JPS5993275A - Automatic transport positioning device - 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 provides a method for processing workpieces (
It relates to a device that automatically transports and positions a workpiece.

With the development of autoloader devices, transfer devices, and recent advances in control technology, it is necessary to supply workpieces from component stockers to machine tools, or to transport and position workpieces between machine tools over several processes. Handling robots are being used to automate and save labor in each work process.

However, conventional autoloader devices and transfer devices have many special-purpose parts designed to be suitable for mass production processing, etc., are generally large, and lack versatility for changing symmetrical workpieces and lines.

On the other hand, handling robots have the flexibility to handle multiple workpieces, such as assembly work9, and as processing and transportation work increases and overlaps, the equipment becomes more complex. is required, and a considerable increase in cost is unavoidable.

This invention integrates workpiece handling, conveyance, and positioning mechanisms, has a compact and simplified structure, maintains good workability in each process such as processing and assembly, and has increased versatility. The purpose is to provide an automatic transport and positioning device for workpieces.

Hereinafter, the present invention will be explained based on the drawings. FIG. 1 is a front view showing an embodiment of the present invention, FIG. 2 is a plan view thereof, and FIG. 3 is a side view thereof.

First, to explain the configuration, lfd is a main body base fixed on a predetermined table, 2 is a rotary table that rotates on the main body base l and conveys a workpiece (not shown), 3 is a rotary table 2 and the main body base The handling unit that picks up the workpiece on the table 4 is shown.

The main body base 1 includes a rotary table 2 and a handling section 3.
As shown in FIG. 4, a swing bearing 8 that receives radial and thrust loads is installed in an annular groove 7 inside an upper frame 6 that supports the base table 4. is fitted.

A cylindrical saddle 9 is rotatably attached via the swing bearing 8, and the rotary table 2 is supported at the upper end thereof. On the other hand, rollers 10 of the same diameter are protrudingly provided at positions divided into, for example, 12 equal parts on the circumference of the lower end of the saddle 9 from the center of rotation, and are engaged with guide cams 12 formed on the shaft 11 of the drive device 5. do.

As shown in FIGS. 5 and 6, the drive device 5 includes a step motor 13 that rotates a number of υ times based on a human power signal, and a belt transmission section 14 that accurately transmits the rotation and rotates the shaft 11 once.
The guide cam 12 includes two rectangular guide rails 1 of different lengths protruding from one outer periphery of the large diameter portion 15 of the shaft.
6 and an introduction wall 17 whose both ends are inclined to each other.
It is well formed.

When the shaft 11 rotates once in accordance with the rotation of the step motor 13, the guide cam 12 moves the roller 10 after approximately half a rotation.
are inserted in the shaft axial direction by the width of the guide rail 16 one after another, and the two-wide rotary table 2 is rotated. The width of the guide rail 16 is set to be the same as the gap between the rollers 10 that fit together within a predetermined tolerance range.
Rotate by 60'/12=30 degrees and calculate the position. However, 18.19 indicates the bearing of the shaft 11.

Further, as shown in FIG. 2, six pedestals 20 are formed on the outer circumference of the rotary table 2 at intervals of 60 degrees, and a relatively large cutout is formed between each pedestal 200. Each pedestal 20 is provided with a receiving hole 21 for a work holder or the like (not shown) for holding a work, and these can be fixed or freely installed.

The workpiece on the pedestal 20 is conveyed and positioned according to 110 rotations, thereby forming a conveyance and positioning mechanism.

On the other hand, a sleeve 22 is fixed to the upper frame 6 of the main body base 1 through the shell, and the rotary table 2 is attached to this sleeve 22.
A column 23 is fitted that can slide vertically on the center line of the
It will be erected.

Six arms 25 are fixed to the upper end of the column 23 via brackets 24 in a parallel radial manner with the rotary table 2 at equal intervals. A hand 26 made of a magnet or the like is attached. Each hand 26 is located above the pitch circle of the mounting hole 21 of the rotary table pedestal 20, and its piping and wiring are connected multiple times above the column 23.
A cut groove 27 is formed in the lower end of the column 23 in the axial direction, and engages with a swing lever 28 that drives the column 23 in the vertical direction. The swing lever 28 is connected via a link 29 to a crank 31 that engages with a cylindrical cam 30 in the form of a spiral groove formed on the outer periphery of the large diameter portion 15 of the shaft.
It moves up and down according to the cam movement (cam shape) accompanying the rotation of 11.

This allows the handling section 3 to be raised and lowered via the column 23, and also constitutes a workpiece handling mechanism. However, reference numeral 32 is a crank bin that is connected to the cylindrical cam groove, and the crank rotates at point e, and the swinging lever 28 rotates at point f.The setting for this cam operation will be described later. A balancer 33 (spring handle) for easily stirring the handle mechanism and a mechanism 4 for controlling each operation of the above-mentioned conveyance and positioning mechanism are provided at the rear end 35 of the shaft 11. Specifically, , the rear end portion 35 depending on the number of controls of each hand 26, the behavior device 5, etc.
Several disc-shaped cams 36 are fixed to the cams 36, and switches 37 (for example, limit switches or air cam valves) that are opened and closed in response to the rotation of each disc cam 36 are respectively disposed on the brackets 38 of the main body space 1. be done. By opening and closing this switch 37, air is supplied to and cut off from the suction cup type hand, energization and disconnection from the magnetic hand is carried out, and the step motor 13 is driven and stopped.

■Each control timing for the process (shuttle 7) 1 rotation) is as follows:
The selection is made according to the shape of the disc cam 36, and together with the operation settings of the cylindrical cam 30, the position indexing of the rotary table 2, the lifting and lowering of the handling section 3, and the clamping operation of each hand 26 are performed respectively. For example, (a) to (C) in Figure 7
) is determined so that the operating characteristics are as shown in In the figure, from the starting position (A), the handling section 3 is first clamped at the bottom 9, and each node 26 is clamped at the lowest point (B).
Pick up the workpiece on main body pace table 4. And noh
After the handle 3 is raised and the rotary table 2 is rotated by a predetermined angle (30°) from point (C), the handle 3 is lowered somewhat. At this point), the clamps of each node 26 are released, and the workpiece is placed on the pedestal 2 of the rotary table 2.
is set to After this, the handling part 3 rises,
The rotary table 2 further rotates 30 degrees from the point (e), returns to the starting position (a), and repeats this process.

However, the start operation may be commanded by an external signal, and when each continuous operation is long, the operation time and timing may be set using a timer (not shown) or the like.

Next, the action will be explained.

For example, in the case of assembly work involving several workpieces, the workpieces are first placed between the rotary table pedestals 20 and at a predetermined position on the main body pace table 4 (point A in FIG. 2).

Then, when the start command is received, the work piece moves to hand 2.
Rotary table pedestal 20 that is picked up by 6 and rotated
It is placed on top and sent 300 degrees forward (point B in Figure 2).

A work holder etc. is set on the pedestal 20, and the workpiece ■
is held, and at this time, the workpiece ■ is externally supplied to the six points in FIG.

Workpiece (2) is handled, and when workpiece (2) comes below it, it is set at the assembly position on workpiece (1). In this case, the workpiece (2) may be directly set on the workpiece (1) at point B in FIG. 2, and an autoloader or the like may be used to supply the workpiece (2) and the workpiece (2).

Then, in this state, feed the workpiece by another 30 degrees and assemble the workpiece I onto the workpiece I at point D in Fig. 2.

When assembling, if a press machine or the like is required depending on the process, it is set in advance at point D, and its operation is linked to the switch 37 of the control mechanism.

Workpiece nI is supplied to point E in FIG. 2 and set in the same manner. The workpiece ■ is assembled at point F in Figure 2.
In this case, if there is a processing process, etc., furthermore, point E, 1 in Figure 2
Set up the corresponding machine at the point and do this.

Even if the number of workpieces and assembly man-hours are large, each process can be fulfilled and the work can be performed in sequence, and in the case of machining work, it is also possible to perform a considerable number of processes in succession. ing.

When the process is completed, it is handled at points 1 and 2 in FIG. 2, and taken out as a product from the main body pace table 4.

Note that hand 2, which is not handled depending on the process,
The clamping operation of 6 is stopped, and an automatic chuck or a collet that performs a chucking operation in accordance with the rotation of the rotary table 2 is used as the work holder.

In this way, in this embodiment, workpiece transportation, positioning,
The handling mechanism is integrally provided and the structure is simplified, so that machining work and assembly work can be performed continuously and easily, thereby shortening the process and saving labor.

In addition, since the specifications of the work holder and hand 26 and the timing of each operation can be selected, it can be applied to various workpieces, and process settings can be selected arbitrarily, making it not only highly functional as a mass production machine. Its versatility is extremely high.

In addition, mechanical cams are used in each mechanism, resulting in good positioning and handling.

Control responsiveness can be obtained, and it is possible to improve the reliability and accuracy of the device at low cost.

Although not shown, if a clamping mechanism is provided after indexing the rotary table 2, a flanging mechanism at the highest point of the column 23, etc., stability and workability will be improved.

As explained above, according to the present invention, there is provided a rotary table that rotates on the main body space, pedestals formed at predetermined equal intervals on the outer periphery of the rotary table, and columns penetrating the center of the rotary table and erected on the main body space. , and a handling section that is fixed to the column via an arm and located above the pitch circle of the pedestal, and a work holder is attached to the pedestal to transport the work,
The positioning and handling mechanism and its control mechanism are integrally configured, and each control timing can be selected, so it can be applied to a wide range of processes such as machining and assembly processes, saving labor and increasing efficiency in each work, as well as improving machining efficiency. The device has high versatility when changing lines and assembly lines, making it possible to significantly reduce production costs. Furthermore, since mechanical cams are used in each mechanism, good accuracy can be maintained and durability and reliability can be improved.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an embodiment of the present invention, FIGS. 2 and 3 are a plan view and a side view thereof, FIG. 4 is a sectional view taken along line P-P in FIG. 2, and FIG. 3 is a sectional view taken along line Q-Q, FIG. 6 is a partial sectional view taken along line RR in FIG. 1, and FIG.
a) to (C) respectively calculate the position of the rotary table;
FIG. 4 is a motion characteristic diagram showing one setting example of the lifting and lowering of the handling unit and the flanging motion of each hand. l...Main body pace, 2...Rotary table, 3...
Handling section, 4... Main body pace table, 5...
・Drive device, 9...Saddle, lO...Roller, 11
... Shaft, 12 ... Guide cam, 13 ... Step motor, 20 ... Pedestal, 23 ... Column, 25
...Arm, 26...No.1 hand, 28...Swinging lever, 30...Cylindrical cam, 31...Crank, 35
... Shaft rear end, 36... Disc cam, 37...
·switch. Patent applicant Robot Giken Co., Ltd. Figure 1 1. -R Figure 2■ Figure 3 Procedures Amendment (Method) February 25, 1980 Director-General of the Patent Office Kazuo Wakasugi 1, Indication of the case 1982 Patent Application No. 200120 2, Title of the invention Name of automatic transfer positioning device Robot Giken Co., Ltd. Mei 11111 "Brief explanation of drawings" column. 7. Contents of amendment (1) From line 16 to line 18 on page 12 of the specification [..., (a) to (C) in Fig. 7 are for the position indexing and handling section of the rotary table, respectively. Figure 7 shows how to determine the position of the rotary table (a) and how to raise and lower the handling unit (b). , represents one setting example of the clamping operation (C) of each hand...'' is corrected.

Claims (1)

[Claims] A rotary table that rotates on the main body space, a pedestal formed at predetermined equal intervals on the outer periphery of the rotary table, a column penetrating the center of the rotary table and erected on the main body space, and the pedestal fixed to the column via an arm. A work holder is attached to the base, and a drive device is interposed in the main body pace, and rotation from the drive device is transmitted through a guide cam to drive the rotary table. A conveyance and positioning mechanism that rotates by a predetermined angle and a handling mechanism that raises and lowers the column via a cylindrical cam are formed, and the rear end of the drive shaft is configured to actuate the drive device and operate the handling section according to the rotation thereof. An automatic conveyance positioning device characterized by comprising a control mechanism for setting the timing of operations, etc.