JPS6076929A - Chuck unit - Google Patents

Abstract

PURPOSE:To permit the captioned apparatus to be used exceedingly easily as the top edge unit of a robot by securing the opening and closing operation of a chuck hook by a cam roller which shifts integrally with the chuck hook and a cam groove on a driving plate. CONSTITUTION:As for a chuck unit installed onto the top edge of the working arm of an industrial robot, a slide shaft is fixed integrally with the first rod. The installation base 16 of a chuck unit 15 is fixed onto the slide shaft, and two chuck bases 17 are fixed onto the undersurface of the base 16. Onto the base 17, each chuck hook 18 is arranged in shiftable ways towards the center and along a guide groove 19. Further, onto the base 17, a driving plate 21 is arranged in turnable ways, attached onto the upper surface of the hook 18. Onto the driving plate 21, a cam groove 22 is cut at the position corresponding to the hook 18, and a roller 34 is fitted into the groove 22. Thus, the captioned unit can be used exceedingly easily as the top edge unit of a robot.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a chuck unit attached to the tip of a work arm of a highly versatile industrial robot used in assembly work for small-volume production of a wide variety of products.

Recently, this type of highly versatile industrial robot has been attracting attention, and as the use of industrial robots increases, there are various types of robots used for tightening screws attached to the tip of the work arm, inserting parts, etc. There is a demand for the development of working tools. Among these, the chuck unit used for inserting parts plays an extremely important role in assembly work, but at present, the chuck jaws of all chuck units are connected via a link mechanism. The cylinder is configured to be openable and closable in a direction orthogonal to the direction of movement of the cylinder by movement of the iron. Therefore, there are many movable bases in the opening and closing direction of the chuck jaws (this not only requires the link mechanism itself to be larger, but also the cylinder is arranged in a direction perpendicular to the opening and closing direction of the chuck jaws, which increases the height of the unit. However, there are disadvantages such as inconvenience in maintenance and management, making it unsuitable for attachment to the tip of a robot arm.Also, in this type of chuck unit, the opening and closing speed of the chuck jaws is determined by the cylinder. The present invention is aimed at eliminating the above-mentioned drawbacks, and examples thereof will be described below with reference to the drawings. In FIG. 1, 1 is an articulated industrial robot, which has a first arm 4 and a second arm 5 that are rotated by a first motor 2 and a second motor 3, respectively. 2 motor 3 is controlled tlI
The first
The motor 2 rotates the first arm 4 around a support 6, and the second motor 3 rotates the second arm 5 around a rotating shaft 7 rotatably held at the tip of the first arm 4. It is composed of A bracket 8 having a built-in first cylinder 9 serving as a lifting source is attached to the tip of the second arm 5. This first cylinder 9 has a tenth cylinder 10, which is arranged to move up and down in the vertical direction.

Further, the bracket 8 has a slide shaft 11 placed side by side with the tenth node 10, and this slide shaft 11 is
It is fixed integrally with the bracket 1o, and is configured to be slidable with respect to the bracket. Furthermore, this slide shaft 11 is configured to be rotatable, and is configured to be rotatable by receiving the rotation of a pulse motor 13 fixed to the support column 6 via a transmission mechanism 14.

As shown in FIGS. 2 and 3, a stand 16 is fixed to the slide shaft 11 for mounting the chuck unit 15, and two chuck stands 17 are attached to the lower surface of the stand 16.
is fixed. A chuck claw 18 is disposed on each chuck stand 11 so as to be movable toward the center thereof and along a guide groove 19, and is configured to be prevented from falling by a bottom plate 20. Further, a drive plate 21 is rotatably disposed on the chuck base 17 in contact with the upper surface of the chuck claw 18, and a cam groove 22 is cut into the drive plate 21 at a position corresponding to the chuck claw 18. ing. The cam groove 22 is formed obliquely with respect to the direction of rotation so that the distance becomes shorter toward the center, and the length of the cam groove 22 is set to the desired length of the chuck jaw 18.
It is configured to be selected depending on the opening/closing speed of the opening/closing speed.

Further, a roller 34 is fitted into this cam groove 22, and this roller 34 is configured to move together with the chuck pawl 18, so that when the O-ra 34 moves along the cam groove 22, the chuck pawl 18 is configured to open and close with respect to the component 35.

A second cylinder 23 is fixed to the mounting base 16, and its 20th cylinder 24 is connected to the drive plate 21 via a mounting tool 25 so as to be parallel to this. The drive plate 2 is moved by the movement of the 20th node 24 of 23.
1 is configured to rotate.

Further, a proximity switch 26 is disposed on the chuck table 17, and is configured 411 to confirm that the 20th port 24 of the second cylinder 23 has returned to its original position.

On the other hand, an air supply pipe 27 is arranged to pass through the center of the chuck table 17, and a nozzle 29 having an air supply port 28 at a position corresponding to the clamping surface of the chuck claw 18 is provided at one end of the air supply pipe 27. is installed. or,
The other end of the air supply pipe 21 is locked to a holding plate 30, and a spring 31 is connected between the air supply pipe 21 and the mounting base 16, and the air supply pipe 21 is fixed to the holding plate 30. It is configured so that it can move together with 30.

Further, a 30th bolt 33 of a third cylinder 32 fixed to the base 16 is connected to the holding plate 30;
The holding plate 30 is configured to be movable with respect to the mounting plate 16.

Parts 35 where the arm of the industrial robot is aligned
After the chuck unit 15 is moved upward, the chuck unit 15 is lowered. The chuck unit 15 is lowered to a predetermined position, and the three chuck claws 18 are positioned around the component 35. In this state, the second cylinder 23 is operated and the 20th cylinder 23 is operated.
Move 4 back. Therefore, the drive plate 21 is mounted on the base 16.
However, since the roller 34 is fitted into the cam groove 22 of the drive plate 21, the chuck claw 18 rotates toward the center, that is, to grip the component 35, as shown in FIG. Move to.

After the chuck claws 18 clamp the component 35, the first cylinder 9 moves back and the chuck unit 15 itself rises. Then, move the arm above a predetermined working position,
Furthermore, the first cylinder 9 is operated again to lower the chuck unit 15. At this time, as shown in FIG. 4(b), the tip of the component 35 is located in the prepared hole of the counterpart 36. In this state, the second cylinder 23 is moved back, the 20th rod 24 is advanced, and the drive plate 21 is reversed and returned to its original position, and the chuck claws 18 are moved back and removed from the component 35. At the same time, the third cylinder 32 is actuated and the 30th cylinder 33 is moved back, and air is supplied together with the holding plate 30.

21 also descends. Therefore, the nozzle 29 also descends and presses the component 35 with its lower surface. Therefore, the part 35 is reliably inserted into the predetermined working position.

As shown in FIG. 4(C), when the third cylinder 32 moves back and its 30th cylinder 33 rises, air is supplied from the nozzle 29, and as it rises, the gripping part of the chuck claw 18 This cleans the surface of the component 35 to avoid damaging it during the next operation.

As explained above, the present invention is configured so that the opening/closing operation of the chuck jaws is achieved by the cam roller that moves together with the chuck jaws and the cam groove cut in the drive plate that rotates above the cam roller, so that the Install the drive source for the plate parallel to this,
The height of the unit can be made extremely low, maintenance management is easy, and it is extremely easy to use as a leading-edge unit of an industrial robot.
There is an advantage that the moving speed of the chuck claw can be arbitrarily selected by adjusting the length of the cam groove. or,
Since the present invention is configured to clean the clamping part of the chuck claw with air after the work is completed, there is also an advantage that there is no damage to the surface of the part during the next work.

[Brief explanation of drawings]

FIG. 1 is a front view of an industrial robot according to the present invention;
2 is an enlarged cross-sectional view of the main part of FIG. 1, FIG. 3 is an enlarged bottom view of the main part of FIG. 1, and FIGS. 1 Industrial robot, 2 First motor, 3 Second motor, 4 First arm, 5 Second arm, 6 Support column, 1 Rotating shaft, 8 Bracket, 9 First cylinder, 10 Tenth hand, 11 Slide shaft, 13 Pulse motor, 14 Transmission mechanism, 15 Chuck unit, 16 Mounting stand, 17 Chuck stand, 18
Chuck claw, 19 Guide groove, 20 Bottom plate, 21 Drive plate, , 22 Cam groove, 23 Second cylinder, 24 20th node, 25 Mounting with shell, 26 Proximity switch, 21 Air supply pipe, 28
Air supply port, 29 nozzle, 30 holding plate, 31 spring, 32 third cylinder, 33 30th hand, 34 roller, 3S 1111 product, 36 counterpart, patent applicant Nitto Seiko Co., Ltd.

Claims (2)

[Claims] (1) A stand 16 is fixed to one end of the slide shaft 11 which can be raised and lowered by an elevating source, and a chuck stand 17 is fixed to the stand 16, and a plurality of chuck claws 18 are attached to this towards the center. A movable and rotatable driving plate 21 is arranged above the chuck pawl 18, and a cam groove 22 whose distance from the center gradually decreases is provided on the drive plate 21 at a position corresponding to the chuck pawl 18. is cut, and the 〇-ra 34 that fits into this cam groove 22 is inserted into the chuck claw 18.
A chuck unit characterized in that it is configured to be attached to a drive plate 21 and a chuck base 17 so as to relatively move the chuck claws 18 to close the chuck claws 111. (2) A stand 16 is fixed to one end of the slide shaft 11 which can be raised and lowered by a gas source, and a chuck stand 17 is fixed to the stand 16, and a plurality of chuck claws 18 are moved toward the center of the stand 16. A rotatable drive plate 21 is arranged above the chuck claw 18, and a cam groove whose distance from the center gradually becomes shorter is provided at a position corresponding to the chuck claw 18 on the drive plate 21. 22, and a row 534 that fits into the cam groove 22 is inserted into the chuck claw 18.
The configuration is such that the drive plate 21 and the chuck base 17 are moved relative to each other to move the chuck claws 18. Furthermore, an air supply pipe 21 is disposed passing through the chuck base 17, and a nozzle is connected to one end of the air supply pipe 21. 29 is fixed, while the other end is held by a holding plate 30, which is mounted and moved by a cylinder fixed to the stand 16, so that the nozzle 29 is moved along the clamping surface of the chuck claw 18. Chuck Units 1-0 characterized by