JPS5811488Y2 - Workpiece mounting/removal device - Google Patents

Description

[Detailed Description of the Invention] The present invention includes a movable member that is provided with a claw mechanism for grasping a workpiece to be machined and a claw mechanism for grasping a workpiece that has been machined, and is reciprocated along a straight line. ,
The apparatus relates to a device for attaching and detaching a workpiece by rotating a mounting base to which the moving member is attached about a rotation center line.

When processing small quantities of workpieces in large quantities, workpiece mounting systems that can automatically transfer workpieces to and from processing machines are used to improve work efficiency, reduce labor costs, and lower product costs.・A removal device is used.

In automatic processing machines, the time required to process each workpiece is almost constant, so in order to improve work efficiency, it is necessary to transfer the workpiece between the workpiece mounting/removal device and the processing machine. The important point is how to shorten the time required to do so.

In view of these circumstances, the present invention was developed with the aim of providing a compact workpiece mounting/removal device that operates quickly, with little impact, and is characterized by (a) ) a mount that can be rotated by a predetermined angle around a first rotation center line; (b) the mount;
A first claw mechanism is mounted to be movable along a first straight line orthogonal to the first rotation center line, and is for gripping a workpiece to be machined; and a second claw mechanism is for gripping a workpiece that has been machined. (C) a movable member that fixedly holds the components arranged substantially parallel to the first straight line along a plane perpendicular to the first rotation center line; and (C) a second rotation perpendicular to the first straight line by the mounting base. (d) a drive member that is rotatably held around a center line and has a retaining protrusion at a position eccentric from a second rotation center line; The engaging projection of the drive member is slidably engaged with the engaging projection of the drive member by the retaining groove, and a portion separated from the retaining groove in the longitudinal direction is provided with a third rotation parallel to the second rotation center line by the mounting base. It is held rotatably around a center line, and one end is engaged with the moving member in a state that converts rotational movement about the third rotational center line into linear movement and transmits the linear movement to the moving member. and (e) a driven member provided on the mounting base to move the driving member at two positions where a straight line connecting the retaining protrusion and the second rotation center line is approximately perpendicular to the longitudinal direction of the retaining groove. and a drive device for rotating the first and second pawl mechanisms between the mounting base and the mounting base. is rotated about the first rotation center line, so that the first and second pawl mechanisms are alternatively positioned at one point on an arc centered on the first rotation center line,
One point is that the workpiece to be machined is attached to the target device, and the workpiece that has been machined can be removed from the target device.

In the workpiece mounting/removal device configured as described above, in order to selectively position both the first and second claw mechanisms at positions facing the target device, a movable member holding the claw mechanisms is provided. Since the mount that holds the movable member is rotated when it is advanced to the forward end, the rotation radius of the claw mechanism is large, so the rotation angle of the mount only needs to be small. becomes.

Therefore, it is easy to supply hydraulic pressure (in the case of hydraulic drive) or electric power (in the case of electric drive) to the drive device that is installed on the mounting base and rotates the drive member by a predetermined angle, and the device can be manufactured at low cost. Moreover, damage to hydraulic hoses and electric cables can be avoided.

In addition, in order to reciprocate the movable member along the first straight line, two rotating members, that is, a driving member and a driven member, are connected to a locking protrusion provided on the former and a locking groove provided on the latter. Since a mechanism is adopted in which the mechanism is engaged with the moving member, it is possible to give the moving member an ideal speed characteristic that is fast in the center of the moving section and gentle at both ends by combining members with a simple structure. .

In particular, at both ends of the moving section, the center line of the locking groove is almost in contact with the rotation locus of the locking protrusion, so even if the drive member rotates, the driven member hardly rotates. The driven member can be started or stopped at both ends of the travel path with little impact.

This is significant because it improves the positioning accuracy of the claw mechanism, prevents the workpiece from being shaken off during starting and stopping, reduces device operating noise, and improves device durability.

Furthermore, one of the effects of the present invention is that the entire device can be made compact.

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

In FIGS. 1 and 2, reference numeral 1 denotes a rotation shaft arranged in the horizontal direction, and a mounting base 2 is attached to this rotation shaft 1 so as to be rotatable around this axis A. In FIGS.

A torque cylinder 3 that reciprocates at a predetermined angle is attached to the side of the mounting base 2 (on the right side in Figure 2), and is fixed to the rotation shaft 4 of the torque cylinder 3 so that the axis B of this shaft is rotated. A pin 6 is fixed by a bolt 7 at a position offset by a certain distance from the axis B of the drive member 5 which is rotated.

A piece 12 is attached to the portion of the pin 6 that protrudes from the drive member 5.
are rotatably fitted together, and the annular member 11a and the nut 1
1b prevents extraction.

A fixed shaft 8 is also fixed to the mounting base 2 so that its axis C is parallel to the axis B of the rotating shaft 4, and one end of a longitudinal driven member 9 is attached to the fixed shaft 8. It is worn.

An elongated engagement hole 10 bored in the longitudinal direction of the driven member 9 is provided in the intermediate portion of the driven member 9, and a piece 12 fitted with the pin 6 is engaged with this engagement hole 10. I am forced to
As a result, the rotation of the drive member 5 about the axis B is converted into the rotation of the driven member 9 about the axis C.

That is, in this embodiment, the pin 6 and the piece 12 constitute a retaining protrusion of the drive member 5, and the engaging hole 10 constitutes an engaging groove that slidably engages with the engaging protrusion. It is.

The end of the driven member 9 opposite to the one pivoted to the fixed shaft 8 is formed by a long hole 13 and a piece 20 loosely fitted therein.
A moving member 17 with two claw mechanisms 15 and 16 at its tip.
is connected to.

That is, a long hole 13 is provided at the end of the driven member 9 in the longitudinal direction of this member, similar to the engagement hole 10 in the intermediate portion, and a cylindrical frame fixed to the mounting base 2 is provided. 18
A pin 19 is fixed to the cylindrical moving member 17 movably slidably fitted therein in a direction perpendicular to the axis of the moving member 17.

When the piece 20 rotatably fitted to the pin 19 is engaged with the elongated hole 13, the rotational movement of the driven member 9 and the moving member 17 is converted into a linear movement and transmitted to the latter. They are connected in such a way that they are

As is clear from the above description, in this embodiment, the axis A functions as the first rotation center line, and the moving member 17 makes a linear motion along its own axis that is orthogonal to this axis A. The two pawl mechanisms 15 and 16 are held by the movable member 17 in a plane that is perpendicular to the axis A and are aligned substantially parallel to the axis of the movable member 17.

Further, the axis B and the axis C function as a second rotation center line and a third rotation center line, respectively, and the axis B is located between the axis of the moving member 17 and the axis C, and the axis B is located between the axis of the moving member 17 and the axis C, and As the drive member 5 rotates, the pin 6 erected in 5 passes between the axis B and the axis C and rotates.
At this time, the pin 6 comes closest to the axis C, and the lever ratio of the driven member 9 becomes the largest.

Two claw mechanisms 15 provided at the tip of the moving member 17.
16, fixed claws 15a, 16a, and spring 1
Movable claws 15C, 16 urged by 5b, 16b
C, one claw mechanism (lower in FIG. 1) 15
is for grasping the workpiece to be machined, and the other claw mechanism 16 is for grasping the workpiece that has been machined. Workpieces are fed and discharged by combining rotational movements.

That is, the mounting base 2 to which the torque cylinder 3, driving member 5, driven member 9, moving member 17, etc. are fixed is rotated clockwise and counterclockwise around the axis A from the intermediate position shown in FIG. (in this case, 6 degrees), the first claw mechanism 1 of the workpiece to be machined
5 and discharge of the finished workpiece from the second claw mechanism 16 is carried out by a pusher (not shown) when the moving member 17 is in the retreat position with the mounting base 2 rotated most clockwise. Each of them is supposed to be done.

In addition, when the mounting base 2 is in the above rotation position, the movable member 1
7 is moved forward, the second claw mechanism 16 is in a position coaxial with the main axis of the machine tool, that is, the chuck position, and when the mounting base 2 is then rotated counterclockwise, the first claw mechanism 1 is moved forward.
5 is the chuck position.

Furthermore, when the movable member 17 moves forward and backward, each claw mechanism 1
Rollers 22, 23 (see FIG. 3) provided at 5.16 contact respective cam surfaces provided on the tailstock.

When the movable member 17 moves forward, the second pawl mechanism 16 resists the elastic force of the spring 24 shown in FIG.
When the first pawl mechanism 15 moves toward the spring 2 (in a direction perpendicular to the plane of the paper in FIG.
By the action of 5, the workpiece is moved toward the tailstock side (in the direction opposite to the spindle side), thereby transferring the workpiece between the double claw mechanism 15, 16 and the machine tool.

Furthermore, when the first claw mechanism 15 or the second claw mechanism 16 is at a predetermined position when the moving member 17 moves forward or backward, the moving shaft 14 (first
The dogs 26, 27 fixed on the top actuate the nomit switches 28, 29, and the torque cylinder 3 is stopped, and each side of the drive member 5 is stopped by a stop 32.27 fixed on the mounting base 2. 33.

Next, the operation will be explained.

As shown in FIG. 5, when the mounting base 2 is rotated most clockwise and the movable member 17 is retracted, the spring release protrusion of the conventional glue lid (not shown) touches the movable claw 15 of the first claw mechanism 15. The spring 15 comes into contact with a part of C from below.
The movable claw 15C is pushed open against the elastic force of b, and the pusher of the lifter supplies the workpiece W to be processed to the claw mechanism 15.

In parallel with this, another pusher discharges the workpiece W' that has been processed in the previous step from the second claw mechanism 16.

When the machining of the workpiece supplied to the chuck position in the previous process is completed, the torque cylinder 3 is activated to rotate the driving member 5 counterclockwise in FIG. 5 around the axis B, and the moving member 17 is moved forward. (move rightward in Fig. 5).

At this time, when this member 5 is in contact with the stopper 32, the straight line connecting the pin 6 of the driving member 5 and the axis B of the rotation shaft 4 is approximately perpendicular to the longitudinal direction of the engagement hole 10 of the driven member 9. Therefore, the driven member 9 is hardly rotated at the beginning of rotation of the driving member 5.

However, as the piece 12 fitted onto the pin 6 engages with a portion of the engagement hole 10 closer to the fixed shaft 8, it is rotated clockwise around the axis C of this shaft.

In this case, the rotational speed of the drive member 9 increases with acceleration, and as shown by the two-dot chain line in FIG. The maximum value is reached when the line is on the straight line connecting the pin 6 and the axis B of the rotation shaft 4, and then the angle between the longitudinal direction of the engagement hole 10 and the straight line connecting the pin 6 and the axis B of the rotation shaft 4 becomes the maximum value. As it approaches the right angle, it gradually approaches zero.

Thereafter, the dog 27 on the moving shaft 14 actuates the limit switch 29 and the rotation of the torque cylinder 3 is stopped, and the side surface of the driving member 5 is pressed against the stopper 33.
When the drive member 5 is brought into contact with and stops rotating, it is stopped in the state shown in FIG. 6.

At this time, the second claw mechanism 16 assumes a chuck position coaxial with the main shaft of the machine tool, and its forward force pushes the movable claws 16C apart and grips the machined workpiece W'.

When the movable member 17 moves forward, the roller 23 comes into contact with the cam of the Shinjindai at the same time, so the second pawl mechanism 16 resists the elastic force of the spring 24 and moves toward the main shaft side (in a direction perpendicular to the plane of the paper in FIG. 6). ) (indicated by the two-dot chain line in FIG. 3).

Subsequently, when the chuck is loosened and the Shinshindai is moved backward, the second claw mechanism 16, which grips the machined workpiece W' by the action of the spring 24, moves toward the Shinjindai side (in a direction perpendicularly away from the plane of the paper in FIG. 6). ), this workpiece W′
is removed from the spindle chuck.

Once the processed workpiece W′ is removed from the chuck,
The mounting base 2 is rotated upward (counterclockwise in FIG. 6) by 12° around the axis A.

Then, as shown in FIG. 7, the workpiece W to be machined gripped by the first claw mechanism 15 is positioned coaxially with the main shaft and the Shinshindai.

At this point, the work W is gripped by the chuck by moving the Shinshin stand forward against the elastic force of the spring 25.

After chucking the workpiece W to be machined, when the drive member 5 is rotated clockwise in FIG. 7 and the driven member 9 is rotated counterclockwise, the moving member 17 moves forward. is set back in exactly the opposite direction.

Although it is avoided to repeat this process again, the moving member 1
7 is moved rapidly on the way, and the moving speed is gradually reduced as it approaches the initial position, and then the dog 26
contacts the limit switch 28, and the drive member 5 comes into contact with the stopper 32, thereby being stopped at the position shown in FIG.

When the movable member 17 retreats, the first pawl mechanism 15 is removed from the workpiece to be machined, which is positioned by the main shaft and the shin mount, due to the retreating force, and the roller 22 comes into contact with the cam of the shin mount, thereby removing the first claw mechanism 15 from the workpiece to be machined. The action of the spring 25 prevents the claw mechanism from suddenly moving toward the Shinshindai side.

Note that the processed workpiece W' is held by a claw mechanism 16.

Thereafter, the mounting base 2 is rotated clockwise, and the movable member 17 and other members are returned to their original states as shown in FIG. 5.

Thus - the cycle is completed. As detailed above,
According to this embodiment, while the driving member 5 is rotated at a constant speed, the driven member 9, which is rotated based on this rotation, is rotated at a particularly high speed during the rotation.

Moreover, the engagement hole 10 into which the piece 12 fitted with the pin 6 of the driving member 5 is engaged is formed in the intermediate part of the driven member 9, whereas An elongated hole 13 into which the piece 20 is engaged is formed at the free end of the driven member 9.

Therefore, the moving member 17 is reciprocated at an average speed that is approximately twice the rotational speed of the intermediate portion of the driven member 9, which is rotated according to the speed change described above, and each claw mechanism 15
．． The time required to move the moving member 17 so that the moving member 16 is at a predetermined position is shortened, and work efficiency is improved.

Furthermore, since the driven member 17 cannot be rotated at a high rotational speed midway through, but is rotated slowly as the rotation approaches the end, the movable member 17 is rotated by each claw mechanism 15.
．． As 16 reaches each of the above positions, its moving speed is gradually decreased.

In other words, the moving member 17 is moved rapidly while the pawl mechanisms 15, 16 are away from their predetermined positions, but as each pawl mechanism approaches its respective position, the moving member 17 is moved gradually. The member 17 can act as a pawl mechanism 15, 16 without providing a buffer member or the like.
The workpiece is stopped accurately and with little impact so that it is in the specified position, and the workpiece is prevented from being shaken off.
Damage due to impact can be prevented.

Further, according to this embodiment, the workpiece mounting/removal device is made compact as a whole, and does not occupy a large space.

Note that the present invention is not limited to the above embodiments,
Of course, changes and modifications can be made as appropriate without departing from the spirit of the invention.

[Brief explanation of the drawing]

Figure 1 is a front view (partially cut away) showing an embodiment of the present invention;
Fig. 2 is a II-II sectional view in Fig. 1, Fig. 3 is a II-II sectional view in Fig. 1, and Fig. 4 is a II-II sectional view in Fig. 1.
-IV sectional view and FIGS. 5 to 8 are front views (only essential parts) for explaining the operation of the embodiment shown in FIG. 1. 1.4: Rotation axis, 2: Mounting base, 3: Torque cylinder, 5
: Drive member, 6, 19: Pin, 8: Fixed shaft, 9: Driven member, 10: Engagement hole, 12, 20: Piece, 13: Long hole,
15, 16: Claw mechanism, 17: Moving member, 32, 33:
Stotspa.

Claims (1)

[Claims for Utility Model Registration] A mounting base that can be rotated by a predetermined angle around a first rotation center line; and a mounting base that is movable along a first straight line orthogonal to the first rotation center line. The attached first claw mechanism for gripping the workpiece to be machined and the second claw mechanism for gripping the workpiece that has been machined are arranged approximately along a plane perpendicular to the first rotation center line. a movable member fixedly held parallel to the first straight line; a movable member held rotatably about a second pivot center line perpendicular to the first straight line by the mounting base; The drive member has a locking protrusion located a certain distance eccentrically from the drive member, and the drive member has a longitudinal shape and is formed along the longitudinal direction. The retaining groove slidably engages with the retaining protrusion of the drive member, and a portion longitudinally separated from the retaining groove is provided with a third portion parallel to the second rotation center line by the mounting base. The movable member is held rotatably about the third pivot center line, and one end is attached to the movable member in a state capable of converting the rotary motion about the third pivot center line into a linear motion and transmitting the linear motion to the movable member. A straight line connecting the engaged driven member and the driving member provided on the mounting base to the engaging protrusion and the second rotation center line is substantially perpendicular to the longitudinal direction of the retaining groove. a drive device for rotating between two positions, and the drive device linearly moves the first and second pawl mechanisms to a forward end via the drive member, the driven member, and the moving member. In this state, the mounting base is rotated about the first rotation center line, so that the second and second pawl mechanisms are brought to a point on an arc centered on the first rotation center line. Workpiece attachment/removal characterized in that the workpiece is selectively positioned and configured such that the workpiece to be machined can be attached to the target device and the workpiece that has been machined can be removed from the target device at the one point. Device.