JPS59224281A - Handling device for 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 Field of Industrial Application The present invention relates to a handling device for a handling machine such as a robot, and more specifically, to grip, transfer, and assemble a plurality of different objects at once with a single robot. This invention relates to a handling device with a turret-like multi-hand that can handle

Configuration of conventional examples and their problems Conventional robots cannot grasp, transfer, or assemble multiple different items at once with a single robot, and the Select and exchange types. Therefore, each time the shape of the article changes, a specific type of knot is attached, and the knots are usually attached by tightening bolts.

Therefore, various types of nodes are attached to grasp, transfer, and
When performing assembly work, the robot is stopped each time to replace and install the joints. Replacing and attaching the hand requires labor and time, which has the disadvantage of causing a large loss in production efficiency on the production line.

On the other hand, in order to grasp, transfer, and assemble multiple different items, it is possible to use multiple robots instead of a single robot, but this does not require high equipment costs and reduces area productivity. It has its drawbacks.

Furthermore, recently, robots with multiple nodes in the form of a turret have appeared, but they are not attached as a unit to the operating axis, but are assembled as one of the components of the operating axis and can be adjusted to the appropriate size. However, it has the drawbacks of not being able to be replaced as a unit, requiring a large amount of space, and having little versatility.

First, since there are multiple air supply sources for driving the hand, the structure is complicated and the device cost is high.

OBJECTS OF THE INVENTION The present invention solves the above-mentioned conventional drawbacks, and is capable of gripping, transferring, and assembling a plurality of different articles at once with a single robot. It is not possible to assemble it as one unit, but it can be attached to the operating shaft as a unit.Furthermore, there is only one air supply source to drive the hand, and the rotational positioning of the turret and the handling of multiple hands are performed by a servo motor. It is an object of the present invention to provide a handling device having a turret-like multi-hand, which is optimal for high-mix, low-volume production performed using an NC control device, and is highly economically effective and practically excellent.

Structure of the Invention The present invention provides a robot that performs work by attaching a required hand to a working shaft, which comprises: a main body attached to the working shaft;
A turret shaft is provided inside the main body so as to be rotatable around the axial direction of the main body, a turret disk is attached to the tip of the turret shaft, and a removable turret-like structure is attached to the outer circumference of the turret disk at a predetermined angle. A plurality of hands, a servo motor that is attached to the main body and rotates a turret consisting of the turret shaft and the turret disk, a reducer built into the main body, and a single air supply provided on the side of the main body. A plurality of holes are provided inside the turret shaft and the turret disk, the number of which matches the number of the plurality of hands, and a plurality of independent air passages are provided for each hand, and a plurality of air passages are provided in the hand for gripping the article. a spring that is built into the hand and has the force to always act on the grip in the closing direction to grip the object, and when releasing the object, when rotating and positioning the turret,
The air supply hole is opened by driving the actuator of the required hand, and at that time, the air supply hole and the air passage do not match with the air passage of the hand other than the required hand, so the air is cut off and the article is gripped. The hand is characterized by the spring that allows it to grip the object without letting it go, and the rotational positioning of the turret and handling of the robot are performed by an NC control device, making it possible for a single robot to grip multiple different objects at once. , transfer and assembly are possible.

In addition, it is not integrated as one of the components of the working shaft, and can be attached to the working shaft as a unit.
It is easy to replace with other handling units, takes up less space, and is highly versatile.

On the other hand, since there is only one source of air for driving the hands and all the air passages to the plurality of hands are built-in, the structure is simple and the device cost is low.

Furthermore, since the rotational positioning of the turret and the handling of multiple hands are performed by servo motors and NC control devices, there are no restrictions on the order of single rotation positioning in the rotational direction, and can be freely selected according to the product type and production volume. Therefore, it is possible to realize a handling device with a turret-like multi-hand that is excellent in practical use and is ideal for high-mix, low-volume production.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

In Fig. fpJ1 and Fig. 2, 1 is the working shaft, 2 is the servo motor, 3 is the reducer, 4 is the main body that is taken up by the working shaft 1, and 5 is the main body inside the main body 4 centered on the axial direction of the main body 4. This is a rotatably provided turret shaft. 6 is reducer 3
This joint connects the turret shaft 5 and the turret shaft 5. 7,
8 is a bearing that makes the rotation of the turret shaft smooth. Reference numeral 9 denotes an air supply hole provided on the side of the main body 4, and only a single air supply hole is provided. Reference numeral 10 denotes a turret board in which a plurality of hands including hands 11 and 12 are arranged in a turret shape at a predetermined angle, and is attached to the tip of the turret shaft. A plurality of twisted hands are detachably attached to the turret board 10. 13 is the air passage,
The turret board 10° is provided inside the turret 5, the number of which matches the number of hands, and is independent for each hand. The air passage is connected to an actuator 14 that serves as a driving source for each hand.
It leads to 15 is a grip driven by the actuator 14; 16 is an article held by a spring 33 that is built into the hand and always acts on the grip 15 in the closing direction; 17 is a Hall sensor that detects the position of the turret board 10; 18 (lJ, a magnet is provided on the turret board 10, and the Hall sensor 17 senses the position of this magnet.

Reference numeral 19 denotes an NC control device that automatically performs the rotational positioning of a turret 200 composed of a turret shaft 5 and a turret disk 10 and the gripping operation of the article 16.

The operation of the handling device configured as described above will be explained below.

First, the main body 4 has one end integrally attached to the working shaft 1, and the servo motor 2 attached to the main body 4 has N.
It is driven by the C control device 19, and its rotation is controlled by the reduction gear 3.
The deceleration is then transmitted to the turret shaft 5 connected to the joint 6. A bearing 7.8 is housed on the outer periphery of the turret shaft 5 to ensure smooth rotation of the turret shaft.

The turret 20 is composed of a turret shaft 5 and a turret board 10, which are integrally attached with a key not shown in the figure.The turret board 10 has grooves 11, 12, etc. at a predetermined angle in the shape of a turret at the tip of the turret board 10. Multiple hands are arranged.

The turret board 10 is rotated and positioned by a required rotation angle according to a command from the NC control device 19.

At this time, the single air supply hole 9 provided in the main body 4 and the air passage 13 match, and the air drives the actuator 14 of the hand 11 to operate the grip 15 and release the article gripped by the grip 15.

On the other hand, for the hand 12, the air supply hole i does not match the air passage that can supply air to the hand 12 (not shown), and the air is cut off. Therefore, hand 12
The article 16 held in place is held by the elastic force of the spring 33.

In this way, the handling operation of the article is performed by using a single air supply hole 9 provided in the main body 4 as well as a plurality of air passages 13 communicating with the actuator 14 of each hand.
Air is supplied only to the required air passages 13, the article 16 held in the required hand is released, and the air supply to the articles 16 held in other hands is cut off, and the grip 15 is always closed. It is held in place by a spring 33 that acts in the direction of.

Next, an example of its use will be explained with reference to Fig. 2.

An X slide unit 21 having an X slider linearly moved by a motor;
A Y slide unit 22 having a Y slider that moves linearly by a motor in a direction perpendicular to the X and Y directions, and a Z axis slide unit having an operating shaft 1 that is provided on the Y slider and moves linearly by a motor in a direction perpendicular to both the X and Y directions. There are 23.

A main body 4 is attached to the working shaft 1.

With the above configuration, assembly bench type robot 2
4 is formed.

25 is a parts station, 26, 27° 31.3
2 is a parts pallet held at a parts station 25. 28 is an assembly jig, and 29 is the X slide unit 21 component station 25. This is a base on which the NC control device 19 is fixed.

The operation will be explained below. First, the X slide unit)
21, the Y slide unit 22 and the two-axis slide unit 23 constitute an xYZ orthogonal system robot, which can be positioned at any position within the plane of the upper surface 30 of the base 29 by commands from the NC control device 19. can.

When gripping, transferring, and assembling articles A, B, C, and D, first, at the parts station 25, hand A corresponding to article A is positioned and driven to grip article A. Thereafter, the robot 24 is positioned in the x, y, and z directions and holds the article B while the turret 20 rotates with the hand B positioned directly above the article B.

In this way, articles A, B, C, and D are sequentially placed in multi-hands A, B, and C arranged in a turret shape.

After being held at D, the robot 24 moves in the x, y, and z directions to be transferred to the assembly jig 28 and assembled.

As described above, according to this embodiment, a single robot can grasp and transfer a plurality of different articles at once.

It is possible to provide a handling device having a turret-like multi-hand that can be assembled, is inexpensive and has excellent practicality.

In this embodiment, the hand is a mechanical hand, but other methods such as vacuum suction may also be used. Also,
In the usage example, we used an assembly bench type, but it can also be used as an in-line type. Furthermore, in the usage example, the gripping order of articles A, B, C, and D is changed to A-B-,
C-, D, but A-C-D-, B, B-, D-C
-, A, etc., can be gripped in any order.

Effects of the Invention As described above, the present invention has a turret-like multi-hand that can grasp, transfer, and assemble multiple different items at once with a single robot, so the equipment cost is low and the area is small. Productivity can be improved.

In addition, it is not incorporated as one of the components of the working shaft, but can be attached to the working shaft as a unit.
It is easy to replace with other handling units, takes up less space, and the hand itself is removable, making it highly versatile.

On the other hand, the structure is simple because there is only one source of air to drive the hand, and all the air passages to the multiple ends are built-in.

Furthermore, since the rotational positioning of the turret and the handling of multiple hands are performed by a servo motor and an NC control device, there are no restrictions on the order of positioning one rotation in the rotational direction, depending on the type of product and the production volume. This is a handling device with a turret-shaped multi-node that is ideal for high-mix, low-volume production and has excellent practicality.

[Brief explanation of drawings]

FIG. 1 is a front sectional view of a robot link device according to an embodiment of the present invention, and FIG. 2 is a perspective view of an assembly bench type robot. 1... Working axis, 2... Servo motor,
3...--Reducer, 4... Main body, 5...
...Turret shaft, 9...Air supply hole, 1
0...Turret board, 11.12...
Hand, 13...Air passage, 14...
・Actuator, 15...Grip, 16・
...Goods, 17...Hall sensor, 18
...Magnet, 19...NC control device, 2o...Turret, 33...Spring. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure 2-46'.

Claims (1)

[Claims] An action shaft, a main body attached to the action shaft, a turret shaft provided inside the main body so as to be rotatable around the axial direction of the main body, a turret disk attached to the tip of the turret shaft, and an outer periphery of the turret disk. A plurality of removable heads attached at a predetermined angle in the form of a turret, a servo motor attached to the main body and configured to rotate the turret consisting of the turret shaft and the turret disk, and a servo motor attached to the main body to rotate the turret, A built-in reducer, a single air supply hole provided on the side of the main body, and provided inside the turret shaft and turret board, the number of which matches the number of multiple hands, and each hand a grip provided on the hand for gripping the article; and a spring built into the hand that always acts in the direction of closing the grip to grip the article; When releasing the article, when the turret is rotated and positioned, the air supply hole matches the air passage in the turret that leads to the desired hand, and air is sent from the air supply hole into the hand through the air passage to actuate the actuator of the desired hand. At that time, the air supply hole and the air passage do not match with the air passages of the hands other than the required one, so the air is cut off, and the hand gripping the article is forced to hold the article by the spring. A robot handling device that can be gripped without letting go of the robot, and configured so that rotational positioning of the turret and handling of the robot can be performed by an NC control device.