JPH079376A - Turret hand device - Google Patents

Abstract

PURPOSE:To shorten a tact time, and there by enhance working efficiency by shorting positioning time when each mechanical hand is switched over with rotating turret rotated, in the turret hand device applied to an industrial robot which owed out three-dimensional assembly works such as the insertion, the press-in and the like of a plurality of mechanical hands installed in advance in response to works. CONSTITUTION:The device is equipped with a rotating turret 18 fixed onto a rotating shaft 17 rotated by a motor 16, a plurality of tool installation blocks 20 including a tool 19a or 19b, and with a fixing means 21 which allows a fixed section 21d with each installation block 20, holds the installation block 20 so as to fix it between fixed pins 21b and 21d, and releases the installation block 20 with the fixed section 21d disengaged go as to support the installation block with a support plate in such a way as to be freely moved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turret hand device, and more particularly to a turret hand device applied to an industrial robot in which a plurality of mechanical hands are attached in advance and vertical and horizontal assembling work such as insertion and press-fitting is performed. .

[0002]

2. Description of the Related Art Conventionally, a rotary drive source attached to one end of an arm, a rotary turret rotatably supported by the rotary drive source, and a plurality of mechanical units attached to the rotary turret and capable of handling different work contents. A turret hand device that includes a hand and that moves a mechanical hand to a predetermined position according to the work content by rotating a rotary turret by a rotary drive source is known.

A turret hand device of this type is, for example,
It is described in JP-A-63-47035. This turret hand device (hereinafter, referred to as a first conventional example) has an elastic body provided between a mechanical hand (hereinafter, also simply referred to as a hand) for gripping a work and a rotary turret to support the hand on the rotary turret through the elastic body. As a result, when the work is inserted into the hole having a small clearance, the displacement of the work and the hole is absorbed by the elastic deformation of the elastic body.

Further, in Japanese Patent Laid-Open No. 61-100391, an engaging portion is provided on the outer periphery of a flange that rotates together with a rotary turret, and a lock that engages while slidingly contacting the engaging portion of the flange when fixing the rotary turret. A turret hand device (hereinafter referred to as a second conventional example) in which a roller is fixedly installed in the device body is described.

[0005]

However, in the first conventional example, since the hand is supported by the rotary turret through the elastic body, the weight of the hand and the work is increased when the rotation speed of the rotary turret increases. Even if it is small, it vibrates during rotation acceleration / deceleration, and it takes time until the position of the work is stabilized and the takt time becomes long, resulting in a problem that work efficiency decreases.

Further, when the insertion and assembly are performed from the side, the position of the work is displaced in the direction of gravity due to the gravity applied to the hand and the work, and the positional deviation of the work and the insertion hole becomes large, resulting in defective assembly. There was a problem that it occurred. In particular, there has been a problem that as the weight of the work or the hand becomes remarkable, the defective assembly frequently occurs.

Further, in the second conventional example, the lock roller is slidably engaged with the engaging portion and is in contact with the outer peripheral portion of the flange even when the rotary turret is rotated. However, there is a problem in that the rotational positioning accuracy is deteriorated and assembly failure occurs.
Therefore, the invention according to claim 1, 2, or 7 shortens the tact time by rotating the rotary turret to shorten the positioning time when the mechanical hand is switched, thereby improving work efficiency. With the goal.

It is an object of the present invention to correct the position of the mechanical hand so that the position of the hand with respect to the working position is proper and the occurrence of assembly failure is prevented. An object of the present invention is to prevent the occurrence of wear and backlash by holding the rotary turret only when the rotary turret is stopped and fixing its position, and to improve the reliability of the positioning accuracy of the mechanical hand. To do.

[0009]

In order to achieve the above object, the invention according to claim 1 has a rotary drive source, a rotary turret fixed to a rotary shaft of the rotary drive source, and a rotary turret attached to the rotary turret. A turret hand device that includes a plurality of mechanical hands, and that moves the mechanical hand to a predetermined position according to the work content by rotating the rotary turret by a rotary drive source, and is attached to the rotary turret and is fixed to the mechanical hand. Is fixed to the rotary turret or the fixing means for releasing the engagement of the fixing portion to movably support the position of the mechanical hand is provided.

According to a second aspect of the invention, in the fixing means,
It is characterized in that a first piezoelectric element for moving the fixed portion is provided. Further, the invention according to claim 3 is characterized in that the fixing means is provided with position correcting means for correcting the position of the mechanical hand. The invention according to claim 4 is characterized in that the position correcting means is provided with a pressing portion for pressing and moving the mechanical hand, and a second piezoelectric element for moving the pressing portion.

According to a fifth aspect of the present invention, a permanent magnet is fixed to one of the mechanical hand and the first fixing member fixed to the rotary turret, and a hall element facing the permanent magnet is fixed to the other. Then, a correction amount detecting means for detecting a correction amount for correcting the position of the mechanical hand is configured, and the position of the mechanical hand is corrected by the position correcting means based on the detection information by the detecting means. Is.

The invention according to claim 6 is characterized in that the voltage supplied to the second piezoelectric element is feedback-controlled based on the correction amount of the position of the mechanical hand detected by the correction amount detecting means. is there. The invention according to claim 7 is characterized in that displacement magnifying means for elastically deforming a portion of the fixing means separated from the fixing portion or the pressing portion to largely displace the fixing portion or the pressing portion is provided. Is.

According to the present invention, the fixing means is not in contact with the second fixing member fixed to the apparatus body when the fixing portion is engaged with the mechanical hand, and the rotary turret is rotatable. A holding means is provided for holding the second fixing member and fixing the rotary turret when the engagement of the fixing portion is released.

[0014]

In the invention according to claim 1, the mechanical hand is attached to the fixing means. Then, when the rotary turret is rotated, the fixing portion of the fixing means is engaged with the mechanical hand, and the mechanical hand is fixed to the rotary turret. Further, when the rotary turret is stopped, the engagement of the fixed portion is released and the position of the mechanical hand is movably supported. Therefore, even if the rotary turret is rotated, the mechanical hand is positioned without vibrating.

According to the second aspect of the invention, there is provided the first piezoelectric element for moving the fixing portion of the fixing means. Therefore, the fixing means is configured to be lightweight and compact. In the invention according to claim 3, the fixing means is provided with a position correcting means for correcting the position of the mechanical hand. Therefore, the position of the mechanical hand is corrected with respect to the working position.

According to the fourth aspect of the invention, the position correcting means is provided with the pressing portion for pressing and moving the mechanical hand, and the second piezoelectric element for moving the pressing portion. Therefore, the position correction means is light and compact. In the invention according to claim 5, a permanent magnet is fixed to either one of the mechanical hand and the first fixing member, and a hall element facing the permanent magnet is fixed to the other, to correct the position of the mechanical hand. A correction amount detecting means for detecting the correction amount is configured. Then, the position correcting means corrects the position of the mechanical hand based on the detection information obtained by the detecting means. Therefore, the mechanical hand is corrected with high accuracy.

According to the sixth aspect of the invention, the voltage supplied to the second piezoelectric element is feedback-controlled based on the correction amount of the position of the mechanical hand detected by the correction amount detecting means. Therefore, the mechanical hand is positioned with higher accuracy. In the invention according to claim 7, there is provided a displacement magnifying means for elastically deforming a portion of the fixing means, which is separated from the fixing portion or the pressing portion, to largely displace the fixing portion or the pressing portion. Therefore, the positioning of the mechanical hand is corrected in a short time.

Further, in the invention according to claim 8, when the fixing portion is engaged with the mechanical hand, the second fixing member is not in contact with the fixing portion, and when the fixing portion is disengaged, the second fixing member is held. Holding means for fixing the rotary turret are provided on the fixing means. Therefore, when the rotary turret is rotated, the rotary turret is freely rotatable in a non-contact state, and when the rotary turret is stopped, its position is fixed by the holding means.
Therefore, no wear or looseness occurs.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. 1 to 7 are views showing an embodiment of a turret hand device according to the present invention. First, the configuration will be described. 1 to 3, reference numeral 11 denotes a turret hand device, and the turret hand device 11 includes a turret mounting portion 14 rotatably supported by a rotary shaft 13 on one end side of an arm 12 provided in an industrial robot. A motor (rotational drive source) 16 supported by the turret mounting portion 14 via a speed reducer 15, and the turret mounting portion 14
A rotary shaft (rotary shaft) 17 that is rotatably supported by the motor 16 and transmits the rotational force of a motor 16 through a speed reducer 15, a rotary turret 18 that is supported and rotated by the rotary shaft 17, and a tool according to the work content. Four tool mounting blocks 20 (mechanical hands) to which 19a or tools 19b are mounted, and a fixing device 21 that fixedly or movably supports the tool mounting block (hereinafter, also simply referred to as mounting block) 20 on the rotary turret 18. A position correction device 22 that moves the mounting block 20 to correct the positions of the tools 19a and 19b. In addition, the tool 19a of the mounting block 20
Alternatively, the tool 19b has a pin 32 to be inserted into an insertion hole 31 described later.
Etc.

The fixing device 21 includes a base end portion 21a fixed to the rotary turret 18 and a mounting block 20 provided on the base end portion 21a.
Of the mounting block 20 that engages with the surface of the mounting block 20 facing the axial side surfaces of the rotating shaft 17 of the mounting block 20 and the surface of the mounting block 20 that is separated from the rotating turret 18. An axial direction of the rotary shaft 17 provided between the fixed portion 21d bent inward from the side portion 21c so as to fix the mounting block 20 together with the fixed pin 21b and the side portion 21c on the base end portion 21a side. The side portion 21c faces the first piezoelectric element 21e that expands and contracts in the direction (B direction shown in FIG. 4) to move and move the fixed portion 21d in the axial direction so as to engage or disengage the mounting block 20. A support plate 21f (first fixing) that supports the mounting block 20 via an arcuate elastic body 24 provided on the rotary turret 18 in parallel with the axis of the rotary shaft 17 so as to face both side surfaces different from the side surface of the mounting block 20. It is composed of Both sides 21c and the support plate 21f is composed of a predetermined metal. In addition,
The elastic body 24 is fixed between the support plate 21f and the mounting block 20.

In this fixing device 21, when the first piezoelectric element 21e is expanded and contracted to move the fixed portion 21d, the side portion 21c is rotated so as to expand the displacement of the fixed portion 21d.
A notch 21g is provided on the side of the base end portion 21a of c, and a portion provided with the notch 21g is elastically deformed. Further, the side portion 21c of the fixing device 21 on the turret mounting portion 14 side is formed so as to sandwich the outer peripheral portion of the fixed disk 23 (second fixing member) fixed to the turret mounting portion 14, as shown in FIG. When the fixed portion 21d is disengaged from the mounting block 20 (shown by a solid line in the drawing), the fixed portion 21d is engaged with the mounting block 20 (shown by a broken line in the drawing). ) Is provided with a claw portion 21h (holding means) for clamping (holding) and fixing the position of the rotary turret. That is, the fixing device 21 constitutes a fixing means, and the notch 21g constitutes a displacement magnifying means.

The position correction device 22 includes a support plate 21 of the fixing device 21.
A protrusion cut out in a U-shape in the axial direction of the rotary shaft 17 from substantially the center of f is moved in a direction orthogonal to the support plate 21f with the axial side thereof as the base end side, and convexly protruded toward the center side. The portion 22a (pressing portion) is provided, and the convex portion 22a provides the portion shown in FIG.
As shown in, the side surface of the mounting block 20 has an arc-shaped elastic body 25.
And a support wall provided on the rear end side of the convex portion 22a of the correction portion 22b.
The second piezoelectric element 22d is sandwiched by 22c and expands and contracts in the axial direction of the rotary shaft 17 (direction C in FIG. 5) to move the convex portion 22a. The elastic body 25 is a convex
It is fixed between 22a and the mounting block 20.

The position correction device 22 includes a second piezoelectric element 22.
A notch 22e is provided on the base end side so as to rotate the correction part 22b in order to expand the displacement of the projection 22a when the projection 22a of the correction part 22b is moved by expanding and contracting d, and the cutout 21e is provided. The part is elastically deformed. That is, the position correcting device 22 constitutes a position correcting means, and the notch 22e constitutes a displacement magnifying means.

Further, the position correcting device 22 includes a support plate 21.
The hall element 26 and the angular permanent magnet 27 are fixedly provided on the surface sides of the f and the mounting block 20 which face each other, and the position detector 44 (which detects the position of the mounting block 20 by the hall element 26 and the permanent magnet 27 ( Correction amount detection means). In this position detector 44, the Hall element 26 has a rotating shaft.
From the electromotive force generated by the magnetic flux of the permanent magnet 27 that is polarized in the direction orthogonal to the axis of the pin 17, the mounting block 20, the tools 19a, 19b, and the pin 32 cause the pin 32 to move as shown in FIG. 7A. The correction amount for correcting the position of the mounting block 20 when the displacement from the insertion hole 31 in the gravity direction is detected, and the position correction device 22 detects the position of the pin 32 based on the detected information.
It is designed to correct the position corresponding to 31.

The position correction amount of this mounting block 20 is shown in FIG.
As shown in, the compensator 41 is generated along with the electromotive force of the Hall element 26 when the distance (positional deviation amount) between the Hall element 26 and the permanent magnet 27 when the pin 32 is at the position corresponding to the insertion hole 31. A supply voltage based on the difference between the fetched correction amount and the positional shift amount is supplied from the driver 42 to the second piezoelectric element 22d to expand / contract the second piezoelectric element 22d to move the convex portion 22a. Then, the position correction amount of the mounting block 20 is feedback-controlled (closed-loop control) to make the difference between the correction amount and the position shift amount ± 0, so that the position of the pin 32 is corrected to the position corresponding to the insertion hole 31. It has become.
In addition to the feedback control, for example, the supply voltage based on the position correction amount of the mounting block 20 detected by the position detector 44 is supplied to the second piezoelectric element 22d so that the position of the pin 32 corresponds to the insertion hole 31. You may make it perform the open loop control which correct | amends to a position.

Although not shown, the position correcting device 22 is equipped with the position correcting device 22 on the side 21c side of the fixing device 21. As shown in FIG. 3, the tools 19a and 19b are placed laterally. When the mounting block 20 is held as described above, the mounting block 20 is moved in the XX 'and YY' directions according to the positions of the insertion hole 31 and the pin 32 to be laterally assembled. Next, the operation will be described.

The arm 12 is moved to a predetermined position by being rotated, and the rotary turret 18 is rotated from the industrial robot to insert the pin 32 held by the tool 19a of the mounting block 20 into the insertion hole 31. When the command is transmitted, first, the fixing portion 21d is engaged with the mounting block 20 by prohibiting the voltage supply to the first piezoelectric element 21e of the fixing device 21, and the mounting block 20 is fixed to the fixing portion 21d and the fixing portion 21d. pin
While being clamped and fixed by 21b, the claw portion 21h is brought into non-contact with the fixed disk 23 fixed to the turret mounting portion 14 so that the rotary turret 18 is rotatable (shown by a solid line in FIG. 4).

Next, the motor 16 is driven, and the rotation of the motor 16 is reduced by the speed reducer 15 and transmitted to the rotary shaft 17 to rotate the rotary turret 18 in a predetermined direction, for example, in the clockwise direction in FIG. 1B. The pin 32 held by the tool 19a is rotated 90 ° to the rightward position. Then, power is supplied to the first piezoelectric element 21e of the fixing device 21 so as to extend, and as shown in FIG. 4, the first piezoelectric element 21e extends in the direction B in the figure and the cutout 21g of the side portion 21c is provided. Is elastically deformed and the side portion 21c is rotated to release the engagement between the fixed portion 21d and the mounting block 20. And
The mounting block 20 is movably supported by a support plate 21f. At this time, the fixed disk fixed to the turret mounting portion 14
23 is clamped by the claw portion 21h and the rotation of the rotary turret 18 is prohibited (shown by a broken line in FIG. 4).

At this time, the rotary disk 23 and the claw portions 21h of the fixing device 21 are brought into non-contact with each other and the rotary turret 18 is rotated. Then, the rotation of the rotary turret 18 is stopped and the rotary disk 23 is moved to the claw portion 21h. It is clamped and the rotating turret 18 is fixed in that position. Therefore, the fixed disk 23 will not be worn and play will not occur. Further, since the mounting block 20 is fixed by the fixing pin 21b and the fixing portion 21d of the fixing device 21 when the rotary turret 18 rotates, the mounting block 20 can be moved to a predetermined position without vibrating.
The tools 19a and 19b are positioned in a short time.

Further, a notch 21g is provided on the side of the base portion 21a of the side portion 21c for moving the fixing portion 21d of the fixing device 21, a first piezoelectric element 21e is provided, and the first piezoelectric element 21e is extended so that the side portion is formed. Since 21c is rotated, the displacement of the fixed portion 21d is enlarged and the mounting block 20 is engaged or released in a short time, and the tact time is further shortened. Further, the structure for moving the fixing portion 21d is simplified, and the structure of the fixing device 21 is made compact and lightweight.

Next, the position of the mounting block 20 is detected by the position detector 44 of the position correcting means 22, and the mounting block 20
The position correction amount of is detected. Then, as shown in FIG. 6, together with the correction amount, the positional deviation amount between the Hall element 26 and the permanent magnet 27 when the pin 32 comes to the position corresponding to the insertion hole 31 is taken into the compensator 41 and the correction amount. And a supply voltage based on the difference in the amount of positional deviation is supplied from the driver 42 to the second piezoelectric element 22d, the second piezoelectric element 22d extends in the direction C in the figure, and the correction portion 22b rotates, as shown in FIG. The convex part
22a is moved, and the mounting block 20 is pressed and moved from below via the elastic body 25. And this mounting block
The position correction amount of 20 is feedback-controlled, and the difference between the correction amount and the position shift amount is set to ± 0, whereby the mounting block 20 accurately corrects the position of the pin 32 to an appropriate position corresponding to the insertion hole 31. As shown in FIG. 7B, the pin 32 is smoothly inserted into the insertion hole 31.

At this time, the notch 22e is provided at the base end side of the correction portion 22b of the position correction device 22, the second piezoelectric element 22d is provided, and the second piezoelectric element 22d is extended to correct the correction portion.
Since the convex portion 22a is moved by rotating the 22b, the correction portion 22b
The displacement of the convex portion 22a is enlarged, the mounting block 20 is moved to an appropriate position in a short time, and the takt time is further shortened. Furthermore, the structure for moving the convex portion 22a of the correction unit 22b is simplified, and the position correction device 22 is made compact and lightweight.

In this embodiment, one embodiment of the turret hand device having a plurality of mechanical hands has been described, but the present invention can be applied to a rotary table, especially a positioning locator.

[0034]

According to the invention of claim 1 or 2,
When the rotary turret is rotated, the fixed part of the fixing means engages the mechanical hand to fix the mechanical hand to the rotary turret, and when the rotary turret is stopped, the fixed part of the fixing means and the mechanical hand are disengaged from each other. Since the position of the hand is movably supported, the mechanical hand can be positioned and fixed without vibrating even if the rotary turret is rotated. Therefore, even if the mechanical hand and the weight of the tool or work held by the hand are large, the mechanical hand does not vibrate during accelerating / decelerating the turret rotation. Further, according to the invention described in claim 2, the first piezoelectric element moves the fixing portion of the fixing means, so that the fixing means can be configured to be lightweight and compact. Therefore, generation of vibration can be prevented more effectively. As a result, the tact time can be shortened and the work efficiency can be improved.

According to the invention of claim 3 or 4, the position correcting means provided in the fixing means corrects the position of the mechanical hand, so that the position of the mechanical hand can be corrected with respect to the working position. Further, according to the invention described in claim 4, since the second piezoelectric element moves the pressing portion for pressing the mechanical hand, the position correcting means can be configured to be lightweight and compact, and no vibration occurs. . As a result, the position of the mechanical hand with respect to the working position can be made appropriate, and the occurrence of assembly failure can be prevented.

Further, according to the invention of claim 5 or 6, in addition to the effect of the invention of claim 3 or 4, the detection information by the correction amount detecting means for detecting the correction amount for correcting the position of the mechanical hand is added. Since the position correcting means corrects the position based on this, the mechanical hand can be corrected with high accuracy. Further, according to the invention described in claim 6, since the voltage supplied to the second piezoelectric element is feedback-controlled based on the detection information, the position of the mechanical hand can be corrected with higher accuracy.

According to the invention of claim 7, in addition to the effect of the invention of claim 1, the displacement magnifying means elastically deforms a portion of the fixing means separated from the fixing portion or the pressing portion to fix the fixing portion or the pressing portion. Is greatly displaced, the positioning of the mechanical hand can be corrected in a short time. Therefore, it is possible to further shorten the tact time and improve the work efficiency.

According to the invention described in claim 8, the holding means, which is in a non-contact state when the rotary turret rotates, holds and fixes the second fixing member fixed to the apparatus main body when the rotary turret is stopped. Therefore, when the rotary turret is rotated, it can be freely rotated in a non-contact state, and when the rotary turret is stopped, its position can be held and fixed by the holding means. As a result, the reliability of the positioning accuracy of the mechanical hand can be improved without causing wear or rattling.

[Brief description of drawings]

1A and 1B are views showing an embodiment of a turret hand device according to the present invention, in which FIG. 1A is a partial cross-sectional side view from a direction orthogonal to an axial direction thereof, and FIG. It is a side view.

FIG. 2 is an exploded perspective view thereof.

FIG. 3 is a perspective view showing a part thereof.

FIG. 4 is a side view showing the main part thereof.

FIG. 5 is a partial cross-sectional side view showing a main part different from FIG.

FIG. 6 is a block diagram showing the control.

7A and 7B are explanatory views for explaining the operation, FIG. 7A is a side view showing a part of the state before correction, and FIG. 7B is a side view showing a part of the state after correction.

[Explanation of symbols]

 11 Turret hand device 16 Motor (rotational drive source) 17 Rotating shaft 18 Rotating turret 19a, 19b Tool 20 Tool mounting block (mechanical hand) 21 Fixing device (fixing means) 21d Fixing part 21e First piezoelectric element 21f Support plate (first Fixing member) 21g Cutout (displacement expanding means) 21h Claw (holding means) 22 Position correcting device (position correcting means) 22a Convex part (pressing part) 22b Correcting part 22d Second piezoelectric element 22e Cutout (displacement expanding means) 23 Fixing Disk (second fixing member) 26 Hall element (correction amount detection means) 27 Permanent magnet (correction amount detection means)

Claims (8)

[Claims] 1. A rotary drive source, a rotary turret fixed to a rotary shaft of the rotary drive source, and a plurality of mechanical hands attached to the rotary turret, wherein the rotary turret is rotated by the rotary drive source. In the turret hand device for moving the mechanical hand to a predetermined position according to the work content, the turret hand device is attached to the rotary turret and is fixed to the rotary turret by engaging a fixed part with the mechanical hand or engaging the fixed part. A turret hand device, characterized in that a fixing means is provided for releasing the engagement and movably supporting the position of the mechanical hand. 2. A first part for moving a fixing part to the fixing means.
The turret hand device according to claim 1, further comprising a piezoelectric element. 3. The turret hand device according to claim 1, wherein the fixing means is provided with position correcting means for correcting the position of the mechanical hand. 4. The turret hand according to claim 3, wherein the position correcting means is provided with a pressing portion for pressing and moving the mechanical hand, and a second piezoelectric element for moving the pressing portion. apparatus. 5. A mechanical hand of a mechanical hand, wherein a permanent magnet is fixed to either one of the mechanical hand and a first fixing member fixed to a rotary turret, and a hall element facing the permanent magnet is fixed to the other. 4. A turret hand according to claim 3, wherein a correction amount detecting means for detecting a correction amount for correcting the position is constituted, and the position of the mechanical hand is corrected by the position correcting means based on the detection information by the detecting means. apparatus. 6. The turret hand device according to claim 5, wherein the voltage supplied to the second piezoelectric element is feedback-controlled based on the correction amount of the position of the mechanical hand detected by the correction amount detection means. . 7. The displacement magnifying means for elastically deforming a portion of the fixing means, which is separated from the fixing portion or the pressing portion, to largely displace the fixing portion or the pressing portion, according to claim 1 or 3. Turret hand device. 8. The engagement means releases the engagement of the fixing portion by making it non-contact with the second fixing member fixed to the main body of the apparatus when the fixing portion is engaged with the mechanical hand by the fixing means. 2. The turret hand device according to claim 1, further comprising holding means for holding the second fixing member and fixing the rotary turret at this time.