JPS6234786A - Article gripping shifter - 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 [Field of Industrial Application] The present invention is an article gripping and transferring device, and more specifically, an article gripping and transferring device, which moves an article gripped by a clamp head in the R direction along an arm, and rotates the arm. In an R-θ robot mechanism that is moved in the θ direction by motion, an article gripping and transferring device is provided with a clamp head rotation mechanism that rotates the article at a gripping position.

[Conventional technology]

As shown in Fig. 1, in order to transfer the article 1 at the work position of polar coordinates (Ro, O) to the position ■ of polar coordinates (Ro, θ), it is sufficient to rotate the arm by an angle θ, and then In order to move to the position ■ of the polar coordinates (R1, θ), it is sufficient to operate along the arm from Ro to R1. Transporting goods like this? The HM is known as an R-θ robot mechanism, which is widely used because it has a simple mechanism and easy calculation control.

(Problem to be solved) However, if the transfer is carried out due to a simple R-θ robot lff situation, the transfer of the article 1 will rotate by an angle θ, as shown in the same example, and, for example, in an automatic processing machine, etc. This is extremely undesirable if the object is to be used for hanging.In order to avoid this, as shown at position ■ in Fig. )
You just have to rotate it.

Conventionally, for this purpose, a timing bell 1- is hung on the clamp support shaft of the article 1, or a link im is constructed to interlock with the arm of the R-θ robot 1-mechanism, and the rotation angle of the arm is equal to θ. A mechanism has been considered in which the gripping shaft is rotated in the opposite direction by an angle, but in this case, there is a risk that the mechanism will interfere with the movement of the original R-θ robot 1 ~ mechanism, and the mechanism will not work as a whole. There is a drawback that it is a WIN.

Recently, devices have also appeared that are equipped with a dedicated drive motor for rotation through this angle α, but the control system is still required for the drive of that motor. ! It had the disadvantage of being sloppy.

(Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention includes an R movement mechanism that linearly moves a clamp head that grips an article to be transferred along an arm, and a main rotation mechanism that moves the arm. In an R-θ robot mechanism having a θ movement mechanism that rotates around an axis, a fixed sun gear is coaxially fixed to the main rotation axis, and a frame base that supports the arm is rotatable. a Ti star mfI having the same number of teeth that is rotatably supported on the frame base and engaging with the fixed sun gear; and a Ti star mfI having the same number of teeth that is rotatably supported on the frame base and engaging with the Ti star wheel. Clamp head rotation #Ii #I including a clamp head rotation gear and a gear train that transmits the rotation of the clamp head rotation gear to a clamp head rotation support shaft fixed to the clamp head is provided. It provides the article gripping and transferring %l1ff with the following characteristics.

[Effect]

θJl of R-θ robot mechanism! When the frame base rotates by an angle (10θ) due to movement, the clamp head rotates by the clamp head rotation mechanism! ll #ji car, since the clamp head that grips the long straw object rotates by an angle (-〇), the original frame base rotates by an angle (10θ), resulting in the phase of the object being received. The changes cancel out.

(Embodiment) An embodiment of the present invention will be described with reference to FIGS. 2 to 5.

First, the structure of the apparatus of this invention will be explained with reference to FIG. Is it true that the Ji1 diagram is drawn for convenience and is not a representation of how the machine actually operates? I want to take a breather.

The article 1 is gripped by a clamp head 2, and the clamp head 2 is reciprocated in the R direction indicated by the arrow by an R movement mechanism 3. This R movement mechanism 3 etc. is the elevating mechanism 5.
The whole body including each of these mechanisms is given a rotational motion by an angle θ by the θ movement mechanism 4. Furthermore, the clamp head 2 is rotated by an angle α around the YY axis, which is its own rotation axis. A clamp head rotation mechanism 6 is provided, which is the main element of the invention.

Below, the above-mentioned clamp head 2, R luck! ! ! The 1lII mechanism 3, the θ movement mechanism 4, the elevation II mechanism 5, and the clamp head rotation mechanism 6 will be explained in order.

In FIG. 4, the clamp head 2 has a substantially flat plate shape, and grips the article 1 by means of a plurality of vacuum suction cups 21 provided on its lower surface. At its center position, the clamp head 2 is removably attached to a clamp head rotation support shaft 23 that is rotatably supported by a clamp head support a136 of a Ryi movement mechanism 3, which will be described later. In addition,
Reference numeral 22 indicates an empty suction tube f0.Next, the R motion B@3 will be explained. The arm 31 is the arm 31 which will be described later. It is slidably supported by a slide guide 32 that is mounted on a frame 51 (FIG. 3) of the flywheel structure 5. A feed nut 34 is attached to this arm 31, and by engaging with a feed screw shaft 33 extending in the R movement direction, it is moved forward and backward in the axial direction as the feed screw shaft 33 rotates. .

The rotating part a of this feed gradient shaft 33 is directly connected to its base, and if you trace it, it is a rotating part like a pulse motor! 1i
It is lJ E-ta 35.

A clamp head support section 3G is provided at the tip of the arm 31, and as described above, the clamp support shaft 23 of the clamp head 2 is rotatably supported here.

Next, the θ motion line groove and the lending/unloading mechanism 5 are shown in FIGS. 3 and 4.
This will be explained with reference to the figures.

As shown in FIG. 3, the disc-shaped frame base 4'l has support rollers 4 that are in contact with its outer circumference at equal parts 3B.
2, and is rotationally driven by a drive motor 44 via a frame base rotation shaft 43.

A plurality of lowering guide shafts 52 are erected on the frame base 41 in parallel with the main rotation axis Oo, and are guided by the lowering guide shafts 52 in the vertical direction W! A frame 51 is provided to allow the user to work. Also, a spline shaft 54 rotatable around its own axis is attached to the frame 51 in parallel with the main rotation axis OO.
It is tied through.

Next, we will explain the clamp head depression, which is an important element of this invention.

A fixed sun gear 61 is fixedly installed below the frame base 41 coaxially with the main rotation axis OO, and the axis of the planetary gear 62 that engages with this gear extends parallel to the main rotation axis.
The other planetary gear 63 is fixed to the end of the planetary gear 63.

However, the 31 star teeth $63 of the lever mesh with the clamp head rotating gear 64, which is attached to the lower end of the spline shaft 54 mentioned earlier, to form a single T1 star gear mechanism.

A helical gear m8165 is slidably provided on the spline shaft 54, and another helical gear 66 that engages with this helical gear 65 is slidably mounted on a spline shaft 67 extending parallel to the feed screw shaft 33 of the R moving machine 13. provided.

The end of this spline shaft 67 near the clamp head 2 Gi? ! Number 1li68A, 688.68C.

68D (to be collectively referred to as teeth!$168) are provided in a mating relationship as shown in FIG. The rear end 111i118680 is fixed to the clamp head rotation support shaft 23 of the clamp head 2, and is rotated as the spline shaft 67 rotates.

[Operation explanation] Next, the operation of this invention will be explained.

Now, let us consider the case where the frame base 41 of the zero movement mechanism 4 is rotated about 81 counterclockwise when FIG. 4 is viewed from above the main rotation axis oo. Although the frame constituent members are omitted in No. 40, if you also refer to Fig. 3, the frame base 4
1 is integral with the frame 51 and therefore the slide guide 32 of the R movement mechanism 3, so the arm 31 of the R movement mechanism 3 similarly rotates counterclockwise.

In this case, as can be seen from the explanation with reference to FIG. Rotate by the same angle as the rotation angle. In this way, the article 1 gripped by the clamp head 2 can cancel out its own phase change caused by the θ movement mechanism,
It returns to its original position.

Both helical gears 65 and 66 are activated in the case #A when the elevating cylinder 53 operates and the frame 51 moves up and down because of the spline shaft 54, and when the arm 31 of the R movement mechanism 3 moves back and forth because of the spline shaft 67. The meshing of the two is ensured.

〔effect〕

According to this invention, when the frame base rotates by a certain angle due to the θ movement of the R-θ robot mechanism, the clamp head rotation gear grips the object by the clamp head rotation vJaM4. Since the clamp head rotates in the opposite direction by an assumed angle, the change in phase experienced by the article as a result of the original rotation of the frame base by a certain angle is canceled out. It has the effect of being extremely useful for transferring work, etc.

[Brief explanation of the drawing]

Figure 1 is a simplified plan view illustrating the transfer of articles by the R-θ robot I-n structure, Figure 2 14 is a perspective view illustrating the configuration of this inventive device, and Figure 3 is a mechanical relationship of this inventive device. Figure 4 is a perspective view of the device of this invention, and Figure 5 is a side view of the device. FIG. 1 is a plan view for explaining the operation of the l-gear mechanism. DESCRIPTION OF SYMBOLS 1... Article, 2... Clamp head, 3... R movement alOI structure, 31... Arm, 4... θ movement l ;! I structure, 711... Frame base, 5...'i'fH mechanism, 54... Spline shaft, 6... Clamp head rotation mechanism, 61・・・・・・
・・Fixed thick RA gear, 62.63 ・・Planetary gear, 64 ・・・Clamp head rotating gear, 65.66
．． 88...Gear train. Applicant NEC J%-Mu Electronics Co., Ltd. Agent Patent Attorney Masu 1) Takeo No. 3! ! l Figure 4

Claims (1)

[Claims] 1. A clamp head (
2) along an arm (31), and a θ movement mechanism (4) that rotates the arm around a main rotation axis (00). In the mechanism, a fixed sun gear (61) coaxially fixed to the main rotating shaft, and a fixed sun gear rotatably supported by a frame base (41) supporting the arm and engaged with the fixed sun gear. planetary gears (62, 63) having the same number of teeth, a clamp head rotating gear (64) having the same number of teeth, which is rotatably supported on the frame base and engaged with the planetary gear; A clamp head rotation mechanism (6) including gears (65, 66, 68) that transmits rotation of the head rotation gear to a clamp head rotation support shaft (23) fixed to the clamp head is provided. Characteristic article gripping and transferring device. 2. Some gears (65) of the gears are provided so as to be slidable along a spline shaft (54) parallel to the main rotation axis, and further the arm (31) is attached to the frame base (4).
2. The article gripping and transferring device according to claim 1, further comprising an elevating mechanism (5) for moving the article along the direction of the main rotation axis relative to the article (1).