JPS59182042A - Automatic work process arranging device - Google Patents

Abstract

PURPOSE:To obtain a captioned automatic work process arranging device most suitable for a flexible production system by positioning, clamping, and unclamping the clamper of said work process arranging device by means of one nut runner and enabling the disconnection of said runner. CONSTITUTION:A clamper 7 comprises an adapter 14 fixed on a pallet 4 and a clamp box 21 slidable to said adapter 14 and free to go back/forth from/to a work 5. When the clamper 7 is locked onto a jig plate 3 and a nut runner 12 is operated, a driving shaft 48 goes forward and penetrates through a through- hole 23 in the clamp box 21, allowing the fixing part 49 of the tip of said clamp box to be connected to a turning shaft 24 via a coupling 25. When the driving shaft 48 is further moved forward, a clamp arm 35 opposes the peripheral edge of the work 5, and the shaft 48 is stopped allowing the arm to be turned. The turning force of the shaft 48 forces the clamp arm 35 to be lowered and clamps the work 5 on the jig base 3.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an automatic setup device for clamping a workpiece such as a workpiece onto a pallet in, for example, an FMS (flexible manufacturing system).

[Technical background of the invention and its problems]

A desired workpiece is taken out of a warehouse that stores a large number of workpieces with different shapes and dimensions, placed on a pallet, clamped on the pallet, and transported together with the pallet to a specified processing @ ( Flexible production systems that automatically perform machine processing, etc. are attracting attention.This is a fully automated system that uses a combination of automatic machine tools, robots, conveyors, etc.; This requires a setup device that securely places the workpiece on a portable pallet.

This setup device is composed of a pallet, a robot that transfers the workpiece onto the pallet, and a clamper that is installed on the pallet and clamps the workpiece to the pallet.
The workpiece transferred onto the pallet is clamped by a clamper. Hydraulic clampers are generally used as the clampers, and the workpieces are clamped by applying hydraulic pressure to each of the hydraulic clampers, but after the workpiece is removed, it is necessary to transport the workpiece together with the pallet. Therefore, after applying hydraulic pressure to the hydraulic clampers and clamping them, there is a need to disconnect the hydraulic circuit connecting the hydraulic clampers and the hydraulic pressure supply source. A joint is required to connect and separate the oil pressure circuit and the hydraulic circuit. In addition, hydraulic clampers generally have a small clamp stroke and therefore have poor flexibility, such as being unable to handle workpieces of various shapes and sizes and with a wide variety of forces 1. Furthermore, there are cases in which one or more workpieces are placed on a pallet and these workpieces are moved simultaneously, but unlike conventional methods, a clamper is not fixedly installed at a predetermined position on the pallet. However, the shape and dimensions of the workpiece are limited to some extent, and flexibility is also poor in this respect.

[Object of the Invention] This invention has been made in view of the above-mentioned circumstances, and its purpose is to perform the positioning of the clamp arm of the clamper provided on the pallet with respect to the workpiece, as well as the clamping and unclamping operations using a single clamper drive. It is an object of the present invention to provide an automatic setup device which can be operated quickly and reliably, and which can separate the clamper and the clamper drive device.

[Summary of the invention]

The clamper consists of an adapter that is fixed to the pallet and a rung box that can slide freely on this adapter and move forward and backward relative to the workpiece.The clamp arm converts the rotation of the rotary shaft into linear motion within the clamp box and moves the clamp arm up and down. The two-ring arm can be positioned with respect to the work simply by pressing the rotating shaft in the axial direction with an external clamper drive device.
It is characterized by being able to be clamped and unclamped by rotating.

[Embodiments of the invention]

The present invention will be described below based on an embodiment shown in the drawings. Figure 1 shows the entire automatic setup device.
is a base set on the floor. On this base l is an NC
A pallet 4 consisting of a plate 2 and a jig base 3 is removably provided, and this pallet 4 is magnetically attracted to the base 1. The jig base 3 of this pallet 4 is in the form of a rectangular plate, and one or more workpieces 5 to be processed can be placed on the upper surface of the jig base 3. Furthermore, a plurality of clamper mounting holes 6 (shown in FIG. 3) are drilled in the upper surface of the jig base 3, and mechanical clamps/buffs, which will be described later, can be attached to the shape and dimensions of the workpiece 5. and can be installed selectively depending on the number of pieces. In addition to the above-mentioned pallet 4, a robot 8 is provided as a clamper transfer device. A gripper 10 is provided at the tip of the arm 9 of the robot 8, and a clamper 10 is installed on a clamper stand installed near the robot 8. Lift up the pallet 4 above.
It can be transferred to a predetermined position above. Similarly, a plurality of nut runners 12 as clamper driving devices and shillings 13 as lock release devices are installed around the outer periphery of the pallet 4 for positioning and driving the clampers 7 and for controlling the clampers 7 relative to the jig base 3.
It is now possible to unlock...

Next, the clamper 7 will be explained based on FIGS. 2 to 5. 14 is an adapter, and a pair of lock mechanisms 15 and 15 are provided at the bottom of this adapter 14. These locking mechanisms 15.15 are connected to pins 16.16
L-shaped lock arm 17°1 that can be rotated using the fulcrum as a fulcrum.
It is composed of 7. These lock arms 17.
The lower end of the adapter 17 is provided with a claw part 18 and an IS cap that protrude from the lower surface of the adapter 14, and the upper end thereof is provided with a claw part 1B, 1B.
Springs 19 and 19 are tensioned to urge the two together in the direction of expansion.

Further, a T-shaped groove 2° is provided in the upper part of the adapter 14, and a clamp box 2 is slidably provided in this T-shaped groove 2o. A spring 22 is tensioned between the clamp box 2 and the adapter 14, and the clamp box 21 is stretched against the adapter 14.
is always biased in the backward direction. A through hole 23 is bored in the rear end surface of this clamp box 21.
A rotary shaft 24 is laterally supported within the clamp box 21 facing toward the clamp box 3 . A coupling 25 is provided at one end of this rotating shaft 24, and a worm 26 is provided in the middle. Next to this worm 26, a transmission shaft 27 perpendicular to the rotating shaft 24 is connected to a bearing 2'8 provided above and below.
It is installed vertically by +28. A worm wheel 29 that meshes with the worm 26 and a spur gear 30 are fitted onto the transmission shaft 27. Further, two screw shafts 31 and 32 are erected in parallel on both sides of the transmission shaft 27, and the upper ends of these shafts protrude upward from the clamp box 2I. A gear mechanism 30a for converting rotational motion into linear motion, for example, a transmission gear 33.34 meshing with the spur gear 30, is screwed into the intermediate portion of these screw shafts 31,32. These transmission gears 33 and 34 are rotatable by bearings, and move up and down, that is, the screw shaft 31.
32 is supported immovably in the axial direction, and the transmission gear 33
．． The rotation of 34 causes the screw shafts 31, 32 to move up and down. At the upper ends of these screw shafts 31 and 32, a clamping arm 35 is installed in the sliding direction of the clamp box 21.
A grip 36 is provided protruding from the upper end. and,
This clamp arm 35 has two screw shafts 3
It moves up and down while maintaining a horizontal state together with the vertical movement of 1.32, descends to clamp the workpiece 5 when clamping, and rises when unclamping.

The clamper mounting hole 6 for mounting the clamper 7 constructed in this manner onto the jig base 3 is shown in detail in FIG. 3. This clamper mounting hole 6 is bored corresponding to a pair of lock mechanisms ii 1 s and 7 s provided in the adapter 14, and a lock arm 1 is provided at the upper edge of the clamper mounting hole 6.
A taper 37 is formed into which the claw portions 1B and 1B of 7.17 are inserted while sliding. Furthermore, a retaining receiving part 38.38 with which the claw parts 1B and 18 engage is provided on the lower edge of the valley 2-member access hole 6, and on the outside adjacent to these securing receiving parts 38.38. Slide holes 39 and 39 are drilled therein. Slide shafts 40, 40 are slidably inserted into these slide holes 39, 39, and these are always urged in one direction by return springs 41, 41. A suppressor 42.42 is protruded from the middle of these slide shafts 40.40, and this protrudes from cutout windows 43, 43 of the slide hole 39.39. Since the slide shafts 40.40 are pressed in one direction by the return springs 41.41, these suppressors 42.42 are misaligned with the claws 1B, 1B of the lock arms 17.17. Gide shafts 40, 401fi are pressed, pressers 42, 42
When the claws 7B and 1B face each other, they can be pressed to release the engagement with the engagement receivers 38 and 38.

Further, one end portions of these slide shafts 4o and 40k are connected by a connecting plate 44 so that they operate simultaneously.

Further, the nut runner 12 is provided with a motor 46 on the upper part of its main body 45, and the rotational force of the motor 46 is transmitted to the drive shaft 48 via a gear mechanism 47. The drive shaft 4B is rotatable and can move forward and backward, and the above-mentioned clamp is attached to the tip of the drive shaft 4B.
A locking portion 49 is provided to be coupled to a coupling 25 provided on the rotating shaft 24 of No. 7. Further, the cylinder 13 is supported by a cylinder support base 5θ, and this cylinder 1
3 is provided with a suppression shaft 5 facing the connection plate 44.

Next, the operation of the automatic setup device configured as described above will be explained. First, when the workpiece 5 is placed on the jig base 3 of the pallet 4, the robot 8 is activated. Then, the gripper lO of the robot 8 grasps the grip 36 of the clamper 7 on the clamper mounting table 1, rotates the arm 9, and transfers it onto the jig base 3. At this time, the number and installation position of the clampers 70 are determined based on the shape, size, and number of the workpieces 5 on the jig base 3, and the clampers 7 are positioned in the clamper mounting holes 6. In this case, since the adapter 14 of the clamper 7 is provided with a pair of locking mechanisms 15° 15, when the clamper 7 is lowered by the robot 8, the lock arm 1
The claw portions 1B and 1B of 7 and 17 abut on the clamper mounting hole 6. Then, when the clamper 7 further descends, the claw portion 1B
, 1B slide on the taber 37 while the spring 19.
When the lock arm 17.17 squeezes inward against the restoring force of the lock arm 19 and descends to a predetermined position, the claws 1B and 18 are engaged with the retaining portions 38.38. In other words, lock arm 1
7.17 is expanded by the restoring force of the spring 19.19, and the adapter 14 is locked to the jig plate 3 via the claws 1B, 1B. When the plurality of clampers 7 are locked on the jig grate 3 in this way and then the nut runner 12 is operated, the drive shaft 48 moves forward. When the drive shaft 48 moves forward, the tip beam 2
A locking portion 49 at the tip of the pump box 2 passes through the through hole 23 and is connected to the rotating shaft 24 via a coupling 25. When the drive shaft 48 moves further forward, the rotating shaft 2
4 and the clamp box 21 are integrated,
The entire clamp box 21 moves forward against the restoring force of the spring 22. Therefore, the clamp box 21
The clamp arm 35 provided on the workpiece 50 moves forward.
At this point, the forward movement of the drive shaft 48 is stopped.

Next, the motor 46 is activated and the drive shaft 48 is rotated via the gear mechanism 47. Therefore, this Ml,
The rotational force of the nr# shaft 48 is transmitted to the rotating shaft 24 via the coupling 25, and further transmitted from the worm 26 to the worm wheel 29. The rotation of the worm wheel 29 is transmitted to the spur gear 3o via the transmission shaft 27,
Furthermore, it is transmitted to a pair of transmission gears 33 and 34. In this case, since the transmission gears 33, 34 cannot move in the axial direction and only rotate, the screw shafts 31, 32 that are threadedly engaged with these transmission gears 33, 34 are lowered. therefore,
The clamp arm 35 integrated with the screw shirt 31 and 32 descends and pushes out the peripheral edge of the workpiece 50 downward, that is, onto the jig base 3, and clamps it.

When the clamping of the workpiece 5 to the jig base 3 is completed, the rotation of the drive shaft 48 is stopped and the rotating shaft 240 and the clamping ring 25 are also removed because the drive shaft 48 is moved backward. In other words,
The clamper 2 and nut runner 12 are completely separated, but the rotating shaft 24 is connected to the worm 26 and the worm wheel 29.
Since the screw shafts 31 and 32 are mechanically locked by meshing with each other, the screw shafts 31 and 32 are also fixed, and the clamped state is maintained. Therefore, even if the pallet 4 is transported to a machine tool or the like in this state, the workpiece 5 will not come off the pallet 4, and machining can be performed in this clamped state.

Further, when unflagging one workpiece 5, the drive shaft 48 of the nut runner 12 is advanced and connected to the rotating shaft 24, and the rotating shaft 24 is reversely rotated to raise the screw shaft 31, 32 in the same way as described above. This allows the clamp arm 35 to be separated from the periphery of the workpiece 50. Furthermore, when the drive shaft 48 is moved backward, the clamp box 21 does not slide on the adapter 14 due to the restoring force of the spring 22 and moves backward from hS, so the clamp arm 35 retreats from the workpiece 5.

Therefore, the clamp arm 35 of the clamper 7 does not get in the way when lifting the workpiece 5 from the jig base 3.

Furthermore, the cylinder 13 is operated ωj, and the pressing shaft 51
When moved forward, its tip abuts against the connecting plate 44. Then, when the suppression shaft 51 moves further forward, the pair of slide shafts 4θ, 40 are moved by the return springs 41 and 41.
pushed against the When the slide shaft 40.40 slides to a predetermined position, the presser 42°42 engages the claw portion 1.
B, comes into contact with 1B and presses it inward. Therefore, the lock arm 77.17 is rotated inward against the restoring force of the spring 19.19, and the claws 1B and 1B are connected to the retaining and receiving parts. lj, 3 out of B. In other words, the locking mechanism 15.15 of the clamper is in the unlocked state, and the grip 36 of the clamper 7 is gripped by the gripper 10 of the robot 8 mentioned above, and the arm 9 is lifted.
By rotating the clamper 7, the clamping stand 11
It can be transferred to.

After removing all the clampers 7, by retracting the pressing shaft 51 of the cylinder Z3, the slide shafts 40, 40 are returned to their original positions by the return springs 41, 41, and the cylinder 13 is completely connected to the pallet 4. separated into.

〔Effect of the invention〕

As described in detail above, according to the present invention, the positioning of the clamper provided on the pallet with respect to the workpiece and the cylinder and crank operations can be performed by one clamper driving device. Therefore, the clamper can be operated quickly and easily, has a simple structure, and
Since the member and the clamper drive device can be separated, there are no restrictions when transporting the workpiece together with the pallet, making it suitable for a flexible production system.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; Fig. 1 is a front view of the entire automatic setup device, Fig. 2 is a partially cutaway front view showing an enlarged view of the main parts, and Fig. 3 is a view showing the installation of the clamper. 4 is a cross-sectional plan view of the clamp box, and FIG. 5 is a sectional view taken along line V-V in FIG. 4. 4.../"L/knot 5... Work, 7 - Clamper, 12... Nut runner (clamper drive device), 14
...Adapter, 21...Clamp box, 24.
... Rotating shaft, 30a... Gear mechanism, 35... Clans arm 148... Drive shaft. Applicant's Representative Patent Attorney Takehiko Suzue Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] In an automatic setup device, a plurality of clampers are provided on a pallet for placing a workpiece, and the clamper clamps and sets up the workpiece.
An adapter fixed to a pallet, a lamp box provided on this adapter that can move forward and backward relative to the workpiece, a rotating shaft provided in this clamp box, and a clamp arm that converts the rotation of this rotating shaft into linear motion. A clamper drive device is provided outside the pallet, and the clamper drive device is provided with a drive shaft that moves the clamp box forward and backward and moves the clamp arm up and down through the rotation shaft of the clamper. An automatic setup device characterized by: