JPS583668Y2 - autoloader - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an autoloader that is effective for use in the transportation process of articles, particularly for automatically loading and unloading workpieces onto and from work machines in mass-produced parts manufacturing factories and the like.

In factories that mass-produce electrical parts, etc., a method is adopted in which identical workpieces are grouped together and subjected to machining processing, such as plating. It is better to use robotized automatic equipment to carry out the transportation process by simultaneously loading the machine onto a working machine and processing it, and when the machine processing is completed, taking it out from the machine at the same time and sending it to the next processing process. It is convenient for improving production efficiency and labor saving effect.

However, in this type of automatic conveyance processing apparatus, it is desirable that the gripping device that grips the workpiece parts has many degrees of freedom of movement, and the more degrees of freedom of movement, the more versatile the apparatus will be.

Therefore, it is an object of the present invention to provide an automatic transport processing device, that is, an autoloader, which can fully satisfy such demands.

According to the present invention, there is a machine frame made up of an upper plate mounted on a column erected on a horizontal board, and a machine frame that can be slid upwardly and downwardly by sliding bearings penetrating the upper plate of the machine frame. The held dual main shaft is fixed to the lower end of the dual main shaft and is slid along the guide column by a drive cylinder via a rack and pinion mechanism, thereby causing the dual main shaft to slide upward and downward. a rotation transmission mechanism that rotates the dual main shaft by rotating the sliding body and the sliding bearing with respect to the machine frame by a rotary drive cylinder via a gear mechanism;
an arm holder held at the shaft head of the dual main shaft; a horizontal arm rotatably attached to the arm holder via a rolling bearing; and a gear attached to the end of the horizontal arm; a speed-increasing gear portion that engages with a gear that rotates in conjunction with the rocking of a rocking lever that engages with a movable rod of a linear cylinder mounted on the arm holder; The above-mentioned arm holder is held by applying upward/downward displacement and rotational action to the horizontal arm attached to the arm holder held at the shaft head of the dual spindle, and controlling the rotation of the above-mentioned horizontal arm around its axis. An autoloader is provided, characterized in that the autoloader is configured to provide a workpiece gripping tool fixed to a horizontal arm with multiple degrees of freedom for carrying processing motion.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 is a vertical cross-sectional view of the autoloader according to the present invention;
The figure is a side view, and FIG. 3 is a plan view.

In these Figures 1 to 3, 11 is a plywood board for fixing the autoloader according to the present invention to the installation floor of a work area, for example, a workshop, and on this base plate 11 there is a plurality of degrees of freedom of movement. The loader main body described below is mounted.

Now, the autoloader main body has a horizontal board 13, and this horizontal board 13 is formed of a substantially rectangular hard plate material.

A column 15 is vertically mounted on the horizontal substrate 13, and a top plate 17 is held at the top of the column 15.

Flanges 19 are provided at the lower ends of the horizontal base plate 13 and the column 15 and at the upper ends of the upper plate 17 and the marram 15, so that a strong loader machine frame is formed above the horizontal base plate 13.

Now, two main shafts 21.23 pass through the middle of the upper plate 17 as double shafts, and the inner side m25a of the bearing mechanism 25
It is fitted into a sliding bearing hole formed in the bearing hole so as to be able to slide upwardly and downwardly.

The bearing mechanism 25 also has an outer ring 25b, this outer! 2
The entire bearing mechanism 25 is fixed to the upper plate 17 by a flange formed on the upper part of the shaft 5b.

Furthermore, a set of ball bearings 29 is fitted between the inner ring m25a and the outer ring 25b, and this ball bearing 29 allows the inner ring 25a to connect to the outer ring 25b.
It is designed so that it can rotate against the

On the other hand, the upper end portions of the main shafts 21 and 23 forming the double shaft protrude above the upper plate 17 and hold the arm holder 37.

This arm holder 37 holds the horizontal arm 39 so as to provide a degree of freedom of movement as will be described later.

The lower end of the main shaft 21.23 is located above the horizontal substrate 13 and is connected to the sliding body 27 by nuts 33, 35.

The sliding body 27 consists of a main part 27a and a sub-part 27b, and the main part 27a can rotate with respect to the sub-part 27b via a rolling bearing 31.

The main shafts 21 and 23 mentioned above are fixedly connected to the main part 27a of the sliding body 27, and therefore the main shafts 21 and 23 are also connected to the main part 27a.
It is rotatable by a rolling bearing 31 together with 7a.

That is, the double shaft of the main shaft 21.23 is rotated by both bearings 29, 31 together with the inner shaft 51J 25a that engages with the upper part and the main part 27a that engages with the lower part.

On the other hand, the sub-portion 27b of the sliding body 2T is attached via a slide ball 27d to a guide column 27c vertically fixed between the horizontal substrate 13 and the upper plate 1T.

Since this sub-portion 27b is coupled to the main portion 27a via the rolling bearing 31 to form the sliding body 27, the sliding body 27 can be slid up and down along the guide column 27c by the slide ball 27d. It has become.

Now, the upward and downward sliding movements of the sliding body 2T are driven by an air cylinder CY-1 attached to the upper plate 17 of the loader machine frame by suitable fixing means.

That is, the cylinder rod of this air cylinder CY-1 is configured to move up and down in response to switching control of pressurized air, and to give upward and downward linear movement to the pinion holder 49 coupled to this cylinder rod. has been done.

The pinion 47 rotatably held by this pinion holder 49 is attached to a rack 41 fixed to the machine frame.
The teeth 43 of the sliding body 27 are engaged with the rack teeth 45 formed on the side of the sub-portion 27b of the sliding body 27.

Therefore, when the pinion holder 49 is moved straight upward or downward by the operation of the air cylinder CY 1, the pinion 47 rotates relative to the pinion holder 49 and engages with the rack teeth 45 of the sliding body 27 to move the pinion 47 upward and downward. 2
7 to induce four upward and downward sliding movements.

At this time, when the pinion holder 49 is moved straight downward by the air cylinder CY-1, the pinion 47 is moved to the first position.
In the figure, when the pinion holder 49 rotates counterclockwise to slide the slider 27 downward, and the pinion holder 49 is moved straight upward, the pinion 47 rotates clockwise in the opposite direction to the above, causing the slider 27 to slide downward. slide upward.

As described above, the sliding motion of the sliding body 27 is performed along the guide column 27c, and when the sliding body 27 performs the sliding motion, the twin shafts 21 and 23 consisting of the main shafts 21 and 23 also move along the bearing mechanism 25. It performs upward and downward sliding motion along the sliding bearing hole of the inner ring 25a integrally with the main portion 27a.

As a result, the arm holder 37 fixed to the upper end of the double shaft 21.23 moves upward and downward, and the horizontal arm 39 held by the arm holder 37 also moves upward and downward perpendicular to its horizontal axis. direction.

At this time, the sliding body 2 operated by the cylinder CYI
For the sliding movement of No. 7, the pinion 47 is fixed on one side of the rack 4.
1, the stroke length is twice the stroke length of the cylinder rod of cylinder CY-t, and therefore the sliding speed is also the same as that of cylinder CY-t.
The relationship is twice the linear speed of cylinder rod No. 1.

That is, the pinion 47, fixed rack teeth 43, and movable rack teeth 45 constitute a double-speed reciprocating mechanism.

FIG. 4 is a partial plan view showing a state in which the pinion 47 and the movable rack teeth 45 are engaged with each other.

On the other hand, an air cylinder CY-2 is attached to the loader machine frame by suitable fixing means as shown in FIG.

This air cylinder CY-2 is a cylinder device that rotates its cylinder rod by a fixed angle to the left and right by the action of pressurized air, and a pinion 51c is fixed to the tip of the cylinder rod.

That is, as the cylinder rod rotates, the pinion 51c also rotates to the left and right by a certain angle.

This pinion 51c meshes with an intermediate gear 51b, and the intermediate gear 51b meshes with the teeth of a gear wheel 51a fixed to the inner fE 25a of the bearing mechanism 25.

The intermediate gear 51b is pivotally mounted on the upper plate 17 of the loader frame, as is clear from FIG.

As a result, when the air cylinder CY2 rotates, rotational motion is transmitted from the pinion 51c attached to the cylinder rod to the gear wheel 51a via the intermediate gear 51b, and therefore the inner gear 25a of the bearing mechanism 25 is also rotated. communicated.

Among them, the main shaft 21.23 is inserted as a double shaft into the 3Jj25a, and the inner ring 25a is rotatable with respect to the outer ring 25b by a pair of ball bearings 29, so that the inner ring 25a The inner ring 25a and the two main shafts 21, 23 rotate together as a result of the rotational motion transmitted to the inner ring 25a.

That is, a pinion 51c, an intermediate gear 51b, and a gear wheel 51a connected to the cylinder rod of the air cylinder cy-.
A rotation transmission mechanism is formed by this.

Note that when the main shafts 21 and 23 rotate, the main portions 27a of the sliding bodies 21 fixed to the lower ends of these double shafts also rotate through the rolling bearings 3.
1, the arm holder 3°7 rotates smoothly relative to the sub-portion 27b, and the arm holder 3°7 fixed to the upper end of the double shaft also rotates integrally with the double shaft.

As a result, the horizontal arm 39 attached to the arm holder 37 can travel by a fixed angle to the left and right with respect to the center of both bearings 29 and 31 with respect to the loader machine frame.

Next, an air cylinder C is mounted on the upper surface of the arm holder 37 mentioned above.
Y-3 is installed, and this air cylinder CY-3
has a linear cylinder rod similar to the air cylinder CY-t described above, and although this cylinder rod is not clearly shown in FIGS. 1 to 3, it is located outside the side end of the arm holder 37. It is installed so that it can move forward and backward in the upward and downward directions.

The air cylinder CY-3 has the above-mentioned cylinder rod, and also has a shaft 55 and a rolling bearing 6 on the outside of the side end of the arm holder 37.
1 and is pivotally engaged with the outer end of a lever device 67 rotatably held by the air cylinder CY-
The lever 6T is configured to be rotated around the axis of the shaft 55 by the operation of the lever 6T.

Here, Figure 5 shows the v-■ cross section of Figure 1, and also shows the
The figure shows a partial side view taken along the line of arrow Vl--Vl in FIG.

Referring to these FIGS. 5 and 6, the air cylinder CY
-s clearly shows how the lever 67 is rotated.

Further, as shown in FIGS. 3 and 5, a pinion 53a is attached to the shaft 55 on the opposite side to the lever 67. Therefore, when the lever 67 is rotated by the air cylinder ℃Y-3, the shaft 55 At the same time, the pinion 53a is also rotated.

This pinion 53a is attached to the tip of a short shaft 57 pivotally connected to the arm holder 37, and is meshed with an intermediate gear 53b having fewer teeth than the pinion 53a. As a result of this rotation, the short shaft 57 can rotate at an increased speed.

Further, an intermediate gear 53c having more teeth than the intermediate gear 53b is fixed to the leading end of the short shaft 57.

Further, the intermediate gear 53c is engaged with a small gear 53d fixed to the rear end of the horizontal arm 39, which is rotatably held in the arm holder 37 via a set of ball bearings 59 (see FIG. 5). are combined.

This small gear 53d is formed so that the number of teeth thereof is smaller than the number of teeth of the intermediate gear 53c, and therefore the above-mentioned short shaft 57
When the intermediate gear 53c rotates due to the rotation of
3d rotates at a higher angular velocity than the intermediate gear 53c to rotate the horizontal arm 39 around its axis.

That is, depending on the forward/backward movement of air cylinder CY-s,
The horizontal arm 39 can rotate in forward and reverse directions around its axis via a lever 67 and a speed increasing gear mechanism 53 having gears 53a to 53d.

At this time, it goes without saying that the rotation angle of the horizontal arm 39 in the forward and reverse directions is determined by the stroke length of the air cylinder CY-3.

Horizontal arm 3 held in arm holder 37 in this way
9 is capable of upward and downward displacement in the direction of arrow C (Fig. 1) in accordance with the upward and downward sliding movement of the double shaft 21. By rotating with the rolling bearings 29 and 31, it is possible to perform a turning operation in the direction of arrow B (Fig. 3), and further, as mentioned above, in the direction of arrow A (Fig. 3).
It is possible to perform the rotational movement shown in Fig. 3).

Therefore, by attaching the workpiece gripping tool 95 for work at an appropriate position on the horizontal arm 39, the workpiece gripping tool 95 can be given the same degree of freedom of movement as the horizontal arm 39 described above.

In the autoloader according to the present invention, the above-mentioned horizontal arm 39 is further formed as a hollow tube (see Fig. 5).
.

That is, by forming the horizontal arm 39 into a hollow tube, if the pressurized air pipe 63a is connected to one end of the horizontal arm 39 via the flexible shaft 63, the hollow of the horizontal arm 39 can be connected from the pressurized air pipe 63a to one end of the horizontal arm 39. The workpiece gripping tool 95 can be operated by pressurized air supplied to the conduit via an appropriate air cylinder device (not shown) for gripping or releasing the workpiece.

Solenoid valve 5v-1, 5 attached to the top surface of arm holder 37
v-2 is provided to control the supply of pressurized air from a pressurized air supply source (not shown) to the air cylinder device that operates the aforementioned air cylinder CY-3 and the aforementioned work gripping tool 95, respectively. It is something that exists.

Although the above description has been made with reference to the degree of freedom of movement obtained above the horizontal substrate 13 in the autoloader according to the present invention, a movement mechanism is further provided below the horizontal substrate 13.

That is, a linear air cylinder CY-4 is fixed in a horizontal position on the lower surface of the horizontal board 13 by a support leg 87.

Further, the cylinder rod of this air cylinder CY-4 is fixed to the base plate 11 by a girder leg 83.

Therefore, when a relative linear movement occurs between the cylinder of the air cylinder CY-4 and the cylinder rod by supplying pressurized air from the pressurized air source to the air cylinder CY-4, the gap between the base plate 11 and the base plate 13 Relative displacement motion also occurs.

Therefore, when the base plate 11 is fixed to the floor etc., the horizontal base plate 13 can be moved and displaced in the direction of the arrow (FIG. 1) within the horizontal plane according to the operation of the air cylinder CY4 with respect to the fixed base plate 11. It can be done.

At this time, if the horizontal board 13 performs a horizontal movement displacement, the loader machine frame on this horizontal board 13 also moves together in the direction of the arrow, and therefore the horizontal arm 39 and this horizontal arm 39
The work gripping tool 95 attached to can also be horizontally displaced in the direction of the arrow.

In addition, in the horizontal movement activated by the air cylinder CY1, the girder leg 89a attached to the lower surface of the horizontal board 13
The wheels 89b attached to the base plate 11 roll on the rails 85 laid on the top surface of the base plate 11, and horizontally move smoothly along the guide frame 93 of the guide device 91 attached to the top surface of the base plate 11. It is configured to be

As is clear from the above description, the autoloader according to the present invention allows horizontal movement, upward/downward displacement, rotational movement within the horizontal plane, and axis center of the horizontal arm 39 relative to the workpiece gripping tool 95 that grips and transports the workpiece. Since the main shafts 21 and 23 are formed as double shafts, the movement of the arm holder 37 and the horizontal arm 39, which are activated via the rotation transmission mechanism 51, is possible. It exerts a rotation-stopping effect on traveling motion, and is not accompanied by so-called inertial motion.

Therefore, according to the autoloader according to the present invention, the horizontal arm 3
This has the advantage that the movement of the work gripping tool 95 attached to the air cylinder 9 can be controlled extremely accurately by each of the air cylinders CY1 to CY4.

Therefore, if such an autoloader is used for transporting goods such as work parts in a machine shop or the like, the transport processing movement is correct, and it can greatly contribute to improving the work-to-work ratio.

In the above description, the autoloader according to the present invention is driven by an air cylinder device, but it goes without saying that it is also possible to adopt a driving method using a liquid cylinder device such as hydraulic pressure, if necessary.

[Brief explanation of the drawing]

FIG. 1 is a longitudinal sectional view of an autoloader according to the present invention, FIG. 2 is a side view of the autoloader of FIG. 1 including a partial cross section, and FIG.
The figure is a plan view of the autoloader according to the present invention, and Figure 4 is the second
A partial plan view along the line IV-■ in the figure, Figure 5 is the ■■ in Figure 1.
- Partial sectional view along line ■, Figure 6 is VI-VI of Figure 5
FIG. 3 is a partial line view. In the figure, 11...base plate, 13...horizontal board, 15...
・Column, 17... Upper plate, 21-23... Main shaft, 2
5... Bearing mechanism, 27... Sliding body, 3T... Arm holder, 39... Horizontal arm, 41... Rack,
43...Fixed rack teeth, 45...Movable rack teeth, 4
7... Pinion, 51... Rotation transmission mechanism, 53...
・Speed-up gear mechanism, CY-1-CY 4...Air cylinder.

Claims (1)

[Scope of utility model registration request] A machine frame consisting of an upper plate mounted on a column erected on a horizontal board, and a twin main shaft penetrating the upper plate of the machine frame and held so as to be able to slide upwards and downwards by sliding bearings. a sliding body that is fixed to the lower end of the dual main shaft and slides the dual main shaft upward and downward by being slid along the guide column by a drive cylinder via a rack and pinion mechanism; a rotation transmission mechanism that rotates the dual main shaft by rotating a dynamic bearing with respect to the machine frame by a rotary drive cylinder via a gear mechanism; an arm holder held on the shaft head of the dual main shaft; a horizontal arm rotatably mounted on the arm holder via a rolling bearing; a gear mounted on the end of the horizontal arm; the gear engaging the gear on one hand and the gear mounted on the arm holder on the other hand; It is equipped with a speed-increasing gear part that is engaged with a gear that rotates in conjunction with the rocking of a rocking lever that is engaged with a movable rond of a direct-acting cylinder, and is attached to an arm holder held at the shaft head of the dual main shaft. By applying vertical displacement and rotational action to the horizontal arm and controlling the rotation of the horizontal arm around its axis, the work gripping tool fixed to the horizontal arm held by the arm holder has multiple degrees of freedom. An autoloader characterized in that the autoloader is configured to provide a transport processing motion of.