JPS58501420A - Workpiece positioning device including rotatable worktable - Google Patents

Workpiece positioning device including rotatable worktable

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Publication number
JPS58501420A
JPS58501420A JP50268482A JP50268482A JPS58501420A JP S58501420 A JPS58501420 A JP S58501420A JP 50268482 A JP50268482 A JP 50268482A JP 50268482 A JP50268482 A JP 50268482A JP S58501420 A JPS58501420 A JP S58501420A
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JP
Japan
Prior art keywords
positioning device
workpiece
motor
axis
pivoting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP50268482A
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Japanese (ja)
Inventor
ブラツクバーン・アレン・マイケル
Original Assignee
ランシング　バグナル　リミテツド
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Application filed by ランシング　バグナル　リミテツド filed Critical ランシング　バグナル　リミテツド
Publication of JPS58501420A publication Critical patent/JPS58501420A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/5406—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed perpendicularly by a single rotating pair
    • B23Q1/5412—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only a single rotating pair followed perpendicularly by a single rotating pair followed perpendicularly by a single rotating pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/64—Movable or adjustable work or tool supports characterised by the purpose of the movement
    • B23Q1/66—Worktables interchangeably movable into operating positions

Abstract

(57)【要約】本公報は電子出願前の出願データであるため要約のデータは記録されません。 (57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【発明の詳細な説明】 回転円能な作業台を含む工作物位置決め装置本発明は、工業用ロボットと共に使 用するように主として意図されているが必ずしもそれに限定されない工作物位置 決め装置に関する。本発明は、特に、新しい物品が、口号？ソトの屈かない場所 で草備され又は装填され又は工作物支持体から取外されている間、ロゼツトが工 作物の７つの物品について計画された作業を遂行するような作業方法を可能なら しめるように意図されている。本発明、け、溶接作業を遂行するロボットと組み 合わせて使用するのに特に有用であるが、これに限定されるものではない。本発 明による工作物位置決め装置の現在好ましい形態は、各作業台が夫々の作業台の 工作面に直角の軸線の周りに回転しうる少くとも２つの作業台で垂直軸線の周り に回転するように装着されたフレームと、各作業台を回転させるための夫々のモ ータと、水平軸線の周りに夫々の作業台の枢軸旋回を可能とする支持体と、各作 業台の枢軸旋回を制御するための夫々の駆動手段と、フレームをその軸線の周り に制御可能に枢軸旋回させるための駆動手段と、を包含し、それによってフレー ムが、７つの作業台をもう１つの作業台が以前に占めた位置へもたらすように移 動可能である。[Detailed description of the invention] Workpiece positioning device including rotatable worktable The present invention is suitable for use with industrial robots. Workpiece positions primarily, but not necessarily exclusively, intended for use Relating to a determining device. The present invention is particularly applicable to new articles. Soto's unyielding place While the rosette is being primped or loaded or removed from the workpiece support, If possible, use a method of work that accomplishes the planned work on the seven items of the crop. It is intended to tighten. The present invention can be combined with a robot that performs welding work. Particularly useful in conjunction with, but not limited to. Main departure The presently preferred form of the workpiece positioning system according to Akira is such that each worktable has a At least two work platforms that can rotate about axes perpendicular to the work surface, about a vertical axis A frame is attached to rotate the workbench, and a respective motor for rotating each workbench a support that allows pivoting of the respective workbench about a horizontal axis; respective drive means for controlling the pivoting of the platform and the frame about its axis; and a drive means for controllably pivoting the frame. The system moves seven platforms into the position previously occupied by another platform. It is possible to move.

以下に、添付図面を参照して、本発明を更に詳細に説明する。The present invention will be explained in more detail below with reference to the accompanying drawings.

第１図は、工業用ａｄノドと組合せて示された工作物位置決め装置を示す。FIG. 1 shows a workpiece positioning device shown in combination with an industrial ad nod.

第２図は、第１図に示す工作物位置決め装置の上から見た平面図である。2 is a top plan view of the workpiece positioning device shown in FIG. 1; FIG.

第１図には、工業用ロゼツト２と組合わされた工作物（Ｖ置決め装置１が示され ている。この工業用口デノ１は、垂直軸線の周シに回転しうるけれども、固定位 置に取付けられている。、第１上腕３と第２上腕４によって、ロボノｌが前アー ム５を動かすことができ、前アーム５は、その末端において、工具例えば溶接ヘ ッド全担持しうる手首６全有する。上腕３と４と前腕５の移動によって、ｏ、ｆ ノド２は、影線領域７で示す領域で作業を遂行することができる。この一般的な 性質のロボットは、例えば英国特許明細書第！、０乙／、ｇ７２Ａ＠に開示され ている。FIG. 1 shows a workpiece (V positioning device 1) combined with an industrial rosette 2. ing. This industrial mouthpiece 1 can be rotated around a vertical axis but is in a fixed position. installed at the location. , the first upper arm 3 and the second upper arm 4 allow the robot to move forward. The forearm 5 can be moved at its end to carry a tool, for example a welding tool. It has 6 wrists that can carry the whole body. By moving upper arms 3 and 4 and forearm 5, o, f The throat 2 can perform work in the area indicated by the shaded line area 7. This common Nature of robots, for example, British Patent Specification No.! ,0 Otsu/, disclosed to g72A@ ing.

前述の明細書に示されている種類のロボット又はマニュピレータは、全く多芸可 転性で有用であるが、然し第１図に示すように、これらは、必然的に作業の制限 された領域全有する。生産ラインに隣接してロゼツトを用いることは勿論可能で あるが、もしも本質的に唯一の仕事をロゼツトにより遂行すべきであるならば、 ロゼツトを過ぎて工作物を移動させるためのコンベヤの使用は、不便であり且つ 無駄である。A robot or manipulator of the type indicated in the above specification is quite versatile. However, as shown in Figure 1, these necessarily limit the work. It has the entire area. Of course, it is possible to use rosettes next to the production line. However, if essentially only one task should be performed by rosettes, then The use of conveyors to move workpieces past rosettes is inconvenient and It's a waste.

若干の作業特に溶接作業は、工作物上で作業を行なっている間に工作物を回転さ せることを必要とし、そして例えば溶接工具が工作物の後面に常には屈くことが できないので、工作物を水平＃］線の周りに枢軸旋回させることを必要とするこ とがある。Some operations, especially welding operations, involve rotating the workpiece while performing the work on it. and, for example, when the welding tool cannot always bend against the rear side of the workpiece. This may require the workpiece to be pivoted around a horizontal line. There is.

本発明の一実施態様は、それが工作物位置決め装置の構造に関する限り、第１図 の左手側に画かれておシ、工作物が噴−の０　、Ｉ？ノドにより担持された工具 からの処理全骨けつつある間に、もう７つの（通常は同様の）作業品目全作業台 上へ同時に装填するこさを容易ならしめるように意図されている。第１図の左手 の部分に示されている工作物位置決め装置の主目的は、２つの回転可能で且つ傾 斜可能な作業台の各々が、他の作業台の位置を占めるため迅速に動かされること のできるような、２つの作業台を提供することである。より多くの作業台を有す るより完全な実施態様が実行可能である。One embodiment of the invention, as far as it relates to the structure of the workpiece positioning device, is shown in FIG. The workpiece is drawn on the left hand side of 0, I? Tools carried by the throat While the entire process is being completed, another seven (usually similar) work items are being processed from the entire workbench. It is intended to facilitate simultaneous loading. Left hand in Figure 1 The main purpose of the workpiece positioning device shown in section Each of the tiltable platforms can be quickly moved to take up the position of the other platform. The objective is to provide two workbenches that allow for Has more workbenches A more complete implementation is possible.

工作物位置決め装置１（は、基板８上°に装着され、基板８は、便宜のためにロ ボット２をも支持し且つ床９上に載って支えられている１、工作物位置決め装置 １は、中心柱１０を含み、中心柱１０は、その上端に、フレーム１２Ｖｒｃ対し て垂直の枢軸線を与える回転軸受１１を支持している、フレーム１２は、各端部 に１つずつ、λつの回転円能な作業台１３と１４を担持している。これらは同様 であるので、以下にその７つだけを詳細に説明する。The workpiece positioning device 1 is mounted on the board 8, and the board 8 is 1, a workpiece positioning device that also supports the bot 2 and is supported on the floor 9; 1 includes a center column 10, and the center column 10 has a frame 12Vrc at its upper end. A frame 12 supports a rotation bearing 11 providing a vertical pivot axis at each end. It carries λ rotatable working tables 13 and 14, one for each. these are similar Therefore, only seven of them will be explained in detail below.

作業台１３は、モータ好１し、くは段付きモータ１６を担持する支持体１５上に 装架され、モータ１６は、適当な駆動軸と歯車装置によって作業台１３へ結合さ れ、作業台１：３の上面に灼し垂直な軸線の周りに好ましくは工面の中７Ｌ？で 作業台１３の回転を行なわせるようになっている。支持体のこの配置の７つの利 点は、そｔがそっくり全部傾けられるように装着されうろことであり、作業台を 回転させるための装置を比較的簡単に作りうろことである。もしも、例えばモー タが、フレーム１２に関して固定的に装着されるべきであったならば、作業台が 傾けられている間に作業台の回転を維持するために、（けるかに複雑な駆動装置 が必要となるであろう。The workbench 13 is mounted on a support 15 carrying a motor 1 or a stepped motor 16. The motor 16 is coupled to the workbench 13 by a suitable drive shaft and gearing. Preferably around the axis perpendicular to the top surface of the workbench 1:3, 7L? in The workbench 13 can be rotated. 7 benefits of this arrangement of supports The point is that the scales are attached so that the entire table can be tilted, and the workbench can be tilted completely. It is relatively easy to create a device to rotate the scales. If, for example, If the machine were to be fixedly mounted with respect to the frame 12, the workbench would To maintain the rotation of the platform while it is tilted, a rather complex drive will be required.

作業台にスロットを設け、このスロットを通して工作物取付具をボルト諦めする ことができるが、然し作業台と取付具全体を他の異なるユニツトと変えつるよう に、容易に着脱しうる接手により作業台をその駆動軸上に装着させた！、ま、取 付具を作業台へ永久的に固定しうる、ということも意図されている。この配列は 、重量を節約すると共に、作業台により取扱いうる実際の仕事の重量の増大を可 能とする。それは、位置決め装置の他の特徴とは独立に有用である。Provide a slot in the workbench and bolt the workpiece fixture through this slot. However, it is possible to replace the entire workbench and fixture with another different unit. Now, the workbench is attached to the drive shaft using a joint that can be easily attached and detached! , Ma, Tori It is also contemplated that the fixture may be permanently secured to the workbench. This array is , saving weight and increasing the actual work weight that can be handled by the workbench. Noh. It is useful independently of other features of the positioning device.

支持体１５は、それが支持する作業台１３と一緒に、フレーム１２の夫々の端部 に支持されたブラケット］７内の枢軸１８により与えられた水平軸線の周りに傾 斜することができる。支持体１５は、丁番接手２４と正確なスクリュツヤツキ２ ３によって、フレーム１２上［ｉ架されたモータ１９へ結合され、モータ１９ｉ ｄ、ノヤノ１内のウオームの回転により支持体？傾斜させ、それによって作業台 １３を水平の枢軸線の周りに傾斜させることができる。A support 15, together with the workbench 13 it supports, is attached to each end of the frame 12. tilted about the horizontal axis given by the pivot 18 in the Can be tilted. The support 15 has a hinge joint 24 and a precise screw thread 2. 3 to the motor 19 mounted on the frame 12, and the motor 19i d. Support body due to the rotation of the worm inside Noyano 1? Inclined and thereby the workbench 13 can be tilted about a horizontal axis.

指摘されたように、同様な配列が作業台１４に対して与えられる。作業台１４ば 、モータ１６ａによって回転され、モータ１９ａにより傾けられる。As noted, a similar arrangement is provided for workbench 14. Workbench 14 , rotated by motor 16a, and tilted by motor 19a.

フレーム１２全その垂直軸線の周りに３乙θ度回転するように配列することが可 能であるけれども、本発明のこの実施態様においては、一対の空気圧／リンダ２ １と２２により作動されるラックとビニオンを包含するアクｆｘｘ−夕２０カ、 ７　Ｌ’−ム１２の枢軸旋回を行なうために設けられている。シリンダ２１は、 フレーム’にその垂直枢軸線の周りＶｃ１ｇＯ度旋回させて、作業台］３を作業 台１４が以前に占めた位置へもたらし、シリンダ２２の逆の作動は、フレームを 逆方向に枢軸旋回させて作業台のもとの位置を回復する。それによって、ロゴノ ｌ−は、作業台１３が負荷されている間に作業台１４上で作業を行なうことがで きるし、逆も１だ真である。アークの火花ととげちりから作業者を保護するため に、アクチュエータ２０の上方にスクリーン２５を設けることができる。The entire frame 12 can be arranged to rotate by 3 degrees θ around its vertical axis. However, in this embodiment of the invention, the pair of pneumatic/cylinders 2 1 and 22 actuated racks and binions, 7 L'-Provided for pivoting the arm 12. The cylinder 21 is Rotate the frame' around its vertical axis by Vc1gO degrees and work on the workbench] 3. Bringing the platform 14 into the position previously occupied, reverse actuation of the cylinder 22 brings the frame into position. Pivot in the opposite direction to restore the original position of the work platform. By doing so, logono l- can perform work on the workbench 14 while the workbench 13 is under load. Yes, and the reverse is also true. To protect workers from arc sparks and splinters Additionally, a screen 25 can be provided above the actuator 20.

第２図は、工作物位置決め装置を上から画いたものであり、特にシリンダ２１と ２２の配置を示している。この図は、１だ支持体１５及びフレーム１２と関連す るツヤツキ２３を一方の作業台１４に関して示しており、他方の作業台に対して 同様な配置の部品（図示せず）が設けられている。Figure 2 shows the workpiece positioning device from above, especially the cylinder 21. 22 is shown. This figure shows the relationship between the support 15 and the frame 12. The gloss 23 is shown with respect to one workbench 14, and the glossiness 23 with respect to the other workbench is shown. Similarly arranged parts (not shown) are provided.

下気圧は、作業台の軸線方向に延び且っＯＪ撓性接手により空気圧源へ結合され ている共通軸線の管路によって各作業台の中ノＬ・で利用することができる。The lower air pressure extends in the axial direction of the workbench and is coupled to the air pressure source by an OJ flexible joint. It can be used in the middle L of each workbench by means of a common axis conduit.

工作物位置決め装置の操作は、作業台上に配置された工作物の適当な面が用いら れ、溶接が適用さｎ２るための最も適当な平面内に位置決めされるように、ロボ ットの溶接作業と関連して計画されることができる。The operation of the workpiece positioning device is performed by using a suitable surface of the workpiece placed on the workbench. the robot so that it is positioned in the most suitable plane for the weld to be applied. can be planned in conjunction with cut welding operations.

本発明は、ここに述べた何れかの特徴に限定されるものではなく、本出願人は、 ここに開示した特徴の新規で且つ有用な組合せの何れにおいても独占権を主張す る権利を保有するものである。The invention is not limited to any of the features described herein, and the applicant Claiming exclusive rights to any novel and useful combination of features disclosed herein. reserves the right to

５８．６．１６ 手続補正書（方式）　匈 昭和　年　月　日 特許庁長官　殿 ３、補正をする者 事件との関係　出願人 名称　ラン／フグ　バグナル　リミテッド５　補正命令の日付　昭和３−ｇ年り 月！≠日６、補正の対象　特許法第１とび条の５第１項の規定に７　補正の内容 　別紙の通り 国際調査報告58.6.16 Procedural amendment (method) Showa year, month, day Commissioner of the Patent Office 3. Person who makes corrections Relationship to the case: Applicant Name: Ran/Fugu Bagnall Limited 5 Date of amendment order: Showa 3-G Month! ≠ Day 6, Subject of amendment: Article 1 of the Patent Act, Section 5, Paragraph 1, 7 Contents of amendment As per attached sheet international search report

Claims (1)

【特許請求の範囲】 ／　垂直軸線の周りに回転するように装着されたフレームと、各々が作業台の作 業面に直角な軸線の周りに回転しうる少くとも２つの作業台と、各作業台を回転 させるだめの夫々のモータと、水平軸線の周りに夫々の作業台の枢軸旋回を可能 とする夫々の支持体と、各作業台の枢軸旋回を制御するための夫々の駆動手段と 、フレームケその軸線の周りに制御可能に枢軸旋回させるためのアクチュエータ 手段と、を包含し、それによって、７つの作業台をもう７つの作業台により以前 に占有された位置へもたらし及びその逆にするようにフレームを動かすことが可 能である、工作物位置決め装置。 ！　各夫々の作業台用のモータが、支持体上に装置されていること、を特徴とす る請求の範囲第１項に記載の工作物位置決め装置。 ３、　駆動手段が夫々のスクリューツヤツキｋ　包含すること、全特徴とする請 求の範囲第１項又は第２項に記載の工作物位置決め装置。 久　ベースと、前記ペース上の固定された位置に装着され且つ明確な領域内を移 動しうる工具を担持するアームを含む工業用口デノトマーユビレータと、全工作 物位置決め装置と組合せて包含する工業用装置であって、前記工作物ｆヶ置決め 装置は、ロゲットに関して固定位置に装着されており、前記工作物位置決め装置 は、垂直軸線の周りに回転するように装着されたフレームと、各作業台がその作 業面に直角な軸線の周りに回転しうるノつの作業台と、を包含し、前記位置決め 装置は、作業台のうちの７つだけが何れの時においても前記領域にあるように配 設され、前記位置決め装置は、各作業台を回転させるための夫々のモータと１． ２つの支持体の各々が夫々のモータこ作業台を支持・し且つフレームに関して水 平軸線の周りに枢軸旋回するように装着されている２つの支持体と、夫々の作業 台の枢軸旋回を制御するため各支持体へ結合された夫々の駆動モータと、フレー ムをその軸線の周りに制御可能に枢軸旋回させるためのアクチュエータ手段と、 全包含し、それによって作業台の位置を互に交換しうるように構成された、工業 用装置。 友　各モータが段付きモータであること、を特徴とする請求の範囲第を項に記載 の工業用装置。 乙、　各作業台が、夫々の支持体から除去可能であり、永久的な工作物取付具を 備えていること、全特徴とする請求の範囲第１項〜第３項の何れか一項に記載の 工作物位置決め装置又は請求の範囲第ｊ項又は第５項に記載の工業用装置。 ７　永久的な工作物取付具を備え、容易に除去しうる接手金倉む手段により直立 軸線の周りに回転するように支持体上ニ装着されてなる作業台。[Claims] / A frame mounted for rotation around a vertical axis, each with a at least two work platforms capable of rotating about axes perpendicular to the work surface, each of which can be rotated; Allows for each motor in the drive and the pivoting of each work platform around a horizontal axis and respective drive means for controlling the pivoting of each work platform. , an actuator for controllably pivoting the frame about its axis and means, whereby the seven workbenches were previously replaced by seven more workbenches. It is possible to move the frame to bring it into the position occupied by and vice versa. A workpiece positioning device that is capable of ! It is characterized by the fact that the motor for each workbench is installed on the support. A workpiece positioning device according to claim 1. 3. It is requested that the drive means include each screw gloss k, all the features. A workpiece positioning device according to claim 1 or 2. long base, and is attached to a fixed position on the pace and moved within a defined area. Industrial deformer ubiquitator, including an arm that carries a movable tool, and the entire workpiece. An industrial device which is included in combination with an object positioning device, and which is capable of positioning f number of workpieces. The device is mounted in a fixed position with respect to the logget and said workpiece positioning device consists of a frame mounted for rotation about a vertical axis and each worktable a worktable rotatable about an axis perpendicular to the work surface; The equipment is arranged in such a way that only seven of the workbenches are in said area at any time. and the positioning device includes a respective motor for rotating each work platform and 1. Each of the two supports supports a respective motor platform and is water-resistant with respect to the frame. Two supports mounted for pivoting about a plane axis and each working a respective drive motor coupled to each support to control the pivoting of the platform; actuator means for controllably pivoting the arm about its axis; An industrial system designed to be fully inclusive and thereby interchangeable with the position of the work platform. equipment. Friend: Each motor is a stepped motor, as stated in claim No. industrial equipment. B. Each work platform is removable from its respective support and provided with permanent workpiece attachments. as set forth in any one of claims 1 to 3, characterized in that A workpiece positioning device or an industrial device according to claim j or claim 5. 7 Equipped with permanent workpiece attachments and erected by means of easily removable fittings. A workbench mounted on a support so as to rotate around an axis.
JP50268482A 1981-09-08 1982-09-08 Workpiece positioning device including rotatable worktable Pending JPS58501420A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB08127146A GB2105234A (en) 1981-09-08 1981-09-08 Work support including positionable work-tables

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JPS58501420A true JPS58501420A (en) 1983-08-25

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JP (1) JPS58501420A (en)
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WO (1) WO1983000828A1 (en)

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WO1983000828A1 (en) 1983-03-17
GB2105234A (en) 1983-03-23
EP0087449A1 (en) 1983-09-07

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