JPS6131802Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a device for changing the posture of a workpiece.

Background of the invention For example, in an in-line transfer machine, machining may proceed while changing the posture of the workpiece relative to the station. When this attitude transformation is a complex three-dimensional transformation, multiple hydraulic cylinders are required as a drive source, which results in a complex structure for the equipment, and when trying to avoid interference with other equipment, the equipment becomes difficult to operate. Equipment area and space become larger. For these reasons, there is a demand for a device that can change the posture and position with a single drive device.

Purpose of the invention The purpose of the present invention is to provide a device that has a simple structure and can be miniaturized in response to the above-mentioned demands.

Summary of the Invention Therefore, in the present invention, a rotational movement for changing the posture of a workpiece and a movement movement for positioning the workpiece are extracted from the forward and backward movement of one driving means.

Configuration of Embodiment Hereinafter, the workpiece posture converting device of the present invention will be specifically described based on an embodiment shown in the drawings.

First, FIGS. 1A and 1B show the principle of changing the posture of a workpiece 2 by the workpiece posture changing device 1 of the present invention, which will be described later. The workpiece 2 is sent along the conveyance line 3, is knocked down on the way, and is guided onto the conveyance line 3 again after being rotated 90 degrees on a horizontal plane.

In order to realize this attitude change, the workpiece posture converting device 1 first rotates the workpiece 2 by about 120 degrees around the axis 4, and then moves it forward in the tilting direction to align it with the conveyance line 3. There is.
Here, the axis 4 forms an inclination angle α with respect to the conveying line 3 on the horizontal projection plane, and forms an inclination angle β with respect to the horizontal plane. In this example,
The inclination angles α and β are set to about 45 degrees and about 35 degrees, respectively. Therefore, the posture of the workpiece 2 is changed when it is rotated about the axis 4, and then it is positioned when it is translated in parallel along the axis 4.

As shown in FIGS. 2 to 6, the workpiece posture changing device 1 of the present invention has a cylindrical posture changing shaft 6 in a fixed housing 5 that can rotate and move back and forth in a state that coincides with the axis 4. At the same time, the clamping device 7 is attached to the lower end of the rod at an angle of 45 degrees, and the driving rod 8 is inserted concentrically into the attitude changing shaft 6 so as to be able to move forward and backward in a non-rotating state. The upper end of the rod 8 is connected to a driving means such as a hydraulic or pneumatic driving cylinder 9, and a spiral grooved cam 10 is formed on the circumferential surface of the lower end of the driving rod 8 at a center angle of substantially 120 degrees. The driven shaft 11 fixed by the housing 5 is exposed inside the grooved cam 10, and an L-shaped grooved cam 12 is formed in the longitudinal center portion of the attitude changing shaft 6. A driven shaft 13 fixed to the housing 5 is exposed inside the cam 12.

As shown in FIG. 4, the housing 5 is fixed to a mounting base 14, and the upper portion of the mounting base 14 holds a bracket 15. The drive cylinder 9 is fixed to its bracket 15 and connected to one end of the drive rod 8 by its cylinder rod 16. This drive rod 8
The rotation prevention is achieved by a roller 19 of a mounting bracket 18 fixed to the drive rod 8 with a nut 17 and a guide bar 20 in the direction of the axis 4 provided on the mounting base 14. At the same time, the mounting bracket 18 is secured to the drive rod 8 by the stopper 21 of the bracket 15.
The retraction limit is regulated. In addition, the shafts 11 and 13
are fixed to a mounting portion 27, which will be described later, and a side surface of the housing 5 using mounting tools 22 and 23, respectively, and are equipped with rollers 24, such as bearings, to reduce friction.
25, it is in contact with the corresponding grooved cams 10, 12. The L-shaped grooved cam 12 is composed of a portion on the circumferential surface with a center angle of 120 degrees, an attitude changing shaft 6, and a portion in the generatrix direction with a length corresponding to the entire stroke.
The parts are continuous at right angle bends.

Next, as shown in FIGS. 2 and 3, the clamping device 7 is attached to the lower end of the attitude changing shaft 6 at an intersection angle of 45 degrees on a horizontal plane using the attachment portion 27 at one end of the arch-shaped frame 26. It is being

The attachment portion 27 has a hollow convex cross-sectional shape, and a cover 28 at the tip prevents dust from entering.
The arch-shaped frame 26 forms a pair of vertical bearing tubes 29 on the left and right sides, and the pair of bearing tubes 29 move the quill 30 up and down inside the quill 30, and the clamp rod 31 inside the quill 30. It is held freely and in a non-rotating state. Plates 3 are attached to the upper and lower ends of the quill 30, respectively.
2. A bracket 33 for holding a workpiece is fixed, and a bearing sleeve is formed in the intermediate portion into which a collar 34, which is integrally fitted to the clamp rod 31, is slidably fitted. This bearing sleeve and bracket 33 also serve as an axial sliding guide for the clamp rod 31.

A stopper 54 is attached to one end of the clamp rod 31.
A spring receiver 55 is inserted between the stopper 54 and the collar 34 so as to be slidable with respect to the clamp rod 31. A first spring 35 is compressed between the collar 34 and the lower bracket 33.
4 and the upper spring receiver 55.
The second spring 36 is stronger than the spring 35 of
has been condensed. Also, for color 34, quill 30
A collar-shaped shoulder portion 34a that can be engaged with the plate 32 of
is formed.

Further, the bracket 33 has a positioning pin 37 and a catch seat 38 on the lower surface as necessary, and a clamper 39 is mounted on a support shaft 40 at a position facing these.
It is rotatably supported. This clamper 39 has its other end engaged with an interlocking hole 41 at the lower end of the clamp rod 31 in order to grip the workpiece 2 at its tip.

Two brackets 42 and 43 are provided on the upper surface of the frame 26. One bracket 42 swingably supports a Y-shaped lever 45 by a support shaft 44. One end of the lever 45 is rotatably connected to a turnbuckle-type connecting rod 48 by a pin 46, and the other end is rotatably connected to a turnbuckle-type connecting rod 48. One end of the locking rod 49 is rotatably connected to one end of a locking rod 49 by a pin 47. The locking rod 49 is slidably inserted in the axial direction while being prevented from coming off by a nut 51 with respect to a rotation shaft 50 rotatably attached to the side surface of the frame 26, and a locking rod 49 is inserted between them. A compression spring 52 is held. The compression spring 52 applies a clockwise or counterclockwise rotational force to the lever 45 via the locking rod 49. The remaining end of the lever 45 forms a circular bifurcated interlocking piece 53 which engages between a stopper 55 of the clamp rod 31 and a plate 54 at the upper end.

Further, the other bracket 43 mentioned above has a support shaft 56.
It supports a lever 57 in the shape of a square. One end of this lever 57 forms an interlocking piece 58 similar to the lever 45 and is engaged between the spring receiver 55 of the right clamp rod 31 and the stopper 54, and the other end is connected to the connecting rod 48 with a pin 59. Connected for free rotation.

The support shaft 56 is provided at both ends with an arm 60 and an input pin 61 for receiving a driving force from the outside.

On the other hand, the clamp device 7 is operated by a clamp drive device 62. This clamp drive device 62 is provided so as to be parallel to the conveyance line 3 at a position on one side of the clamp device 7.Brackets 63 and 64 are attached to a machine frame (not shown), and an operating rod is inserted between these. 65 so as to be slidable in the axial direction, and connect this to the operation cylinder 66, and engage the concave groove 67 with the transmission arm 69 fixed to the lower end of the support shaft 68, and further connect the transmission arm 70 at the upper end. is engaged with a groove 72 of the transmission rod 71, and the other groove 73 of the transmission rod 71 is configured to correspond to the input pin 61 on the receiving side of the conveyance line 3.

The transmission rod 71 is connected to the conveyor line 3 by a bearing 74.
The bearing 74 is mounted on the upper surface of an arch-shaped support frame 75. This support frame 75 is attached to a machine frame (not shown) or the like without interfering with the conveyance of the workpiece 2. Further, the upper operating rod 65 has a groove 76 at a position corresponding to the other input pin 61, that is, at a position substantially symmetrical with respect to the axis 4. This groove 76 acts on the input pin 61 on the delivery side of the conveyance line 3 after the attitude of the workpiece 2 is changed.

Effect of the embodiment Next, the effect will be explained.

First, the check operation is performed as follows. That is, when the workpiece 2 is transported and comes below the clamping device 7, the operation cylinder 66
is activated to pull the operating rod 65 to the right in the drawing of FIG.
The transmission arm 70 then rotates counterclockwise, moving the transmission rod 71 to the left in FIG.
This linear motion of the transmission rod 71 is converted into a clockwise rotational motion of the arm 60 in FIG. Furthermore, this rotational movement is transmitted by the connecting rod 48 to the Y-shaped lever 45 as a counterclockwise rotation.

Now, FIG. 7a shows the standby state, and the lever 45
is in a standby position in contact with the stopper 54 of the clamp rod 31, and the spring receiver 55 is pressed against the interlocking piece 53 of the lever 45 by the force of the second spring 36. Furthermore, since the shoulder portion 34a of the collar 34 is engaged with the plate 32, the quill 30 is in a lifted state, and therefore the clamper 39 at the lower end is held in an unclamped state.

When the lever 45 rotates counterclockwise, the interlocking piece 53 of the lever 45 is pressed against the stopper 54 by the force of the second spring 36.
The clamp rod 31 is lowered together with the interlocking piece 53. The quill 36 also descends with its own weight, but at the intermediate position of the lever 45, the bracket 33
When it comes into contact with the upper surface of the workpiece 2 below, it stops.
FIG. 7b shows this intermediate state, in which the first spring 35 is activated to prevent the clamper 39 from being clamped before the bracket 33 comes into contact with the workpiece 2. The relative position is held constant.

Then, when the lever 45 further rotates counterclockwise, the quill 30 hits the upper surface of the frame 26 and remains stopped, and only the clamp rod 31 compresses the first spring 36 and descends, and the clamp rod 31 is moved downward by the interlocking hole 41. 39 in the counterclockwise direction with respect to the one on the left in FIG. 3, and clockwise with respect to the one on the right. In this way, the left and right brackets 33 and the clamper 39 clamp the workpiece 2 while regulating its posture with the positioning pin 37.

FIGS. 7c and 7d show this clamping state. At this time, the second spring 36 is also slightly bent, and the clamping force of the clamper 39 is applied by the force of this spring 36. In addition, this second spring 36 acts to absorb the variation in thickness of the workpiece 2 between the left and right clamp parts, so that a strong clamping force is always maintained between the bracket 33 and the clamper 39. Retained. This clamped state is locked by a compression spring 52. That is, when the pin 47 is on the left side of the line connecting the support shaft 44 and the rotation shaft 50 in FIG.
When the lever 45 crosses that line and comes to the right, the lever 45 is subjected to an opposite rotational force in the counterclockwise direction by the compression spring 52. In other words, the above line is an approximate toggle mechanism consideration for the locking rod 49.
Since the counterclockwise rotational force of the lever 45 always acts to push down the clamp rod 31, the clamper 39
The workpiece 2 is firmly self-grasped with a predetermined pressing force due to its elasticity.

After this, the posture change operation is started. First, the drive cylinder 9 is activated, pushing out the cylinder rod 16 and moving the drive rod 8 forward. In the first half of the stroke S1, the spiral grooved cam 10 of the drive rod 8 acts on the shaft 11 to rotate the mounting portion 27 and the attitude changing shaft 6 approximately 120 degrees clockwise in FIG. 5. At this time, the reaction force of the drive rod 8 is received by the roller 19 of the mounting bracket 18 and the guide bar 20, so that the drive rod 8 itself does not rotate. In addition, the posture conversion axis 6 is
As the roller 25 rolls on the circumferential groove of the L-shaped grooved cam 12 shown in FIG. 6, it is restrained in the axis 4 direction with respect to the housing 5 and is only allowed to rotate. The attitude changing shaft 6 rotates the clamping device 7 and the workpiece 2 about the axis 4 for changing the attitude, thereby performing a predetermined attitude change. Of course, as described in FIG. 1, this attitude change is a conversion movement in which the work 2 is turned over and rotated 90 degrees on a plane. After this conversion, the workpiece 2 and the clamping device 7 are at a position slightly below the position indicated by the two-dot chain line in FIG.

Subsequently, when the drive rod 8 enters the second half stroke S2 for positioning operation, the attitude changing shaft 6 moves forward together with the drive rod 8. That is, since the attitude changing shaft 6 is rotating during the first half stroke S1, the roller 25 is at the bending point of the L-shaped grooved cam 12, and the attitude changing axis 6 is rotated.
is in a state that allows forward movement in the direction of axis 4. on the other hand,
After the stroke S1, the drive rod 8 comes into contact with the roller 24 at the end of the spiral grooved cam 10, and pushes the shaft 11 in the forward direction.
At this time, the attitude changing shaft 6 is connected to the grooved cam 12 and the roller 25.
and shaft 13 to prevent rotation. In this way, the clamping device 7 moves in the direction of the axis 4,
The workpiece 2 being clamped is carried along the conveyance line 3 to the position indicated by the two-dot chain line in FIG. 2 and stopped. This state of completion of forward movement can be detected by, for example, the amount of movement of the mounting bracket 18 using a limit switch (not shown) or the like.
Moreover, in this stopped state, the input pin 61 on the right side in FIG. 2 is just inside the groove 67.

After this, the anti-yuck operation begins. First, the operating cylinder 66 moves forward from the retreated position to push the operating rod 65 toward the upper left in FIG. let Therefore, the interlocking pieces 53, 58 of the levers 45, 57 engage with the stopper 54, and the clamp rod 31 is moved between the two.
The clamp rod 31 is moved in the direction of the dotted chain arrow, and the clamp rod 31 during this movement performs an operation opposite to the above-mentioned clamping operation. First, the clamper 39 is rotated to release the gripping state, and then the shoulder portion 34 of the quill rod 31
a engages with the plate 32 of the quill 30 to lift the quill 30 and move the bracket 33 away from the workpiece 2. In this way, the anti-yuck operation is completed.

After these series of operations, the drive cylinder 9
moves the drive rod 8 backward, so its attitude changing shaft 6 is driven by the drive rod 8 and the stroke S
After retracting by 2, it pivots during the stroke S1 and returns the clamping device 7 to its original position. Therefore, the clamping device 7
, and then prepares for operation.

Modifications of the Idea In the above embodiment, the driving means is constituted by the driving cylinder 9, but the driving means may also be constituted by combining a motor and a feed screw rotated by the motor. Further, the shaft 11 and the grooved cam 10, and the shaft 13 and the grooved cam 12 may be provided in the housing 5 and the attitude changing shaft 6, and the attitude changing shaft 6 and the drive rod 8, respectively, in a relationship opposite to that shown in the drawings. Furthermore, the clamping device 7 is not limited to the structure of the embodiment, and may be replaced with other known devices. Furthermore, the inclination angles α and β are
Since the angle should be set appropriately depending on the mode of posture change, it is naturally not specified to the angle value of this embodiment.

Effects of the invention According to the invention, since the linear motion of the drive rod is converted into the turning motion and forward/backward motion of the attitude change axis, only one driving hand is required, and the device can therefore be made simple and compact. In addition, since the series of turning and forward/backward movements perform posture changing axis operations and positioning operations to bring the workpiece closer to the conveyance line, it is possible to convey the workpiece in a straight line.

[Brief explanation of drawings]

FIG. 1A is a plan view showing the principle of changing the posture of a workpiece, FIG. 1B is a side view, FIG. 2 is a plan view of the workpiece posture changing device of the present invention, and FIG. 3 is a front view of the clamping device. Fig. 4 is a vertical sectional view of the attitude change axis portion, Fig. 5 is a sectional view taken along the - line in Fig. 4,
FIG. 6 is a sectional view taken along the - line in FIG. 4, and FIGS. 7a, b, c, and d are sectional views of essential parts for explaining the clamping operation. 1...Work posture conversion device, 2...Work, 3
...Transfer line, 4...Axis line, 5...Housing, 6...Position changing axis, 7...Clamp device, 8
... Drive rod, 9 ... Drive cylinder as drive means, 10 ... Spiral groove cam, 11 ...
Shaft, 12... L-shaped groove cam, 13... Shaft.

Claims (1)

[Scope of utility model registration request] A cylindrical attitude changing shaft is inserted into the housing at a predetermined angle of inclination with respect to the workpiece conveyance line and the horizontal plane so that it can rotate and move forward and backward, and a clamp device is attached to the tip of the attitude changing shaft at a predetermined angle of intersection. At the same time, a drive rod that is not rotated relative to the housing is inserted into the interior of the attitude changing shaft so as to be rotatable and retractable, and one end of the drive rod is connected to a drive means attached to the housing,
Further, a spiral grooved cam is formed on one of the above-mentioned driving rod and the attitude changing shaft, and a shaft that engages with the above-mentioned spiral grooved cam is provided on the other; One of them is formed with an L-shaped grooved cam, and the other is provided with a shaft that engages with the L-shaped grooved cam, and the driving means drives the driving rod forward and backward to drive the spiral groove. A workpiece posture changing device characterized in that a turning movement and a forward/backward movement are applied to the posture changing shaft through a cam and an L-shaped grooved cam.