JPH11322254A - Work carrying and inserting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To unnecessitate a high ceiling height except a place where a long size work is inserted into a prescribed location by providing a slider having a rotary shaft which is slidable to a slide guide arranged in the horizontal direction and supporting a work clamping part in the vertical direction at one end of a rotary arm provided on the rotary shaft. SOLUTION: A work carrying and inserting device 30 is provided with a slide shaft (slide guide) 6 arranged in the horizontal direction, a slider 8 which is provided on the slide shaft 6 so as to be slidable and has a rotary shaft 8a and a rotary arm 9 provided on the rotary shaft 8a. At one end of the rotary arm 9, a work clamping part 11 which clamps a work 1 and inserts the work 1 within a container 2 is supported in the vertical direction. The work 1 is moved by utilizing emphasis controls of revolution and a horizontal moving of the rotary arm 9 supporting the work clamping part 11. Therefore, a top point of the rotary arm 9 can be suppressed to about the length of the work 1 except when the work 1 is inserted into the container 2 and a high ceiling height is not required.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a workpiece transfer / insertion device for gripping, transporting, and inserting a workpiece into a predetermined position, and more particularly to gripping and transporting a long workpiece in an upright state. The present invention relates to a workpiece transfer and insertion device for inserting a workpiece into a predetermined position.

[0002]

2. Description of the Related Art FIG. 7 shows a conventional work transfer and insertion device for transferring and inserting a long work. As shown in FIG.
The conventional work transfer / insertion device 50 includes a column 54 installed on a floor 53 and a lifting shaft 55 provided in the column 54 in parallel with the column 54. An elevating arm 58 that moves up and down along the elevating shaft 55 is attached to the elevating shaft 55, and the elevating arm 58 is provided with a slide shaft 56 in a horizontal direction. A work holding portion 57 for holding the upper end of the long work 1 is attached to the slide shaft 56 so as to be movable on the slide shaft 56.

[0003] A conventional work transfer and insertion device 50 shown in FIG.
The elongate work 1 is moved in the horizontal direction while the work gripper 57 moves on the horizontal axis 56 while the work 1 is vertical, and the elongate arm 58 is moved up and down on the elevating shaft 55 to move the elongate work 1. Move the work vertically while keeping it vertical. As a result, the long work 1 is gripped and transported in a vertical state, and inserted into the predetermined container 2.

[0004]

In the conventional work transfer / insertion device 50 as described above, the support columns 54
Is required to be equal to or higher than the total length of the container 2 into which the work 1 is inserted. The height of the support 54 is work 1
Is constant irrespective of the operating state of the work, the height of the ceiling or the height of a crane device or the like attached to the ceiling needs to be higher than the support 54 over the entire moving path when the support 54 of the work transfer / insertion device 50 is installed. is there. Elevating the ceiling over such a wide area has a cost problem.

[0005] The present invention has been made in view of such a point, and a work that does not require a high ceiling height except where a long work is inserted into a predetermined position. An object of the present invention is to provide a transport insertion device.

[0006]

According to the present invention, there is provided a slide guide disposed in a horizontal direction, a slider having a pivot shaft slidably provided on the slide guide, a pivot arm provided on the pivot shaft, A workpiece transfer / insertion device, comprising: a workpiece gripper supported at one end of a turning arm and arranged vertically.

According to the present invention, the work is moved in the vertical direction by using the turning of the turning arm that supports the work gripping part, so that a column as in the conventional device is unnecessary, and the work is inserted into a predetermined position. At other times, the highest point of the swing arm can be suppressed to about the length of the work, and a high ceiling height is unnecessary except for the position where the work is inserted.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 to FIG. 4 are views showing a work transfer / insertion device according to a first embodiment of the present invention. As shown in FIG. 1, the work transfer / insertion device 30 includes a slide shaft (slide guide) 6 arranged in a horizontal direction, a slider 8 slidably provided on the slide shaft 6 and having a turning shaft 8a, And a turning arm 9 provided on the shaft 8a. At one end of the revolving arm 9, a work holding portion 11 for holding the work 1 and inserting it into the container 2 is vertically supported.

The slide shaft 6 is provided on the floor 3 (or a gantry).
Is provided on the pedestal 4 installed in the base. The pedestal 4 includes a leg 4 a stably fixed on the floor 3, a horizontal portion 4 b provided at the upper end of the leg 4 a and extending horizontally, and a portion near the opening of the container 2 provided at the tip of the horizontal portion 4 b. The slide shaft 6 is accommodated in the horizontal part 4b in the horizontal direction.

The slider 8 having the turning shaft 8a is slidable in the horizontal direction along the slide shaft 6 by an X-axis servomotor 41 (see FIG. 4).

A turning arm 9 attached to the turning shaft 8a extends on both sides around the turning shaft 8a. One end supports the work gripping portion 11, and the other end has a balance weight 12 on the other end. Is provided. Here, the length from the rotation axis 8a to the work holding part 11 is the work 1
And the total length of the container 2 (for example, several meters) and the total length of the container 2 minus the height of the pivot 8a. The turning arm 9 can be turned around the turning shaft 8a by a θ-axis servomotor 42 (see FIG. 4).

A link 10 extending parallel to the turning arm 9 is provided between the turning shaft 8a and the work gripping portion 11. For this reason, the link 10 and the turning arm 9 constitute a parallel link as shown in FIG. With the parallel link, the workpiece gripping portion 11 always faces in the vertical direction regardless of the turning position of the turning arm 9.

As shown in FIG. 3, the work holding portion 11
An upper support plate 25, a lower support plate 19, and both support plates 25;
And a centering adjustment mechanism 20 for performing centering adjustment between the 19 members. The centering adjustment mechanism 20 includes a plurality of link balls 21 that swingably connect the upper support plate 25 and the lower support plate 19 while maintaining their horizontal relationship, and a lower support plate 19.
Rod pin 23 which is provided on the upper side and extends and contracts toward the upper support plate 25 side
, And a conical guide 24 provided on the lower support plate 19 side of the upper maintenance plate 25 and corresponding to the shape of the rod pin 23.

Below the lower support plate 19, there are provided an air cylinder 16, a conical piece 17 vertically moved by the air cylinder 16, and a plurality of spherical seats 15 which can be opened and closed by the vertically moved conical piece 17. Have been. Spherical seat 15
Are provided in a triangular shape in the circumferential direction.
Biased to the closed state.

Next, referring to FIG.
The control system of the 1 and θ axis servo motors 42 will be described. As shown in FIG. 4, the X-axis servo motor 41 is connected to an X-axis driver 43, the θ-axis servo motor 42 is connected to a θ-axis driver 44, and each of the drivers 42 and 44 is connected to a motion controller 45. .

Further, the motion controller 45
Is connected to the teaching box 46 and the sequencer 47, and can store the position of each passing point of the movement trajectory 14 of the work 1 (see FIG. 2) via the teaching box 46 or the like. In addition, the motion controller 45 responds to an operation command from the sequencer 47 via each of the drivers 42 and 44 via each of the servomotors 41 and 43.
Can be driven.

In addition, corresponding to each of the X axis and the θ axis,
A sensor at the origin position ORG and a sensor at the operation limit ± OT are provided. The operation in each axis direction is based on the origin position OR
The position is controlled based on G, and when the sensors of the operation limits ± OT of each axis operate, the driving of each servomotor is stopped.

Next, the operation of the present embodiment having such a configuration will be described. Work transfer insertion device 30
Are the X-axis servo motor 41 and the θ-axis servo motor 42
Is driven to adjust the position state of the swivel arm 9, so that the swivel arm 9 is stored in a state most suitable for storage, for example, in a state in which the swivel arm 9 is horizontal.

The workpiece transfer / insertion device 30 in the stored state
Is used, the work transfer / insertion device 30 is installed at a predetermined position, for example, at a position where the insertion guide 4c is arranged near the opening of the container 2 as shown in FIG. Then, based on an operation command from the sequencer 47 or the movement trajectory 14 stored in advance by the teaching box 46 or the like, the motion controller 45 is operated to drive the X-axis servo motor 41 and the θ-axis servo motor 42 to rotate the turning arm. The position of the work 9 is adjusted, and the work gripper 11 is guided to the upper end of the work 1.

In the case of the present embodiment, the work 1 has a hollow shape having an inner shoulder, and the work gripper 11 is
When the air cylinder 16 is guided to the upper end, the conical piece 17 rises, the three-claw-shaped spherical seat 15 is opened against the spring 18, and the spherical seat 15 is Hook the part.

During this gripping step, the rod pin 23 of the centering adjustment mechanism 20 is disengaged from the conical guide 24 by the operation of the air cylinder 22, and the upper support plate 25
The lower support plate 19 and the lower support plate 19 can swing freely while being kept horizontal by the link ball 21. As a result, a slight displacement between the work 1 and the work holding mechanism 11 is adjusted by the centering adjustment mechanism 20, and the three-claw-shaped spherical seat 15 can firmly hold the work 1. Of course, work 1
When the positioning accuracy of the workpiece gripping mechanism 11 is high, the conical guide 24 and the rod pin 23 may be maintained in a locked state in which they are engaged with each other.

After the work gripper 11 hooks and holds the work 1, the motion controller 45 is operated based on an operation command from the sequencer 47 or the movement locus 14 stored in advance by the teaching box 46 or the like, and the X-axis servo is operated. Motor 41 and θ-axis servo motor 42
Is driven to adjust the position state of the revolving arm 9, and the workpiece 1 is transported via the workpiece gripper 11 to the upper part of the container 2 into which the workpiece 1 is to be inserted.

During the transfer process, the rod pin 23 of the centering adjustment mechanism 20 is locked by engaging the conical guide 24 by the operation of the air cylinder 22. Further, the work gripping mechanism 11 is always maintained in the vertical direction by the parallel link by the link 10, preventing the work from swaying and the work from being tilted during the transfer, and as a result, the work 1 can be transferred very stably.

The work 1 transported to the upper part of the container 2 is X
The axis servomotor 41 and the θ-axis servomotor 42 are driven to descend and are inserted into the container 2. At the time of insertion, the rod pin 23 of the centering adjustment mechanism 20 is again disengaged from the conical guide 24, and a slight positional shift between the work 1 and the container 2 is adjusted by the centering adjustment mechanism 20, and 1 can be smoothly accommodated in the container 2.

When the work 1 is completely contained in the container 2, the conical piece 17 is lowered by the air cylinder 16, the spherical seat 15 is closed by the spring 18, and the holding state of the work 1 by the spherical seat 15 is released. Is done. After that, the X-axis servo motor 41 and the θ-axis servo motor 42 are driven to move up the workpiece gripper 11.

As described above, according to the present embodiment, the work 1 is moved by utilizing the cooperative control of the turning and horizontal movement of the turning arm 9 supporting the work holding portion 11, so that the conventional device is used. No columns are needed. Therefore, except when the work 1 is inserted into the container 2, the highest point of the revolving arm 9 can be suppressed to about the length of the work 1, and the ceiling height is high except for the position where the work 1 is inserted into the container 2. Is unnecessary.

In particular, the work transfer / insertion device 30 of the present embodiment can be stored in a state suitable for storage, for example, in a state where the revolving arm 9 is horizontal.

The work transfer / insertion device 30 according to the present embodiment includes a centering adjustment mechanism 20 and a three-claw-shaped spherical seat 15.
Thereby, the hollow workpiece 1 having the inner shoulder can be firmly hooked and held.

Further, the work transfer / insertion device 30 of the present embodiment can adjust a slight displacement between the work 1 and the container 2 by the centering adjustment mechanism 20, so that the work 1 can be smoothly moved to the container. 2 can be accommodated.

Second Embodiment Next, with reference to FIGS. 5 and 6, a description will be given of a workpiece transfer / insertion device 30 according to a second embodiment of the present invention.
In FIGS. 5 and 6, the work transfer / insertion device 30
A pole 35 extending vertically below the lower support plate 19.
A fixed suction pad 36 is provided at three locations in the axial direction of the pole 35 via an air cylinder 38 and can expand and contract in the radial direction of the pole 35. The pole 35 can extend and contract in the radial direction of the pole 35 via an air cylinder 38 at three positions in the axial direction of the pole 35 substantially at the same position as the fixed suction pad 36.
A movable suction pad 36a that can also move in the circumferential direction is provided. Further, the fixed suction pad 36 and the movable suction pad 36a are connected by a spring 38.

In the second embodiment, FIGS.
The same reference numerals are given to the same parts as those in the first embodiment shown in FIG.

In this embodiment, the movable suction pad 3
6a, two fixed suction pads 36 are provided corresponding to one fixed suction pad 36, and three corresponding suction pads 36, 36a
Are substantially equally spaced from each other. Moving suction pad 36
a is a fixed suction pad 36 driven by a driving mechanism (not shown).
To move in the circumferential direction. The work transport / insertion device 30 of the present embodiment is a thin-walled work 3
It is particularly suitable for conveying 1.

The operation of the present embodiment will be described with reference to FIGS. 5 and 6. After the work gripping mechanism 11 is inserted into the wound work 31, the work transfer / insertion device 30 Is stretched by the air cylinder 38 so as to come into contact with and suck the wound work 31. Thereafter, by moving the movable suction pads 36a in a direction away from the fixed suction pads 36, the winding diameter of the winding work 31 can be reduced. By transporting the wound workpiece 1 in this state, the wound workpiece 31 can be transported stably.

By moving the movable suction pad 36a, the winding diameter of the winding work 31 can be arbitrarily adjusted. For example,
When the winding work 1 is inserted into the container 2, the winding work 31
Is adjusted to have a smaller diameter than the container 2.

The spring 38 has a movable suction pad 36a.
When the drive mechanism (not shown) for driving the movable suction pad 36 in the circumferential direction does not operate, the movable suction pad 36a is returned to the original predetermined position (equidistant position).

[0037]

As described above, according to the present invention, the work is moved in the vertical direction by using the turning of the turning arm that supports the work gripping part, so that there is no need for a column as in the conventional apparatus. The maximum point of the swivel arm can be suppressed to about the length of the work except when inserting the
Except for the work insertion position, a high ceiling height is not required.

[Brief description of the drawings]

FIG. 1 is a schematic view showing a work transfer / insertion device according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram showing a drive mechanism in the workpiece transfer and insertion device of FIG. 1;

FIG. 3 is a schematic diagram showing a work holding mechanism in the work transfer / insertion device of FIG. 1;

FIG. 4 is a block diagram showing a control system in the work transfer / insertion device of FIG. 1;

FIG. 5 is a schematic diagram showing a work holding mechanism in a work transfer and insertion device according to a second embodiment of the present invention.

FIG. 6 is a schematic diagram showing the operation of a work holding mechanism in a work transfer and insertion device according to a second embodiment of the present invention.

FIG. 7 is a schematic view showing a conventional work transfer / insertion device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Work 2 Container 3 Floor surface 4 Support column 6 Slide shaft 8 Slider 8a Swivel shaft 9 Swivel arm 10 Link 11 Work gripping part 12 Balance weight 15 Spherical seat 20 Centering adjustment mechanism 30 Work transfer insertion device

Claims (5)

[Claims] 1. A slide guide disposed in a horizontal direction, a slider having a turning shaft slidably provided on the slide guide, a turning arm provided on the turning shaft, and supported by one end of the turning arm; A workpiece transfer and insertion device, comprising: a workpiece gripper disposed in a vertical direction. 2. The work carrier according to claim 1, wherein a link extending parallel to the turning arm is provided between the turning shaft and the work holding portion, and the link and the turning arm form a parallel link. Insertion device. 3. The apparatus according to claim 1, wherein the workpiece gripping portion has a centering adjustment mechanism. 4. The apparatus according to claim 1, wherein the workpiece holding portion has a plurality of openable and closable spherical seats. 5. The work gripping part has a plurality of suction pads arranged in a ring shape and capable of expanding and contracting in the radial direction and rotatably movable in the circumferential direction with respect to each other. 3. The workpiece transfer and insertion device according to any one of 3.