JPS6224938A - Robot device - Google Patents

Abstract

PURPOSE:To enable an attitude to be changed for a work, by providing hold pawls, opened by advancing a piston to hold the work while closed by retracting the piston to release the work from its holding, and constituting a device such that a link mechanism, equipped with the hold pawls, is turned about an axis. CONSTITUTION:When no pressurized fluid is supplied to a pressure port 5, a device, pressing a piston 9 leftward by pressing force of a spring 16 and opening hold pawls 28, 29 by a link mechanism 22, holds a work W. In this way, the device, setting the work to a jig next rotating the link mechanism 22 about an axis with the piston 9 by driving a motor 1, clamps the work to the jig, thereafter the device, supplying pressure fluid to the pressure port 5 and retracting the piston 9 rightward, actuates the pawls 28, 29 to approach and releases the work from its holding. Next the device, reversing the motor 1 for a predetermined time while the piston 9 and the link mechanism 22 and separating from the jig, returns to the initial position. Accordingly, the device is enabled to correspond to a change of a work holding position by rotating the hold pawls.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a robot device that automatically attaches and detaches a workpiece to and from a jig of a machine tool.

(Prior art) Conventionally, in a work loading robot device that automatically loads a work onto a machining table such as a machining center, a hold claw as a work holding member is attached to a link mechanism operated by hydraulic or pneumatic supply. The robot device holds the workpiece or releases the workpiece holding by opening and closing the hold claws, and the robot device moves to the loading position while maintaining this posture to load the workpiece onto the jig or remove the workpiece after processing. It is carried out.

(Problems to be Solved by the Invention) However, such conventional robot devices have the following problems because they have a structure in which the posture cannot be changed when loading or unloading a workpiece. Ta.

■When changing the position of the workpiece during machining, it is necessary to stop the machining and return the workpiece to its initial position.

■If you change the machining shape of the workpiece, you will need to modify the robot side.

■There are chips attached to the processed workpiece.

There is no way to remove this with conventional equipment.

It is necessary to manually remove chips after removing the workpiece.

(Means for Solving the Problems) The present invention has been made in view of such conventional problems, and it is possible to change the posture with respect to the workpiece and to remove chips attached to the workpiece. The purpose is to provide a robotic device for workload loading, for which purpose, in a rotating sleeve rotated by an oscillating motor,
An actuator piston that moves forward with the pressure of a spring and retreats with pressure supplied from the outside is built into the actuator piston so that it can slide freely in the axial direction, and when the piston moves forward, it opens to hold the workpiece, and when the piston moves back, it closes and releases the hold on the workpiece. The link mechanism is configured to be rotated around an axis by the drive of a swing motor.

(Example) Hereinafter, an example of the present invention shown in the accompanying drawings will be described.

First, to explain the configuration, 1 is the control circuit of the robot device (
The rotary output shaft 1a is inserted into the rotating sleeve 2 from one end and is connected to the rotating sleeve 2 by a lock key 3 so as to rotate together with the rotating sleeve 2. Rotating sleeve 2 is case 4
A pressure boat 5 is provided on the outer circumferential surface of the rotary sleeve 2, which is rotatably incorporated in the inner surface of the case 4 and slides into contact with the inner surface of the case 4, and is perforated perpendicularly to the axial direction from the outer surface to the inner surface of the case 4. Correspondingly, a pressure supply groove 6 is formed and on both sides thereof circumferential grooves are provided at axial intervals, in each of which an O-ring 7.8 is fitted as a sealing means.

Inside the rotating sleeve 2, an actuator piston 9 is provided.
The rear part is slidably assembled in the axial direction. A pressure groove 11 that communicates with the pressure boat 5 via a passage 10 bored in the one-turn sleeve 2 is provided on the outer circumferential surface of the piston 9 in a portion that slides inside the rotating sleeve 2. An axial passage 12 of a predetermined length is bored from the rear end along the central axis, and communicates with the pressure groove 11 through a passage 13 bored perpendicularly from the pressure groove 11 toward the central axis. ing. The tip of the axial passage 12 extends toward the outer surface of the piston 9 and communicates with the outside.

A portion 2a of the rotary sleeve surrounding the front part of the actuator piston 9 has a larger diameter, and is coupled between this portion 2a and the piston 9 by a detent key 14 so as to rotate together with the rotary sleeve 2. A second rotating sleeve 15 is incorporated. The actuator piston 9 has a large diameter portion 9a formed to be slidable on the second rotary sleeve 15, and has a large diameter portion 9a that is slidably formed on the second rotary sleeve 15.
It is pressed in the forward direction (to the left in the figure) by a coil spring 16 disposed between.

A separate case 17 fitted into the case 3 surrounds the portion 2a of the rotating sleeve surrounding the front part of the actuator piston 9.
A buffer spring 18 is disposed between the front end of the first rotating sleeve 2 and the second rotating sleeve 15, and a cover 19 covers the buffer spring 18. Further, another cover 20 is fixed to the front end of the second rotary sleeve 15 by a screw 21, and the tip of the seven cutter piston 9 passes through the center thereof in a slidable manner.

A link mechanism 22 having a hold claw for holding a cylindrical work W shown in FIG. 1, for example, is connected to the tip of the actuator piston 9. Link machine $22
A pair of arms 24, 25 whose base ends are rotatably connected to the tip of the piston 9 by a pin 23, and a pair of hold claws 28, 25, which are connected to each arm by pins 26, 27, respectively.
The holding claws 28 and 29 are opened and closed by the axial movement of the piston 9, and engage with the inside of the workpiece W in the open position as shown in FIG. 1 to hold the workpiece.

The operation of the link mechanism 22 will be explained with reference to FIG. 2. When the actuator piston 9 and the connecting pin 23 are moved forward, the link mechanism 22 opens the hold claws 28 and 29 as shown in FIG. 2(a). When the workpiece can be held and the actuator piston 9 and the connecting bin 23 are retracted, the holding claws 28 and 29 are closed to release the workpiece holding, as shown in FIG. 3(b).

Next, the operation of the above embodiment will be explained according to the control procedure illustrated in FIG.

First, when pressurized fluid (pressurized oil or pressurized air) is not supplied to the pressure boat 5 of this device, the actuator piston 9 is pushed to the left by the pressing force of the spring 16, so the link mechanism 22 has a hold claw. 28.Open 29 and hold the workpiece W.

In this state, the robot device moves toward the jig of the machine tool as shown by the arrow ■ in FIG. 3, and sets the workpiece on the jig at point A. Thereafter, as shown by the arrow ■, by rotating the rotary sleeves 2 and 15 with the drive of the motor 1, the link mechanism 22 is rotated around the axis together with the actuator piston 9, and the hold claws 28 and 29 are rotated.
Clamp the workpiece W held by the jig to the jig. After checking the clamp at point B, release the workpiece holding.

That is, by supplying pressurized fluid to the pressure boat 5 from an external fluid source, the pressurized fluid is supplied to the supply groove 6, the passage 10,
Pressure groove 11. 7 through passage 13 and axial passage 12
It reaches the outside from the front part of the cutuator piston 9, and causes the piston 9 to retreat rightward in the figure against the pressing force of the spring 16.

As a result, the hold claws 28 and 2 of the link mechanism 22
9 approach each other and close to release the workpiece holding. Then, by reversing the motor 1 for a predetermined time with the actuator piston 9 retracted, the actuator piston 9 and the link mechanism 22 are reversed around the axis as shown by the arrow ■ in FIG. The device begins to move away from the machine tool jig as shown by the arrow ■.
Attachment of the workpiece to the jig ends when it returns to the initial position of 0 or more.

When processing of the workpiece is completed, the robot device follows the procedure in reverse to the above, moves forward to the jig position, and opens the holding claws 28 and 29 to hold the workpiece. Next, the actuator piston 9 and the link mechanism 22 to release the clamp on the workpiece, and as the workpiece rotates, the chips adhering to the workpiece are shaken off.Then, by holding the workpiece and retreating from the machine tool, the workpiece is removed from the jig. Remove.

Although the embodiments have been described above, the present invention is not limited thereto.For example, the link mechanism and the holding claw are not limited to those shown in the drawings, and the workpiece can be held or released by movement of the actuator piston. It is fine as long as it can be done.

(Effects of the Invention) As described above, the robot device of the present invention slides in the axial direction an actuator piston that moves forward by the pressure of a spring and retreats by pressure supplied from the outside, in a rotating sleeve rotated by a swing motor. A link mechanism is installed that is movable and has a hold claw that opens to hold the workpiece when the piston moves forward and closes to release the workpiece holding when the piston moves backward.
Since it is configured to rotate around the axis by the drive of a swing motor, even if the posture of the workpiece changes during machining and the holding position changes, the holding claw can rotate to accommodate changes in the holding position. There is no need to return the workpiece to its initial position, and changes in the machining shape of the workpiece can be handled by changing the workpiece holding position around the axis.

Furthermore, by rotating the workpiece, adhering chips can be removed, thereby eliminating the need for conventional manual removal work.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of a robot device according to an embodiment of the present invention, FIG. 2 is an explanatory diagram of the operation of a workpiece holding mechanism, and FIG. 3 is a diagram showing an example of a control procedure. 1---One swing motor. 2-m-one-turn sleeve, 3-row one-turn lock key, 4-row one case, 5--one pressure boat, 6----pressure supply groove. 9--row one actuator unit tabiston, 12--uniaxial passage, 14--single stop key. 15---One-turn sleeve. 16--- Spring. 17----Case, 22--Link mechanism, 23.26.27--Series connection pin, 24.25--Arm. 28.29---Hold claw, W-row one work.

Claims (1)

[Claims] A swing motor, a rotary sleeve rotated by the motor, an actuator piston that is slidably incorporated in the rotary sleeve in the axial direction and moves forward by pressure from a spring and retreats by pressure supplied from the outside, and the piston. A robot device comprising: a link mechanism having a holding claw that opens to hold a workpiece when the piston moves forward and closes to release the workpiece holding when the piston moves backward.