JPS583669Y2 - Workpiece loading/unloading device - Google Patents

Description

[Detailed description of the invention] This invention relates to a device for loading and unloading workpieces using a single manipulator arm.The purpose of this invention is to maintain the posture of the workpiece even when the workpiece has steps with different diameters or the center of gravity is offset. The purpose is to ensure that loading and unloading is carried out without breaking.

Conventionally, there is a manipulator arm that simultaneously carries in and out workpieces, but in this case, a single movable claw is swingably supported between a pair of fixed claws provided on the outside. A workpiece supported on a pedestal to be carried out is gripped by a movable claw and one fixed claw, and a workpiece to be carried in which is held by the movable claw and the other fixed claw is released.

For this reason, the workpiece to be carried out is grasped at a position shifted laterally with respect to the workpiece support center on the pedestal, and the workpiece to be carried in is released at a position shifted in the opposite direction. Not only does the width of the receiving surface of the pedestal have to be increased laterally, but also the workpiece released from the gripping claws must move along the sloping receiving surface before settling on the support center of the pedestal. In the case of a workpiece whose center of gravity is biased toward the shaft end, there is a risk that the posture of the workpiece on the pedestal may not be fixed.

In particular, the shaft end far from the center of gravity may become unstable on the pedestal while being deviated from the support center, and if the workpiece support center is moved forward, the workpiece cannot be supported at the center and the workpiece is lifted from the pedestal. It will cause it to fall off.

In order to eliminate such conventional drawbacks, the present invention is designed to transfer the workpiece to the pedestal near the workpiece support center of the pedestal.

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

In FIG. 1, 10 is a column, 11 is a hollow rectangular rail suspended horizontally on the upper end of this column 10, 12 is a movable table movably guided by this rail 11, and this movable column 12 has a rail 11. A guide roller 13 is supported, which abuts on each of the four sides.

Reference numeral 14 denotes a feeding motor provided on the moving table 12, and a pinion 15 driven by this motor 14 meshes with a rack 16 fixed to the rail 11.

Reference numeral 17 denotes an elevating device for the manipulator arm 18 fixed to the side surface of the moving table 12, and the elevating device 17 includes a guide sleeve 19 for slidingly guiding the manipulator arm 18, and a guide sleeve 19 carved on the outer peripheral surface of the manipulator arm 18. A drive motor 20 is provided to drive a pinion that meshes with the rack.

Reference numeral 21 denotes a bracket fixed to the lower end of the manipulator arm 18. As shown in FIG. ing.

As shown in FIG. 3, a workpiece pedestal 24 having a V-shaped receiving surface 24a for supporting the workpiece W is provided at the workpiece processing position and within the workpiece conveyor, and corresponds to both workpiece pedestals 24. The movable table 12 is moved and positioned to the second position.

The receiving members 23.23 are formed with inclined support surfaces 23a and 23b that coincide with the extension of the V-shaped receiving surface 24a of the workpiece pedestal 24 when the manipulator arm 18 is located at the lower end. Each inner end of the support surfaces 23a and 23b is close to both ends of the workpiece pedestal 24.

25 is a hanging play of the bracket 21) 21a.

A pivot shaft 21a is rotatably mounted, and this pivot shaft 25 is located directly above the V-shaped receiving surface 24a.

26 is a movable member fixed to both ends of the pivot 25 and capable of swinging;
A first engagement recess 27 and a second engagement recess 28 are formed in the movable member 26 so as to be spaced apart from each other in the swinging direction.

The engaging recesses 27 and 28 are formed in a substantially U-shape with a groove width corresponding to the outer diameter dimension of the workpiece W to be engaged, and are designed to straddle the outer peripheral surface of the workpiece on the inclined support surface and the workpiece on the workpiece pedestal. and engage.

In this state, when the movable member 26 rotates clockwise, the workpiece Wa on the workpiece pedestal 24 is pushed up onto one inclined support surface 23a, and the workpiece wb held on the other inclined support surface 23b is pushed up onto the workpiece pedestal 24. move it up.

As shown in FIG. 2, reference numeral 29 is an actuation lever fixed to the middle of the pivot shaft 25, and a U-shaped engagement groove 29a is carved at the tip of the actuation lever 29.

30 is a sliding body protruding from an engaging pin 31 that engages with the engaging groove 29a, and this sliding body 30 is a rod that is guided to the inner hole 18a at the tip end of the manipulator arm 18 and inserted through the center of the manipulator arm 18. It is connected to the lower end of 33.

The upper end of this rod 33 is connected via a screw mechanism to the motor of an actuator 34 fixed to the upper end of the manipulator arm 18, as shown in FIG. 26.

As the rod 33 rises, the first engaging recess 27 of the movable member 26 corresponds to the workpiece pedestal 24, and the second engaging recess 28 corresponds to the inclined support surface 23b, as shown by the solid line in FIG.

When the rod 33 is lowered, the first engagement recess 27 is brought into correspondence with the inclined support surface 23a, and the second engagement recess 28 is brought into correspondence with the workpiece pedestal 24, as shown by the two-dot chain line.

As a result, the workpiece W on the workpiece pedestal 24 is pushed up onto the inclined support surface 23a, and the workpiece W supported on the inclined support surface 23b is transferred to the workpiece pedestal 24.

In this case, the posture of the workpiece W is moved along the inclined support surfaces 23a and 23b while the posture of the workpiece W is restrained by the engagement recesses 27 and 28 of the pair of movable members 26 separated in the axial direction, resulting in a change in the posture of the workpiece. I won't let you.

Next, the operation of the above configuration will be explained.

With the manipulator arm 18 positioned at the rising end by the motor 20 of the lifting device 17, the movable table 12 is moved on the rail 11 by the motor 14, and is placed at a pedestal provided in the conveyor or at a processing position. It is positioned at two positions corresponding to the pedestal 24.

When the manipulator arm 18 is lowered relative to one of the pedestals 24, the inclined support surfaces 23a and 23b come to match the extension of the V-shaped receiving surface 24a of the pedestal 24, and the pedestal 24
The workpiece W supported above engages in the first engagement recess 27 .

When the motor of the actuating device 34 is actuated to move the rod 33 downward, the actuating lever 29 rotates clockwise, causing the movable member 26 to swing clockwise.

The workpiece W that engages with the first engagement recess 27 is pushed up from the receiving surface 24a of the pedestal 24 onto the inclined support surface 23a, and the workpiece W that engages with the second engagement recess 28 is pushed up along the inclined support surface 23b. It is transferred onto the stand 24.

In this way, the workpieces Wa and Wb are transferred to and from the pedestal 24 on the support center of the pedestal 24, and each workpiece is transferred to the movable member 26.2 at two positions in the axial direction.
Since displacement in the swinging direction is restrained by the engagement recess 6, the posture of the workpiece is maintained parallel to the pivot shaft 25.

When the second engagement recess 28 corresponds to the pedestal 24, the manipulator arm 18 is raised.

Accordingly, the workpiece Wa is lifted while being held on the inclined support surface 23a, and the workpiece wb remains on the pedestal 24, and the workpiece Wa and the workpiece wb are carried in and out of the pedestal 24 by the movable member 26. This is achieved by the oscillation of the

Thereafter, the movable table 12 is moved onto the other pedestal, and the workpiece is carried in and out of the other pedestal by raising and lowering the manipulator arm 18 and swinging the movable member 26.

As described above, according to the present invention, the receiving member provided at the tip of the manipulator arm is provided with an inclined support surface, and the first and second engagement recesses for restraining and holding the work are formed on the inclined support surface. A movable member is provided to be able to swing, and the workpiece is transferred at the support center of the pedestal, so the posture of the workpiece being transferred along the inclined support surface can be maintained constant, and the workpiece can be moved evenly over steps with different diameters. Even if the workpiece has a biased center of gravity, its normal posture is maintained when it is supported on the pedestal, which has the effect of eliminating the risk of it falling off the pedestal.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a front view showing the overall configuration, FIG. FIG. DESCRIPTION OF SYMBOLS 10... Support column, 11... Rail, 12... Moving table, 17... Lifting device, 18... Manipulator arm, 21... Bracket, 23... Receiving member, 23a,
23b... inclined support surface, 24... pedestal, 24a...
・V-shaped receiving surface, 25... Pivot, 26... Movable member,
27...First engagement recess 28...Second engagement recess, 29
... Actuation lever 30 ... Sliding member, 34 ... Actuation device.

Claims (1)

[Scope of utility model registration request] In a device for loading and unloading workpieces to and from a workpiece cradle formed with a V-shaped receiving surface that supports the workpiece, a manipulator arm that is moved laterally and vertically by a drive device, and a tip portion of this manipulator arm are used. a receiving member formed with a first inclined support surface and a second inclined support surface that coincide with an extension of the V-shaped receiving surface of the workpiece pedestal when the manipulator arm is fixed and located at the lower end; and this receiving member. a first engagement recess and a second engagement recess that engage across the outer peripheral surface of the work in order to push up and hold the work on each inclined support surface of the manipulator arm; a movable member pivotally connected to the movable member, the movable member being connected to the movable member and swinging so that the first engagement recess or the second engagement recess alternately corresponds to the V-shaped receiving surface of the workpiece pedestal; A workpiece loading/unloading device equipped with an operating mechanism.