JPH0796439A - Jig moving device - Google Patents

Abstract

PURPOSE:To improve position detection precision, to improve mechanical rigidity and to miniaturize a driving means. CONSTITUTION:A base arm 4 to support a jig is provided free to revolve around the swing hinge 3 of a base 1 as its center, a carrier 5 is arranged between the base arm 4 and the base 1, the carrier 5 is placed in connection free to rectilinearly slide along a first guide rail 6 provided on the base 1 and it is placed in connection free to rectilinearly slide along a second guide rail 9 provided on the base arm 4. Additionally, a revolving block 8 to allow relative revolution of both of the base arm 4 and the carrier 5 is provided, between the base arm 4 and the carrier and a motor 12 to give driving force to the carrier 5 in the slide guide direction of the first guide rail 6 is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for turning and moving a jig, and more particularly to a positioning jig for supporting and positioning a work sent along a line such as a manufacturing line of a factory at a predetermined position. The present invention relates to an apparatus suitable as an apparatus for moving

[0002]

2. Description of the Related Art Conventionally, as a positioning jig moving device for supporting and positioning a work, there are a positioning jig moving device and a positioning jig moving device. As the former, for example, the one described in Japanese Utility Model Laid-Open No. 2-145934 is known, and as the latter, the one shown in FIG. 6 (a) is known.

That is, in the positioning jig moving device shown in FIG. 6 (a), the base end of the arm 02 is connected to the drive shaft of the motor 01 via a speed reduction mechanism, whereby the arm 02 turns about the base end shaft. It is rotatably provided as a center, and further,
A positioning jig 03 is installed at the tip of the arm 02. The positioning jig 03 drives a receiving piece 03a that supports the work, a clamp 03b that is rotatably attached to the receiving piece 03a to sandwich the work between the receiving piece 03a, and a clamp 03b. And an air actuator 03c. Although not shown, an encoder for position detection is attached to the output part of the motor 01, and the drive of the motor 01 is feedback-controlled by a controller (not shown).

[0004]

However, the conventional device shown in FIG. 6 (a) has the following problems to be solved.

A motor 01 as a driving unit is provided at the center of turning, and an encoder that detects a position based on the drive amount of the motor 01 is also provided at the center of turning together with the motor 01. Since the positioning jig 03 at the tip of the arm 02 and the position for position detection are apart from each other in this manner, the position detection accuracy is low, and the position detection accuracy becomes lower as the arm 02 becomes longer.

Since the arm 02 is cantilevered by the motor 01, it is disadvantageous in terms of mechanical rigidity, and as the length of the arm 02 increases, the load on the motor 01 increases and the output of the motor increases. It is necessary to increase the size, which leads to an increase in the size of the motor 01. In particular, as shown in FIG. 6B, in the structure in which the arm 020 and the motor 010 are added in order to provide a plurality of turning centers in order to increase the freedom of movement of the positioning jig 03, the rigidity is further disadvantageous. At the same time, the size of the motor 010 is increased.

The present invention has been made by paying attention to the above-mentioned conventional problems, and in a jig moving device having a structure in which a jig is rotated, the accuracy of position detection, the mechanical rigidity and the driving means are improved. The purpose is to reduce the size of.

[0008]

In order to achieve the above-mentioned object, a jig moving device of the present invention is such that a swivel hinge is erected on a base and is horizontally spaced apart from the base in an upward direction. The arranged base arm has a base end connected to a swing hinge so as to be horizontally rotatable, a jig is supported by the base arm, and a carrier is arranged between the base and the tip of the base arm. The carrier is connected to the base by a first linear guide provided between the base and the base so as to be linearly slidable and guideable in a substantially tangential direction of the turning circle of the base arm. A second linear guide provided between the base arm and the base arm is slidably connected in the extending direction of the base arm, and a rotation unit is provided between the base arm and the carrier to allow relative rotation between the two. , The base has the carrier Driving means for applying a driving force to the slide guide direction of the first linear guide is configured to provided for.

[0009]

When the driving means is driven, the carrier is guided by the first linear guide and linearly slides. Along with this movement of the carrier, the tip of the base arm connected to the carrier also moves in the horizontal direction, and the base arm rotates about the pivot hinge at the base end, and the jig supported by the base arm moves. Move around.

As the base arm pivots, the carrier slides linearly by the first linear guide, so that the distance between the carrier and the pivot hinge changes and the relative orientation of the carrier and the base arm changes. Change. In this case, the change in the distance between the carrier and the swing hinge is absorbed by the relative movement of the carrier in the extending direction of the base arm due to the second linear guide, and the change in the relative direction between the carrier and the base arm is prevented. The carrier and the base arm are relatively rotated by the rotating unit so that the carrier and the base arm are absorbed.

Further, in the case of detecting the position of the jig, when the position detecting means is provided in the driving means to detect the driving amount thereof, the jig and the position can be detected as compared with the case of detecting the position of the swing hinge. The distance from the detection means can be reduced, and the detection accuracy can be improved without being affected by the length of the base arm.

[0012]

Embodiments of the present invention will be described with reference to the drawings.

1 to 4 are views showing a jig moving device according to a first embodiment of the present invention. FIG. 1 is a plan view of the first embodiment device, and FIG.
Is a side view thereof, FIG. 3 is a front view thereof, and FIG. 4 is an exploded perspective view of a main part.

In the figure, reference numeral 1 is a base, which is formed of a substantially triangular plate material. A swivel hinge 3 is erected on the base 1.

A base arm 4 is horizontally arranged apart from the base 1 in an upward direction, and the base arm 4 has a base end portion which is horizontally rotatable with respect to the turning hinge 3. It is connected.

A carrier 5 is arranged between the base 1 and the tip of the base arm 4. This carrier 5
Are slidably connected to the base 1 and the base arm 4, respectively. This structure will be described. In the following description, FR in FIG.
The direction will be referred to as the front-back direction, and the LR direction will be referred to as the left-right direction.

On the base 1, a first guide rail 6 extends in the left-right direction substantially parallel to one side of the base 1 farthest from the turning hinge 3. And on the lower surface of the carrier 5,
A first slider 7 that slides along the first guide rail 6 while being engaged with the first guide rail 6 is fixed. Therefore, the carrier 5 linearly slides in the left-right direction which is a tangential direction of an arc centered on the turning hinge 3, and the first guide rail 6 and the first guide rail 6
The slider 7 constitutes a first linear guide.

As shown in FIG. 4, a hinge 5a is pierced upright on the carrier 5, and a rotary block 8 is pin-coupled to the hinge 5a rotatably in the horizontal direction via a bearing (not shown). Has been done. Then, the hinge 5a is inserted in a long hole 4a formed long in the extending direction of the base arm 4 at the center of the front end portion of the base arm 4 and a bolt 16 is fastened to the front end of the hinge 5a. The base arm 4 is movable in the extending direction and is rotatable. Therefore, the hinge 5
The a and the elongated hole 4a, and the hinge 5a and the rotation block 8 constitute a rotation unit that allows relative rotation between the base arm 4 and the carrier 5.

On the left and right sides of the lower surface of the base arm 4,
While the second guide rails 9 and 9 are arranged in parallel in the extending direction of the base arm 4, the second guide rail 9 is engaged with the second guide rails 9 on the upper surfaces of the left and right ends of the rotary block 8 to form a second
A second slider 10 movable along the guide rail 9 is fixed. Therefore, the carrier 5 is slidable in the left-right direction which is the extending direction of the base arm 4, and the second guide rail 9 and the second slider 10 are provided.
The second linear guide is constituted by.

Further, a ball screw 11 is rotatably supported on the base 1 in parallel with the first guide rail 6, and a motor 12 as driving means is connected to one end of the ball screw 11. There is. A ball nut 13 that moves along the ball screw 11 as the ball screw 11 rotates is meshed with the ball screw 11, and the ball nut 13 is integrally fixed to the carrier 5. Therefore, when the motor 12 is driven to rotate the ball screw 11, the carrier 5 moves along with the ball nut 13 along the first guide rail 6.

Further, the motor 12 is provided with an encoder (position detecting means) 14 for detecting the drive amount of the motor 12.

As shown in FIG. 2, the base arm 4
A positioning jig 15 is installed at the tip of the positioning jig 15. Since this positioning jig 15 is the same as that shown in the prior art, description thereof will be omitted.

Next, the operation of moving the positioning jig 15 of the embodiment will be described.

When the motor 12 is driven, the ball screw 11 rotates, and the ball nut 13 meshing with the ball screw 11 rotates.
Moves along the ball screw 11, and by this movement, the carrier 5 integrated with the ball screw 13 is guided by the first guide rail 6 and linearly slides in the left-right direction. Then, with the movement of the carrier 5 in the left-right direction, the tip end portion of the base arm 4 connected to the carrier 5 moves in the left-right direction, and the base arm 4 is centered on the swing hinge 3 at the base end portion. The positioning jig 15 supported by the tip of the base arm 4 pivots and pivots.

As the base arm 4 pivots in this manner, the carrier 5 linearly slides along the first guide rail 6, so that the distance between the carrier 5 and the pivot hinge 3 changes and the carrier 5 and the base 5 change. The relative angle with the arm 4 changes. In this case, the change in the distance between the carrier 5 and the swivel hinge 3 means that the hinge 5a of the carrier 5 moves in the elongated hole 4a, and the rotation block 8 pin-coupled to the carrier 5 moves along the second guide rail 9. Is absorbed by moving relative to the base arm 4 in the extending direction thereof, and the change in angle is caused by the relative rotation of the hinge 5a with respect to the long hole 4a.
Further, the rotation block 8 connected to the base arm 4 by the second guide rail 9 is absorbed by being rotated with respect to the carrier 5.

When the positioning jig 15 is pivotally moved as described above, the controller 12 (not shown) uses the motor 12
The position of the positioning jig 15 is detected based on the driving amount of the motor 12. In the present embodiment, the position of the motor 12 and the positioning jig 1 are detected.
5 is close in distance and the displacement amount of the carrier 5 and the positioning jig 15 which are moved by the drive transmission of the motor 12 is equal to 1: 1 so that a detection error is hard to occur. Further, the position detection accuracy is not affected by the length of the base arm 4.

Moreover, the support of the base arm 4 is supported by the base 1 via the swing hinge 3 at the base end and via the carrier 5 at the tip end, and has a double-sided structure, which is advantageous in terms of mechanical rigidity. Is.

Next, FIG. 5 is a side view showing a second embodiment device in which not only the jig is pivotally moved but also the jig is rotated on the base arm 4 and moved in the front-back and up-down directions. In addition, a mechanism for rotating the jig and a mechanism for moving the jig in the front-back and up-down directions are added to the upper side of the apparatus of the first embodiment. The same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted. Further, regarding the operation, only the difference from the first embodiment will be described.

Above the base arm 4, the base arm 4
In the extending direction of the third guide rails 21, the third guide rails 21 are arranged side by side to be spaced apart from each other, and the third guide rails 21 are engaged with the third guide rails 21 and arranged two in front and behind (a total of four). The second base 23 is installed on the slider 3.

A ball screw 25 rotated by a second motor 24 is installed on the base arm 4 in parallel with the third guide rail 21.
A ball nut 26 meshing with the No. 5 is fixed to the second base 23. Therefore, when the second motor 24 is driven, the second base 23 is moved to the third position together with the ball nut 26.
Slide along the guide rail 21.

A first support column 27 is erected on the second base 23, and a third motor 28 is fixed to the upper part of the first support column 27. And this third motor 2
The speed reduction mechanism 29 is provided above 8 by the third motor 28.
The 2nd support | pillar 30 rotated through is installed upright.

A fourth motor 31 is provided on the upper part of the second support column 30 with its rotation axis oriented in the vertical direction, and a ball screw 32 is provided parallel to the rotation axis of the fourth motor 31. There is. That is, the ball screw 3
The upper and lower portions of the ball screw 32 are rotatably supported by the second support column 30, and the upper end portion of the ball screw 32 has a fourth motor 31.
The pulley 35 that is rotated by and the pulley 35 that is connected by the belt 34 are fixed, and are rotated by the drive of the fourth motor 31.

A fourth guide rail 36 is provided in parallel with the ball screw 32.
A third base 38 is fixed to a fourth slider 37 that slides. Then, a ball nut 39 meshing with the ball screw 32 is fixed to the third base 38, and when the ball screw 32 rotates, the third base 38 moves up and down. Therefore, a jig is attached to the third base 38 for use.

In the second embodiment configured as described above, the jig is moved by turning the base arm 4, and the second motor 23 is driven to move the second base 23 to the base. By moving the arm 4 in the extending direction, the jig also moves in the extending direction of the base arm 4, and by driving the third motor 28, the jig moves to the third position.
The jig is moved up and down along the fourth guide rail 36 by rotating around the rotation center of the motor 28 and driving the fourth motor 31 in addition.

Although the embodiment has been described above, the specific configuration is not limited to this embodiment, and the present invention includes a design change and the like within a range not departing from the gist of the invention.

For example, although the positioning jig is exemplified as the jig to be moved by the apparatus of the present invention, it can be applied to any jig such as a welding gun and a coating jig.

Although the motor 12 is shown as the driving means, other actuators such as a hydraulic actuator and an air actuator can be applied. And
The means for transmitting the drive is not limited to the ball screw 11 and the ball nut 13 shown in the embodiment, and if the drive means has a linear movement, such a drive transmission means is unnecessary, Even if the drive means has a rotary motion, other drive transmission means such as a rack and pinion can be used.

In the embodiment, the second guide rail 9 and the second slider 10 are shown as the second linear guide,
Further, although the rotating block 8 is shown as the rotating portion, the second linear guide and the rotating portion are constituted by the hinge 5a and the elongated hole 4a of the first embodiment, and the second guide rail 9 and the second guide rail 9 are provided. It is also possible to eliminate the 2 slider 10 and the rotary block 8.

[0039]

As described above, in the jig moving device of the present invention, the base arm supporting the jig is provided rotatably around the swing hinge of the base, and the base arm and the base are supported. A carrier is provided between the base and the base, and a first linear guide is provided between the carrier and the base, while a second linear guide is provided between the carrier and the base arm. Since the rotation part that allows relative rotation of the both is provided between the two and the drive means that gives the driving force to the carrier in the slide guide direction of the first linear guide is provided, the base arm is in the both-supported state. High mechanical rigidity can be obtained even if the length of the base arm is increased or the devices are stacked in two stages, and even if the base arm is lengthened, the base arm can be rotated with a small driving force. , Of the drive means The effect is that the force can be suppressed and the size of the device can be reduced. Furthermore, when the position of the jig is detected by the drive amount of the drive means, the position can be detected regardless of the length of the base arm. The positions of the means and the jig can be brought close to each other, and high position detection accuracy can be obtained without being affected by the length of the base arm.

[Brief description of drawings]

FIG. 1 is a plan view showing a jig moving device according to a first embodiment of the present invention.

FIG. 2 is a side view showing the device of the first embodiment.

FIG. 3 is a front view showing the device of the first embodiment.

FIG. 4 is an exploded perspective view showing a main part of the device according to the first embodiment.

FIG. 5 is a side view showing a jig moving device according to a second embodiment.

FIG. 6 is a side view showing a conventional technique.

[Explanation of symbols]

 1 Base 3 Swiveling Hinge 4 Base Arm 4a Slotted Hole (2nd Straight Guide, Rotating Part) 5 Carrier 5a Hinge (2nd Straight Guide, Rotating Part) 6 1st Guide Rail (1st Straight Guide) 7 1st Slider (first linear guide) 8 Rotation block (rotating part) 9 Second guide rail (second linear guide) 10 Second slider (second linear guide) 12 Motor (driving means) 15 Positioning jig

Claims (1)

[Claims] 1. A swivel hinge is erected on a base, and a base arm which is horizontally arranged apart from the base in an upward direction is horizontally rotatable at the base end thereof to the swivel hinge. A jig is supported by the base arm, and a carrier is arranged between the base and the tip of the base arm. The carrier is provided by a first linear guide provided between the base and the base. The base arm is linearly slidably connected in a direction substantially tangential to the turning circle of the base arm, while the second linear guide provided between the base arm and the base arm allows the base arm to extend in the extending direction. A pivoting portion that is slidably connected and that allows relative rotation between the base arm and the carrier is provided between the base arm and the carrier, and the base in the slide guide direction of the first linear guide with respect to the carrier. Driving that gives driving force A jig moving device comprising moving means.