JPS6067009A - Automatic feeder for tools - Google Patents

Abstract

PURPOSE:To make plural stages of machining sttainable at a static position, by screwing a nut in a screw rod locked to a moving block, while locking a support plate, on which plural tools are set up, to the nut. CONSTITUTION:A screw rod 39 is locked to a moving block 9, and a proper number of guide rods 40 are installed in parallel with this screw rod 39. At each support plate 41 installed in the guide rod 40, a nut 42 being rotated by a motor M3 and screwed in the screw rod 39 is supported, and furthermore a proper number of piston rods 51 provided with vent holes 49 and 50 opened to each side of a piston 48 made up in an intermediate part are supported, while a tool is set to the outer side of a cylinder 52. Therefore, this support plate is attached to the moving block of various robots whereby machining by plural tools is performable at a static position and, what is more, different machining jobs come possible to be done in one line.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for supporting a plurality of pieces of construction on a moving block in an automatic machine such as a robot, and automatically supplying and placing them at the required position. 7' = Automatic machines such as robots as described below carry out various types of work while transporting the workpiece on a conveyor, etc., but 1 usually work at one stationary position. (It's just machining with one tool at 1°).

5) The number J:
, I-, J, and K. In addition, different processing can be performed on one line, such as Y- and F.

Note that the device 111'' of the present invention is for each f!10bot example,
(if' It is used as a device in a moving block part such as an orthogonal coordinate system arm type, a cylindrical offshore reference system type, and a horizontal multi-joint system type.

An embodiment of the present invention will be described in detail below with reference to the drawings.

In the drawing embodiment, an example of the robot of the orthogonal right 1b system is shown. That is, the structure is such that the flock 9 can be moved (1'J) to any desired position in the front, back, left, or right directions.

Briefly Explained As shown in Fig. 2.1, Fig. 21, a fixed ceiling 1 is provided.

The fixed ceiling 1 has a smooth lower surface and is completely fixed at a predetermined height together with the guide 1 knobs 2, 2α serving on both sides thereof.

Tsuki ni,” 2 Guide 1 Nord 2! , 212 are each equipped with one slider 3, 3a. The slider 3.3a has a shape that fits the outer and upper and lower surfaces of the guide rails 2 and 2a and is configured to slide along the guide rails 2 and 2a.

Next, the upper portions of the sliders 3 and 3α are connected by a connecting plate 4 above the fixed ceiling 1 so as to be movable.

In the case of the embodiment shown in the drawings, a hole nut 5 is provided on the connecting plate 4 side, a screw rod 6 supported on the fixed ceiling 1 side is screwed into the pole nut 5, and the screw rod 6 is rotated by a motor M/. The sliders 3 and 3a are configured to be moved.

However, the above movement can be performed using a rack and pinion timing belt, a linear motor, etc.

Next, a kite rail 7 and a screw rod 8 are provided between the lower portions of the sliders 3 and 3a.

In the embodiment shown in the drawings, the kite rail 7 has a cross section 1-1, and a screw rod 8 is rotatably supported below the kite rail 7, and the screw; A zero motor M is provided.

Furthermore, surrounding the kite rail 7 and screw rod 8, there is provided a slide-o-movement flock 9 which is movable up and down by screws F-F8.

The details are shown in Figures 3 and 4.

The moving block 9 is located on the top plate 9a on both sides of the guide rail 7 and the screw rod 8.
(Ill Aυ9 h, 9
C and a bottom plate 9d, and furthermore, a screw rod 8 and a center ball nut 10 screwed thereto are positioned inside them.

The movable block 9 moves up and down with respect to the screw shaft 8 and the hole nut 1.degree., and is configured to be integrated when sliding.

That is, an extension part 10d is provided below one ball nut 10, and the extension part 10α is fitted into a through hole 11 provided in a bottom plate 9dK of the movable flock 9 so as to be vertically movable.

Next, the upper surface of the moving block 9, specifically the upper plate 9
An intake port 12 is provided on the upper surface of a.

"A flexible 1
A sealing material 13 having a housing is provided.

In the case of the embodiment shown in the drawings, the seal 13 that is in close contact with the fixed ceiling 1 is flexible and has a tubular shape, and is normally in a contracted state, and expands as air is supplied to the inside, thereby sealing the fixed ceiling 1. It is configured to fit tightly against the bottom surface of the

In the figure, 14 is an air supply port to the sealing material]3. In addition,
A mechanism for bringing the sealing material 13 into close contact with the fixed ceiling 1, and 1-
Actuators may be used.

Furthermore, in the embodiments shown in Figures +3 and 4, the surface of the movable flock 9 facing the guide rail 7.

Specifically, air jets 15, 16, 17 are provided on the upper plate 9σ+ (l! II plates 9b, 9c, and the air jets 15, 16, 17 are installed between the slide flock 9 and the guide rail 7 when the slide flock 9 slides.A similar configuration is made with the kite 1, the knoll 2, It should also be applied between 2α and sliders 3 and 3a.

In other words, air injection ports (not shown) are placed on the surfaces of the sliders 3 and 3a facing the upper and lower surfaces of the guides 1 and 2 (1, σ2), respectively.

In the figure, 21 is an intake hose, 22 is an air source, 2) an ejector pump, 23 is a cut II ring half, 24 is a compressed air supply source such as a compressor, and 25 is an air supply hose.
2G is a switching bulk, 27 is an air supply source such as a 1-noculator, 28 is an air supply source such as a kombu 1-notser, 29, 29α is an air supply hose, 30 is a tendency valve, and 31 is a regulation 1-notor.
32 is an air supply source such as a compressor.

In the above configuration, the moving flock 9 is shown in Fig. 1.

In Fig. 2, movement in the left-right direction is performed by rotating the screw rod 6 with the motor M, and movement in the front-back direction is performed by rotating the screw rod 8 with the motor M2. Each of the above air injection ports 15.16
．． Air is injected from 17, etc., and the slider 3° 3a - moving flock 9 is moved in a non-contact state.

Next, move the moving flock 9 to a predetermined position.''Describe the complete standstill at 32 o'clock.

The movable flock 9 is moved to a predetermined position by the above operation, and as shown in Figure 3, it is in close contact with the fixed ceiling 1.

The stationary and fixed state is shown in Figure A-4.

That is, the moving flock 9 is supported by the kite rail 7, and the air injection is stopped.

At this time, switch the switching valve 30 shown in Figure 4 to supply air from the air supply hose 29d to the air supply port 14 of the sealing material 13.

As a result, as shown in Example 3, the sealing material 13 expands and its upper surface is exposed to the lower surface of the fixed ceiling. After confirming this, connect the compressed air IJJ and the ejector pump 22 I/C compressed air from the supply i1+ij 24.

The air on the upper surface of the moving flock 9 surrounded by the sealing material 13 is discharged from the intake port 12 via the intake hose 21.

As a result, the upper surface of the moving flock 9, which is 1 river wide at seal image 3, becomes ]5 empty and finally)'4 As shown in the figure, the moving flock 9 rises to the ceiling 1 side and its lower surface The static HJ[+"1'l is fixed by the static HJ[+"1'l], and there is a drag that cannot be obtained conventionally in the left and right and front and back movements, and the vertical direction is further regulated by the fixed ceiling 1. A5/Z), which does not interfere with the work of other people.

Next, if the movable flock 9 is to be released from a stationary state, the ejector pump 22 is supplied with compressed air from the compressed air supply source 24.
When the air supply to VCWi is stopped, the two sides of the moving flock 9 surrounded by the sealing material 13 via the intake hose 21 are exposed to the atmosphere VCWi.
When the air supply to the sealing material 13 is stopped, the movable block 9 descends under its own weight and is free to move thereafter.

The device of the present invention is made up of A1N by providing a rotatable plate 33 on the movable block 9 7 The rotatable block 33 is supported via a hair link 34 between it and the movable Will block 9 and can freely rotate once. Board 33 n+
+ A motor M3 is provided via the K arm 35, and a gear 37 provided on its rotation nl+36a is connected to the moving block 9.
(Gear fixed to fl!l with nut 38-?': 39 v
CllI! 7 Mix and layer.

Therefore, when the motor M3 is driven, the one-turnable plate 33 is rotated by an appropriate angle.

A screw rod 39 is identified in the center of the rotatable plate 33, and an appropriate number of kite rods 4o are provided parallel to the screw rod 39.

Next, a support plate 41 is provided on the self-guide rod 4o so as to be slidable, and a motor is attached to the support plate 4.1.
2) The nut 42 is supported while being rotated from K and screwed into the screw rod 39.

That is, the motor M is mounted on the stationary side 43 below the support plate 41.
is supported, and the central shaft 45 of the rotating part 44 at the center thereof is made hollow so that the manual screw rod 39 can be inserted therethrough, and the hair link 46 and o;
There is a rotating white/ivc support on the stationary side 43 of the 47vi-receiving support ('1 IJ, 741 and the motor M3).

and - above the central axis 45 o1"1.: Ninat 42
is fixed.

Therefore, when the rotating part 44 of the motor M// is rotated, one nut 42 is rotated at the same time t1 to -1
Rus t.

Screw rod 39 and 0" Kite rod 40 K'l:)
The support plate 41 is made of stone and slides up and down.
.

Furthermore, in the present invention, the piston rod 51 is supported by a piston rod 51 having holes 40 and 50 with opening sizes 2).
The piston/I8 and the piston rod 51 are supported by a suitable number of cylinders, and the piston/I8 and the piston rod 51 are movable up and down.
52 is installed.

Ichikan Ichi, Piston Lot 5] No1Jii$y
M(/''1) The cylinder 52 is moved up and down by supplying air from the through hole 49 or 5o at the lower end.

tx snack・1 diagram--! - In the embodiment shown in FIG. 2, two piston rods 51 are provided, and the cylinder 52
Although the piston rod 51 is integrally constructed, it is also possible to use only one piston rod 51.

In the present invention, a tool A such as a drill is attached to the outer surface of the cylinder 52.

Incidentally, although not shown in the first drawing, a fitting for attaching a tool to the cylinder 52 should be provided in advance on the outer surface of the cylinder 52.

In the present invention having the above configuration, the movable flock 9 described in 1- is moved to an arbitrary position by the motors M/, M, and l.

Then, selection of tool A at a predetermined position is performed by motor M3.
The tool A can be moved up and down by the motor Ma and the cylinder 52.

Note that generally, while one tool A is in use, the other tool A is moved upward by the cylinder 52, t, -1.

However, it is also possible to use a plurality of tools A and A simultaneously.

As mentioned above, the present invention is capable of performing machining with multiple tools at one static position by using a device for transferring each weight robot to the I+11J flock. What you do is what you can do to get the desired effect.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention. Figure 1 is an overall perspective view showing the state of use, Figure 1 is a perspective view of the whole as seen from below, and Figure 2 is a vertical cross-section of the main parts. figure. Figures 4 and 4 are side views of 1 to explain the action of moving flocks.
i+Z). 9...Movement flock-33...One pile freely AJσ,
39...Screw A dry, 40...Kite rod. 41... Support plate, 42... Narrow 1 to 48... Piston + 49.50... A hole - sl... Piston rod - 52... Cylinder. Fang 3 figure O l+ figure

Claims (1)

[Claims] A screw rod is fixed to the center of a rotatable plate provided on the moving block, and an appropriate number of kite rods are provided in parallel with the screw rods, and the kite rods are slidable. A support plate is provided. A nut rotated by a motor and screwed onto the screw rod is supported on the support plate, and the support plate further includes a piston rod rod provided with a through hole opening on each side of the piston formed in the intermediate portion; The automatic supply device for sizing tools is characterized in that a cylinder is fitted into the piston, screw, and rod part so as to be able to move up and down, and several tools are cut out on the outer surface of each cylinder. .