JPS63180488A - Hydraulic pressure working device - 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] [Industrial Application Field] The present invention is a method of sequentially and continuously performing desired tasks by selectively operating a plurality of working means attached to, for example, a robot arm or the like using the pressure of a fluid such as air. The present invention relates to a fluid pressure working device that can perform the following tasks.

[Conventional technology]

BACKGROUND ART Conventionally, in order to insert electrical components of various shapes into, for example, a printed I-board, robots having a plurality of hands according to the electrical components have been developed. In order to supply compressed air, etc. to each hand installed on this robot and have each hand perform a predetermined work, a configuration in which a compressed air generator, etc. is connected to each hand is installed. Are known.

[Problem to be solved]

However, this type of robot usually consists of a multi-system fluid supply system in which each hand is connected to the compressed air generator side separately.
For example, it requires the same number of piping means as the hands, which increases the space for separate rooms and increases costs. Furthermore, in this type of robot,
This has the problem of tangles in the pipes.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional drawbacks, it is an object of the present invention to provide a fluid pressure working device that can selectively perform many types of work using two fluid supply systems.

[Means for solving problems]

That is, the present invention is a fluid pressure working device that supplies fluid to a plurality of working means provided in a robot or the like and uses the fluid pressure to continuously perform at least two types of work on a workpiece. Then, a proprietary supply system with proprietary piping for selectively supplying fluid to each of the working means and controlling the operation of the working means is collectively supplied to the other working means to perform each work. The apparatus is provided separately and independently from a common supply system with shared piping for operating the means on standby, and is provided with moving means for moving each of the working means to the working position.

[Operation] The fluid pressure working device of the present invention uses a moving means to move the insertion means to a working position in order to cause the working means to sequentially and continuously perform a series of works on one workpiece. The operation of the working means is controlled by selectively supplying fluid from the exclusive supply system to the working means, and other working means not at the working position are provided with fluid delivered from the shared supply system. A standby operation is performed before a work operation is performed on a workpiece, or a standby operation is performed after a work operation is performed on a workpiece.

〔Example〕

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

FIG. 1 shows a fluid pressure working device according to the present invention. It includes an arm l on the outer robot side, a shaft 2 rotating within the arm 1, a fixed body 3, a toric body 4, and an umbrella body 5. In this fluid pressure working device, the fixed body 3 is connected to a proprietary supply system 6 and a shared supply system 7 that constitute a two-system compressed air supply system (enclosure), and the umbrella body 5 side Compressed air is supplied through the torus 4 from the exclusive supply system 6 or the shared supply system 7 side. Note that the exclusive supply system 6 here refers to the (
This is a system for selectively supplying air to only one of a plurality of hands (described later), and the air supply operation is controlled. In addition, the shared supply system 7 is
This is a system in which air is constantly supplied from the exclusive supply system 6 to the remaining hands to which air is not supplied.

Further, the reference numeral 8 in the figure is a stopper.

The arm 1 is movably attached to the tip side of the robot body (enclosure), and is configured to move between an electrical component supply table and a printed circuit board workbench (both of which are enclosed).

The shaft 2 constitutes a moving means for sequentially rotating five hands attached to the umbrella body 5 side at fixed angular intervals, that is, at 72° intervals in this embodiment, to the working position, and is not shown in the figure. It is rotated 72 degrees each time by an external motor.

The fixed body 3 is connected to the tip sides of the exclusive supply system 6 and the shared supply system 7, and is used to selectively switch and send the air sent out from the piping of these two systems to the hand on the side of the umbrella body 5. and is fixed to arm 1. That is, this fixed body 3, as shown in FIGS. 2 and 3,
An annular fitting groove 3a is formed on the bottom side so that the upper half side of the toric body 4 is not fitted, and within this fitting groove 3a, an air flow passage 3b having a substantially U-shape and a dedicated airflow passage are formed. Road 3
C is formed. Communication passages 3d and 3e are formed on the fixed body 3 side to connect the air flow passage 3b and the exclusive delivery passage 3C to the piping portions of the common supply system 7 and the exclusive supply system 6, respectively. Note that the fixed body 3 of this embodiment has an air flow passage 3b and a dedicated delivery passage 3C on the same circumference.
However, for example, an air flow passage and a dedicated delivery passage are provided on each of double and triple concentric circles, and a hand is provided, and the fluid is controlled independently and the hands are operated separately. Of course, it is also possible to do so.

The toric body 4 has five communicating passages (circuits) formed inside it from the top side to the bottom side, and each inlet 4 on the top side
a communicates the air flow passage 3b or the air flow passage 3c with the delivery passage 3c. This toric body 4 is connected to the fixed body 3
It functions as a sealing material that prevents air leakage from the fixed body 3 side and the umbrella body 5 side.

On the outer peripheral surface of the umbrella body 5, five hands 9 constituting working means are installed at predetermined intervals, that is, at 72° intervals as described above, and on the side of these hands 9, a proprietary supply system 6 is installed. Alternatively, in order to allow air to flow in from the shared supply system 7 side, a rotating groove 5b having an inlet 5a provided on the upper surface side is formed. Inside this umbrella body 5, five flow passages 5d are formed for circulating the air flowing in from the previous inflow port 5a and discharging it from the outflow port 5c. In order to supply the air discharged from the outlet 5c to the hand 9 side, a pipe-shaped tube 5e is provided between the hand 9 and the discharge port 5C. In addition,
The lower half of the toric body 4 is rotatably fitted into the rotation groove 5b. And for each hand 9,
A chuck claw 9a is attached, and this chuck claw 9
The chuck a is configured to be kept open at all times by being biased by an elastic force by a spring (not shown), and when the compressed air flows into the hand 9 side, the chuck claw 9a closes.

In addition, in this embodiment, the working means operated by air supplied from the exclusive supply system and the shared supply system are arranged in a circle, but the construction is not limited to this. , for example, even if they are arranged in a straight line.

Therefore, using the fluid pressure working device according to this embodiment, for example, as shown in FIG.
When attempting to sequentially and continuously insert different types of odd-shaped electrical components 11 using each hand 9, the arm 1 first moves toward the supply table (circuit) side, and its chuck claws
Five different types of oddly shaped electrical parts are taken out and held. At this time, compressed air is supplied to each hand 9 from the exclusive supply system 6 or the supplied supply system 7, so that the chuck claws firmly clamp the odd-shaped electrical component 11.

Next, when arm 1 moves toward the workbench and stops,
The shaft 2 rotates by a constant angle, that is, 72 degrees, at predetermined time intervals, and the hand 9, which comes to each working position, inserts the irregularly shaped electrical component 11 into the printed circuit board 10 side with its chuck claw 9a, and then compressed air from the proprietary supply system 6 is delivered. stops, thereby opening the chuck claws 9a and releasing the odd-shaped electrical component 11.

In this way, similar operations are repeated one after another, and a total of five odd-shaped electrical components 11 are sequentially and continuously inserted into the printed circuit board IO side.

〔effect〕

As explained above, the fluid pressure working device according to the present invention controls the operation of each working means moved to a working position by the moving means by the pressure of the fluid selectively supplied from the shared supply system. Moreover, the other working means that are not in this working position perform standby operation by the pressure of the fluid constantly supplied from the shared supply system.Therefore, the fluid pressure working device according to the present invention According to the method, each work means is selectively moved to a predetermined position by a moving means by two systems of fluid, namely, a proprietary supply system that selectively supplies fluid and a shared supply system that constantly supplies fluid. It has become possible to perform operations selectively, in other words, it has become possible to perform many types of work using two systems of piping, etc., which can significantly reduce work costs and significantly reduce the size of work equipment. It is possible to

[Brief explanation of the drawing]

FIG. 1 is an exploded view showing a fluid pressure working device according to the present invention, FIG. 2 is a plan view showing a fixed body of the fluid pressure working device according to the present invention as viewed from the bottom side, and FIG. 2
4 is a partial sectional view showing the umbrella body of the fluid pressure working device according to the present invention, and FIG. 5 is an explanatory diagram showing the operation of the fluid pressure working device according to the present invention. be. 9... Hand (working means), 6... Proprietary supply system, 7... Shared supply system, 2... Shaft (transfer means). Applicant NEC Home Electronics Co., Ltd. Agent Patent Attorney Masu 1) Takeo Figure 1

Claims (1)

[Claims] 1. A fluid pressure working device that supplies fluid to a plurality of working means provided in a robot, etc., and uses the fluid pressure to continuously perform at least two types of work on a workpiece. A proprietary supply system with proprietary piping for selectively supplying fluid to each of the working means and controlling the operation of the working means is collectively supplied to the other working means to supply fluid to each of the working means. The fluid pressure system is characterized in that it is provided separately and independently from a common supply system with shared piping for standby operation of the working means, and is provided with moving means for moving each of the working means to the working position. working equipment.