JPS5947133A - Supporting device for robot arm - Google Patents

Abstract

PURPOSE:To locate a grip nail accurately in the tool replacement position by putting the basis for the nail in engagement with a location aid member furnished on the stationary side and thereby supporting the location on the stationary side. CONSTITUTION:A grip nail 33 is opened and closed by an opening/closing mechanism 37, to hold a tool 5. A nail holder 24 equipped with this grip nail is fitted on the basis 20 for grip nail and rises at a high speed operated by a draw-out/ insertion cylinder 22 through a doubler mechanism 23. Thereby the grip nail as in a single piece with this holder also rises to draw off the tool held 5 out of the tool socket 46. The basis 20 advances and retracts in the direction across the draw-out/insertion direction to approach the specified position for magazine 47. A locational detainer member 39 is protruding at the lower part of this basis to have engagement with a location aid member installed at a truck 1 on the stationary side. Thus the basis is restrained in two directions, i.e. the advance/ retract direction and the one across the same. Now the location can be made.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot arm support device used for tool exchange, etc.

Conventionally, when changing the setup of a machine tool, a self-propelled cart equipped with a tool exchange robot and a traveling magazine is used to exchange the robot tool between a tool stocker and the traveling magazine of the self-propelled cart. , Also, the self-propelled trolley shall run until it is close to the tool magazine of the machine tool and then stop, and the robot shall exchange all tools between the traveling magazine of the self-propelled trolley and the tool magazine of the machine tool. It has been known.

In such a tool exchange robot, since the tool boulder is heavy, if the gripping claw is in the wrong position, there is a risk of dropping the tool when exchanging the tool. It is necessary to grasp the tool with a handle, and a considerably large pulling force is required when changing the tool. However, since the distance between the gripping claw provided at the tip of the robot arm and the support part on which the robot stands is large,
When a large pulling force is applied to the gripping claw, a very large pulling reaction force acts on the support section, and a powerful force is applied to each joint of the robot arm. For this reason, it is necessary to increase the intensity of sound at each part of the robot arm, resulting in a problem that the robot becomes large.

This invention is an attempt to solve the above-mentioned problems, and even when a large force is required to insert and remove an article gripped by the gripping pawls when exchanging tools, the gripping pawl base body close to the gripping pawls can be removed. By engaging with a positioning support member provided on the fixed side and positioning and supporting it on the fixed side, it can withstand larger forces, is more compact, and can be used to insert and remove articles with high precision. The purpose is to provide a complete robot arm support device that can be positioned.

Hereinafter, the present invention will be applied to a tool stocker and a tool magazine of a plurality of machine tools by mounting it on a self-propelled cart as described above.
An embodiment applied to a robot that exchanges tools will be described with reference to the drawings.

In FIGS. 1 to 3, reference numeral 1 denotes a self-propelled truck, and this truck 1 is provided with drive wheels 2 and front and rear casters 3. In addition, Figures 1 and 2 are the front.

The rear caster 3 is shown in a jacked up state. The trolley 1 is equipped with a traveling magazine 4 consisting of a chain magazine, and this magazine 4 rotates horizontally to index the tool 5 mounted on the front of the mobile trolley 1! It is configured to read. Further, a robot 6, which will be described later, is provided in the center of the self-propelled cart 1. As shown in FIG. 6, the robot 6 is arranged such that a rotating base T disposed on the self-propelled dolly 1 is horizontally rotated on a support base 8 in the self-propelled dolly 1 by a rotary support 9. Four pilot pars 10 are provided upright on the swivel base 7, and the upper ends of these pilot pars 10 are connected to the upper member 11.
An elevating table 12 is supported on the pilot par 10 fixed to n1 so as to be movable up and down. The elevating table 12 is raised and lowered by a feed screw 13 parallel to the pilot par 10 by an elevating operation device (not shown). Said lifting platform 1
A swing guide 15 is supported on a horizontal pivot 14 provided at
l This swing guide 15 is designed to swing 14 times around a pivot by a swing operating device (not shown).

A sliding arm 16 is supported by the swing guide 15 so as to be able to reciprocate at right angles to the axial direction of the pivot shaft 14, and the sliding arm 16 is moved forward and backward by a forward and backward movement device (not shown). A sliding member 17 is supported by the sliding arm 16 and is moved forward and backward by another forward/backward operating device (not shown). A support shaft 19 is supported so as to be movable, and a gripping claw base 20 is fixed to this support #119.

As shown in FIG. 1, FIG. 2, FIG. 4, and FIG. A piston/rod 21 that reciprocates in the insertion direction is provided, and the pawl holder 24 is linearly reciprocated by the piston/rod 21 via a speed-doubling mechanism 23. That is,
In the double speed mechanism 23, a pinion bearing member 26 is fixed to the piston rod 21 via a connecting rod 25, and a pair of pilot pars 27 are fixed to the gripping claw base 20 in parallel with the piston rod 21. The bearing member 26 is slidably fitted and supported on the bearing member 2.
A small-diameter pinio/28 is rotatably supported on the gripping claw base 2, and a fixed rack 29 meshed with the small-diameter pinio/28
Fixed to 0.

In addition, a large-diameter binioff/3 installed integrally with the small-diameter binioff 28
0 is engaged with a movable rack 31, the movable rack 31 is fixed to a punitive claw holder 24, and the claw holder 24 is installed on the gripping claw base 20 in parallel with the pilot parr 27. is slidably fitted and supported. A pair of gripping claws 33 is pivotally attached to the distal end portion of the claw holder 24 protruding from the gripping claw base 20 by a pivot shaft 34 so as to be openable and closable. The spring 35 and the gripping claw 33? An opening/closing operation mechanism 37 consisting of L4M (cylinder mechanism 36) is interposed, and a cover 38 covering this operation mechanism 31 is fixed to the claw holder 24.

Moreover, the positioning engagement member 3 is inserted from the bottom surface of the gripping claw base 20.
9 protrudes, and a spherical body 41 is integrally provided at the tip of the rod-shaped portion 40 of this engaging member 39. A positioning support member 43 is fixed to the upper wall 42 of the self-propelled trolley 1,
This support member 43 has a notch 44 formed along the axial direction in the upper part of the horizontal axial cylindrical body, facing the tool changing position of the traveling magazine 4, and has an end side cutout 44 formed at the inner end of the inner circumferential surface. A conical surface 45 having a large diameter is formed.

In addition, in FIGS. 1 to 4, 46 is a tool chuck of the traveling magazine 4, and in FIG. 2, 47 is a tool i magazine of the machine tool.

Next, the operation of the embodiment configured as above will be explained. When changing the stage of a machine tool, the appropriate notches 14 of the self-propelled cart 10 and the traveling magazine 4 are removed from the tool stocker in advance.
6 holds the tool 5 to be replaced, and the self-propelled trolley 1 is moved close to the tool magazine 4T of the machine tool, travels to π position 4, and stops. In this state, each part of robot 6 is
It is in its original position as shown in Figure 1, except in the figure. That is, the gripping claw 3
3 faces the tool 5 to be replaced, which is indexed at the front of the self-propelled trolley 1, which is the tool exchange position, and the elevating table 12 is in the lowered position, supporting [1II119 is horizontal, and for insertion and removal. Since the piston rod 21 of the cylinder 7 holder 22 is also retracted, the positioning engagement member 39 is located inwardly facing the positioning support member 43 . When the sliding member 17 is advanced and the gripping claw base 20 is advanced through the support shaft 19, the spherical body 41 of the engagement member 39 is moved to the support part @4.
3, the rod-like part 40 of the engaging member 39 is engaged with the notch 44, and the spherical body 41 is fitted into the m-shaped inner diameter part of the support member 43, The open gripping claws 33 advance to the gripping groove portion of work A5, resulting in the state shown in FIG. 4. In this state, by making the dimensions of the engagement member 39 and the support part 4'' 43 correspond to each other, the left and right force direction in the figure 4, that is, the forward and backward direction of the gripping claw base 20 2 directions orthogonal to -J Nawashiga
39 C1') Since the movement is restricted, the gripping claws 33 are
Accurately positioned with respect to the tool 5 at a position close to these 2
). Next, the cylinder mechanism 36 glue 9 of the opening/closing operation mechanism 37
As a result, the gripping claws 33i are closed against the spring 35,
These hold the tool 5. Thereafter, when the piston/rod 21 is advanced upward by the operation of the insertion/removal cylinder 22, the connecting rod 25. The binion bearing member 26 rises, and the small diameter binion 2B, which is pivotally supported by this member, rotates as it is engaged with the fixed rack 29.
The large-diameter pinion 30 also rotates together with the pinion 8, and the double speed mechanism 23 moves the claw holder 24 up together with the movable rack 31 meshed therewith. Therefore, even with a small stroke, the insertion/extraction cylinder 22 can raise the entire claw holder 24 at high speed with a large stroke.
The insertion/extraction cylinder 22, the gripping claw base 20, etc. can be made smaller. As the pawl holder 24 rises, the gripping pawls 33 also rise, and the tool 5 gripped by these pawls is pulled out from the tool socket 46 of the traveling magazine 4. In this case, a large force ′ is inevitable, but as mentioned above, the engaging member 39 of the claw holding base 20 is held and supported by the supporting member 43 fixed to the self-propelled cart 1 on the fixed side. Therefore, the pull-out reaction force is not applied at a position close to the gripping claws 33, and no unnecessary force is applied to the portion of the claw holding base 20 on the υ support base 8 side. After pulling out the tool 5 from the traveling magazine 4 as described above, the gripping claw base 20 is retracted to the right in FIG. 4, and the engagement member 39 is removed from the support member 43.

After that, perform the necessary operations among the rotation of the swivel table 7, the raising of the lifting table 12, the vertical movement of the swing guide 15, the forward and backward movement of the sliding arm 16, and the rotation of the support shaft 19. Then, the gripping claw base 20 is placed so that the socket that does not hold a tool in the tool magazine 47 of the machine tool faces the tool 5 held by the gripping claw 33, and the screw)/21 is retracted by the operation of the insertion/extraction cylinder 22. The tool 5 is inserted into the socket of the tool magazine 47, and the operation of the cylinder mechanism 36 of the opening/closing operation mechanism 37 is released to open the gripping claw 33.

Furthermore, after that, an operation opposite to that described above is performed to return each part to its original position.

Then, if necessary, the next tool allocated to the tool change position can be replaced with the same machine tool as described above, or it can be transferred to the tool magazine of another machine tool. The self-propelled cart 1 is driven to a nearby position and the same operation is performed. Further, the loading and unloading of tools from the tool magazine of the machine tool to the traveling magazine of the traveling carriage, and the receiving and passing of tools between the tool stocker and the traveling magazine of the traveling carriage can be performed in accordance with the operations described above.

In addition, this invention eliminates the need for vertical swinging, for example.
It can also be applied to a robot in which the operation on the support base side of the gripping claw base is simplified compared to the above-mentioned embodiment! It can also be applied to tool exchange robots that do not use self-propelled trolley sounds, and can also be applied to assembly robots other than tool exchange robots.

As explained above, the robot arm support device according to the present invention includes a gripping claw attached to a claw holder and opened and closed by an opening/closing operation mechanism, and a gripping claw attached to the claw holder and held by the grasping claw. A gripping claw base body provided with a mechanism for reciprocating the claw holding rod in the insertion/extraction direction of the article, and means for moving the base body back and forth at least in a direction perpendicular to the insertion/extraction direction, are provided at the tip of the arm. At the same time, a positioning engagement member is protruded from the gripping claw base, and the engaging member is engaged with and disengaged from the engagement member by advancing and retreating the gripping claw base, and the engaging member is moved in two directions perpendicular to the direction of movement of the gripping claw base. A positioning support member for restraining is provided on the side of the storage room. Therefore, according to the present invention, when the engaging portion U"li is engaged and supported by the support member and an object such as a tool gripped by the gripping claw is pulled out, the engagement between the retaining member and the support member is performed. If there is a small gap in the case, and even if there is positional deviation due to wobbling of the arm joint, this can be corrected, the gripping claw can be positioned with high precision, and the object can be reliably gripped. Even when a large force is applied to the gripping claw provided at the tip of the robot, the base for the gripping claw is supported on the fixed side at a position close to the gripping claw, so that undue force is not applied to the joints of the arm or the supporting part of the robot. This has the effect that even if the distance between the gripping claw and the support part is large, the robot can be made smaller in size and can withstand a large pulling force.

[Brief explanation of drawings]

FIG. 1 is a schematic side view showing an embodiment of the present invention, FIG. 2 is a schematic front view of the same, and FIG. 3 is a schematic side view of the same, 5...tool, 6...robot, 7... Swivel table, 12... Lifting table, 16... Sliding arm, 1T... Sliding part system, 19
...Support shaft, 20...Gripping claw base, 22...Cylinder 7 for insertion/extraction, 23...Double speed mechanism, 24...Claw holder, 33...Gripping claw, 37.・Opening/closing operation mechanism,
39... Positioning engagement member, 40... Rod-shaped portion, 41
... Spherical body, 43 ... Positioning support member, 44 ...
- Notch, 45...conical surface.

Claims (1)

[Claims] A grasping claw is attached to the claw holder and is opened and closed by an opening/closing operation mechanism, and a mechanism to which the claw holder is attached and for reciprocating the entire claw holder in the direction of inserting and extracting an article gripped by the grasping claw is provided. A gripping claw base and a means for advancing and retracting the base at least in a direction perpendicular to the insertion/extraction direction are provided at the tip of the arm, and a positioning engagement member is protruded from the gripping claw base to secure the grip. A robot arm, characterized in that a positioning support member is provided on the fixed side of the member, the positioning support member being engaged and disengaged by the movement of the gripping claw base and restraining the engaging member in two directions perpendicular to the direction of movement of the gripping claw base. Support it.