JPS5840289A - Non-constraint rotary type robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] This invention relates to the am2t that transports parts o*wh.
IIIK electronic components are sucked and moved in the vertical direction, while being constrained within one rotation angle range around the device axis (0 rotations).
It is related to the unrestrained rotation of the motor vehicle for the 3..0 range of 11 km.

In general, parts that are used as parts handling ports have the function of rotating and vertically moving the device. The rotary movement can only be rotated within a mechanically limited angle, or the hose connected to the negative pressure source from the round suction cup that suctions parts with negative pressure is sso'
There is a drawback that the rotation range becomes twisted due to excessive rotation, and the rotation range must be limited to the angular range within which the rotation range is. Such mouths cannot be used in machines that use 3 l O@ areas, and there is no space around the
In the case where multiple work stations are arranged over the surrounding area, it is not possible for the rotor to rotate in only one direction while transporting parts to each work station. There was an inconvenience that the foot arm had to be returned to its original position.

The present invention eliminates such inconveniences and provides a p-t that can suck parts without being constrained by rotational range, has nine arms that rotate within zero angle range, and can also move in the axial direction. The purpose is to

For this purpose, the mouthpiece of the present invention inserts an axially movable moving rod into a hollow rotating shaft, and moves this moving rod with a piston-cylinder device and a spring 0'f-R. Attach an XS component suction arm to the end of the moving rod, attach a rotary joint to the end of the rotary shaft that engages the arm, and connect the rotary joint to the rotary shaft OB. The arm is loosely fitted into a fixed joint at the top, and the rotary joint and the suction cup at the tip of the arm are connected through a hose.Hereinafter, embodiments of the present invention will be described with reference to the drawings.

Figure 1iih Present invention 011! The unrestricted rotary type mouth according to the example is a vertical cross-sectional view of the rotary opening. Block IK is a hollow rotating snowflake that is supported via a bearing 4. 3 is a bearing holding plate. A box-shaped machine frame 1s is rigidly attached to the lower side of the f-lotter 1. A rotary drive motor 16 is mounted inside the machine frame, and a drive gear 11 is mounted on its output shaft. Rotating axis 2
extends from the faucet into the rock frame, and a driven gear 11 is fixed to its outer periphery and meshes with the drive gear 17. An index plate 1s with a hole and a notch O is fixed to the outer periphery of the rotating shaft 2, and a photo sensor O is attached so as to sandwich the index plate inside the machine frame. There is.

A moving rod S is inserted into the hollow portion of the rotating shaft 2 and is movable uniaxially, in this case in the vertical direction. A parts suction arm is fixed to the upper end of the movable rod 5, and 7 lunges are screwed to the lower end of the trench. A compression spring 7 is installed between the lower end of the rotary shaft 2 and the seven-wheel drive shaft 8, and thereby the movable rod S is always kept at the lower position. A pivot pin 21 and a rotation joint 24 are attached to the upper end of the rotating shaft 2. The rotating bin 21 is inserted into the parts suction arm so that it cannot be pulled out even when the moving rod 5 is raised. The rotation joint 24 is L-shaped as shown, and is fixed at a position on the axis of the rotation shaft 2. 5 is loosely supported. 'Fixed join) 25d A shift board: 2 is attached to the O component suction arm fixed to the fixed main body arm 26, and this O machine board 22
and rotate-)! l in)! l: OtMIK negative pressure supply hose 2m #] [t is cut. The hose 2s is connected to the fixed joint 2 through the inside of the rotary hose inlet 11 as shown in the figure.
It communicates with the communication hole I.

A piston-cylinder arrangement, generally designated 14, is installed at the bottom of the machine frame ISO in a position below the moving rod SO. The cylinder body 12 of the piston-cylinder device 14 is provided with an air inlet 1o and an air outlet 11, and a compression spring 1s is installed between the bottom of the cylinder body and the large diameter portion of the piston rod 9. The upper end of the piston rod protrudes from the cylinder body 1z toward the lower end of the moving rod 6. Note that, in this figure, the air supply pipe connected to the gas cylinder device 14, the air discharge AF pipe, the photo sensor SOO signal take-out line, and other negative pressure generation sources connected to the fixed joint za6c are omitted.

To explain the operation of the zero cut in this embodiment with such a table configuration, first, the rotation drive motor 16 drives the gear IT,
The rotating shaft 2 is rotated via II. At this time, due to the engagement between the pivot pin 21 and the arm 6), the arm 6, the suction cup 22,
When the photo sensor 20 detects a hole drilled in the end face of the index plate 1, which also rotates the hose 23, the drive motor 16 stops at that position based on the detection signal, and the component suction arm 6 also stops. . When pressurized air is introduced into the air inlet 10 of the piston-cylinder device 14, the piston rod 6 is lowered, and by the action of the sugelinder 7 attached to the moving rod 5, the moving rod 5 and thus the boot 11 and the suction cup 22 are lowered; Adsorbs parts (not shown). When the air supply to the air inlet 10 is stopped, the piston rod 9 is pushed up by the action of the compression cylinder 1s in the piston-cylinder device 14. The piston rod 9 comes into contact with the movable rod 5, which causes the movable rod 5 to rise, and together with the arm 6, the suction cup that has attracted the component to rise. The motor 1@ is rotated again by a suitable reit switch (not shown), a timer, or any other known means, and conveys the part to a predetermined position. When the arm 6 is raised and lowered, the suction cup 22 is used to attach and detach parts.

Due to the loose fit shaft support structure of the suction cup 2224 and the joint 21, it will not twist no matter how many times it is rotated over 6".

According to the present invention, the handling port of a machine using a rotor area of 3160' can be used as a rotor, and since there is no limit to the turning angle, several working stations can be arranged over a range of 360°. When moving from the end of one process to the next process, there is no going back, so no time is wasted.

[Brief explanation of the drawing]

Drawing enlargement invention 0! I! FIG. 2 is a longitudinal cross-sectional view of a cutter according to an example. 2... Rotating shaft, 5- Axial direction moving rod, 6-
... Parts suction arm, 7 ... Spring, 9 ... Piston rod, 12 ... Syringe body, 14 - ...
Piston-cylinder device, 16... Rotary drive motor, 111-... Index plate, 2
0...Photo sensor, 21-...Swivel pin, 22
...Sucker, 2 B--Hose z4...H-turned country India, word 2--Fixed country India,
26...Fixed body arm. Agent: Patent Attorney Toshi Somekawa (No change to the content of the clear agreement) Commissioner of the Patent Office Shima 1) Haruki Tono 1. Indication of the case 1982 Patent Application No. 136702 2, Title of the invention Unrestrained rotating rotary robot 3, Person making the amendment Relationship to the case Patent applicant address 33-1 Shiba 5-chome, Minato-ku, Tokyo Name (Name)
(423) NEC Corporation representative Tadahiro Sekimoto (4) and attorney (6) amended the number of inventions due to amendment to formal drawings. There are no amendments to the content.

Claims (2)

[Claims] (1) An axially moving rod is inserted into the hollow rotating shaft, the moving rod is moved by means of a piston-cylinder device and a spring, a component suction arm is attached to the end of the moving rod, and the moving rod is moved by means of a piston-cylinder device and a spring. A pivot pin and a rotating joint that engage with the arm are attached to the end of the arm, and the rotating joint is fixed on the axis of rotation of the rotating shaft (K).
When loosely fitted, the rotation joint and the suction cup at the tip of the arm are connected through a hose. (2) a hollow rotating shaft that is rotatably supported and has an upper end KWA@zoyoint and a rotating pin; a round axially movable rod that is inserted into the rotating shaft and has a 7 runzo at the lower end;
A parts suction arm is attached to the upper end of the moving rod and engages with the rotating bin to make one rotation; and a parts suction arm is attached to the lower end of the slide shaft O and the flange of the moving rod to urge the scissor moving rod inward. a spring installed below the moving rod O, a piston-cylinder device for raising the moving rod against the slider, and a nine-piece disk attached to the arm with a 1#L; a hose fixed to the fixed main body arm and loosely fitted to the 1st rotation/M India on the axis of the rotating shaft and communicating the suction cup, the fixed joint and the O connection through the rotating yw India; , comprising a motor and a gear mechanism that adjusts the H@axis, and a detection device that detects a predetermined rotation angle position of the II@axis O. The H-type opening is closed.