FIG. 2 is a schematic diagram showing a drive device that constitutes a panel gripping device.

FIG. 3 is a schematic view showing a chuck head positioning device that constitutes a panel gripping device.

FIG. 4 is a schematic diagram showing a casing of a chuck head.

FIG. 5 is a block diagram showing a control circuit of the panel gripping device.

FIG. 6 is a schematic view showing another example of the panel gripping device.

FIG. 7 is a schematic view showing a conventional panel gripping device.

FIG. 8 is a schematic diagram showing a procedure for positioning a chuck head in a conventional panel gripping device.

[Explanation of symbols]

 10 panel gripping device 11 panel (article) 15, 16 chuck 18 drive device 57 torque detector 60 control device 61 torque setting device 72A to 72C chuck position detector 73 size setting device

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Kunio Ikui 6-735 Kita-Shinagawa, Shinagawa-ku, Tokyo Sony Corporation

Claims (2)

[Claims] 1. A gripping method for gripping an article by a chuck driven by a driving device, wherein the driving device detects that the gripping torque is output in advance, and the chuck is set in advance. An article gripping method, characterized in that it is determined that the chuck is gripping an article on the condition that it has reached a certain article gripping position. 2. A gripping device for gripping an article by a chuck driven by a driving device, a torque detector for detecting an output torque of the driving device, a chuck position detector for detecting a chuck position, and a torque. Obtaining each detection result of the detector and the chuck position detector, it is detected that the drive device outputs a predetermined article gripping torque, and the chuck has reached the predetermined article gripping position. The gripping device for an article, comprising: a determination unit that determines that the chuck is gripping the article on the condition that this is detected.