JPS6325074Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a device that automatically carries a workpiece into and out of a workpiece transfer device.

<Prior art> In robots that transport workpieces in and out, the machined workpieces are taken out from the processing position and transferred to a delivery conveyor, etc., and then the unprocessed workpieces are carried into the processing position. was. Therefore, the unprocessed workpiece cannot be brought in until after the processed workpiece has been taken out, so it takes time to bring in and take out the workpiece, and during that time the machining of the workpiece is interrupted. There was a problem that wasted time without involvement increased and machining efficiency decreased.

In addition, in order to shorten the time required for loading and unloading, a rotary table equipped with workpiece holders at required pitch intervals on the circumference was used to allow loading and unloading of workpieces during machining. However, in conventional robots, the robot has only one set of gripping jaws, so the unprocessed workpiece gripped by the gripping jaws is positioned on the rotary table that indexes and rotates to the loading position, and the jaws are opened. to carry the workpiece into the workpiece holding section, raise the gripping claws, move the gripping claws to the processed workpiece unloading position, lower the gripping claws, and then close the gripping claws to remove the processed workpiece. This required many cycles of grasping the object, which also wasted time.

<Purpose of the invention> The purpose of the invention is to enable a robot to simultaneously carry in and out unprocessed and processed workpieces to and from a rotary table or other rotating workpiece transfer device, thereby speeding up the workpiece loading/unloading cycle. This significantly shortens the time required.

<Structure of the invention> The characteristic structure of the invention is that a rotary table is rotatably supported around a vertical axis so that its periphery passes through a machining position, a workpiece loading position, and a workpiece unloading position. A holding part for holding a workpiece is formed equally on the circumference at pitch intervals between a workpiece loading position and a workpiece unloading position, and a drive motor is provided to rotationally index the rotary table at the pitch interval, and the tip of the arm is A robot is provided to move the workpiece to the workpiece carry-in position and the workpiece carry-out position, and a support member equipped with an opening/closing cylinder device is provided at the tip of the arm of the robot, and the support member is rotatable between the pair of gripping claws. gripping portions are formed at both ends of the pair of gripping claws for gripping the workpiece with the same spacing as the pitch interval, and actuating pieces extend from the middle of the pair of gripping claws, and each actuating piece Guide elongated holes that intersect in an X-shape with different inclination directions are formed in the two, and engaging pins that engage with each of the guide elongated holes are fixed to the tip of the piston rod of the opening/closing cylinder device.

<Examples> Examples of the present invention will be described below based on the drawings.
In FIG. 1, reference numeral 1 denotes a rotary table as a workpiece transfer device. The rotary table 1 has holding parts for the workpiece W divided equally around the circumference at a predetermined pitch interval _l1 , and is indexed and rotated at the pitch interval _l1 . The index rotation mechanism of this rotary table 1 is the fourth
As shown in the figure, a rotating shaft 22 is rotatably supported on a support base 29 around a vertical axis.
The rotary table 1 is fixed concentrically thereon. Further, a driven gear 25 is concentrically fixed on the rotating shaft 22, and a driving gear 24 rotated by a driving motor 23 fixed to a support base 29 meshes with the driven gear 25. A rotating disk 26 is fixed to the drive gear 24, and a dog 27 is protruded from the surface of the rotating disk 26 to face a proximity switch 28 fixed to a support base 29. Therefore, the rotary table 1 is indexed and rotated by the drive motor 23, the drive gear 24, and the driven gear 25 by the dog 27 and the proximity switch 28, and the workpiece W is transferred at pitch intervals _l1 . The pitch interval
A machining position P _W of the workpiece W, a take-out position P _O of the machined workpiece W, and a carry-in position P I of the unprocessed workpiece W are arranged on the rotary table ₁ which is indexed and rotated at l ₁ . and the pitch distance between the take-out position P _O and the carry-in position P _I is l ₁
are placed next to each other. Further, at the processing position _PW , the workpiece W is processed by the processing head 2 for, for example, induction hardening.

3 is a robot that transports the unprocessed workpiece W carried by the carry-in conveyor 30 to the carry-in position P _I of the rotary table 1, and transfers the processed workpiece W to the take-out position P _O of the rotary table 1. Unloading conveyor 3
1 to be transported and carried out.

This robot 3 has a first arm 5 that moves vertically and pivots on a base 4, and a second arm 6 that pivots with respect to the first arm 5. A work head 7 for gripping an object W is provided. The work head 7 is positioned at the carry-in conveyor 30, the carry-in position P _I on the rotary table 1, the take-out position P _O , and the carry-out conveyor 31 by the rotation of the first and second arms 5 and 6.

Therefore, the work head 7 is connected to the rotary table 1.
A gripping claw 8 has two sets of gripping parts 9a and 9b with a pitch interval _l2 that is the same as the pitch interval _l1 of the holding part of the upper workpiece W, and opens and closes the gripping parts 9a and 9b alternately.
a, 8b.

A specific example of the construction of this working head 7 will be explained with reference to FIGS. 2 and 3. A support block 18 is provided on the lower surface of the tip of the second arm 6 of the robot 3 to enable rotational positioning around the vertical axis. A support member 10 extending from the tip of the arm 6 is fixedly provided. The center portions of the pair of gripping claws 8a and 8b are pivotally supported on this support member 10 on a pivot shaft 11 having a vertical axis. This gripping claw 8
gripping portions 9a facing both ends of a and 8b, respectively;
9b is formed, and by swinging the gripping claws 8a and 8b using the pivot shaft 11 as a fulcrum, when one gripping portion 9a is closed, the other gripping portion 9b is opened, so that an alternate opening and closing operation is performed. It's summery. The opening/closing mechanism for the gripping claws 8a, 8b is such that the support block 18 is provided with an opening/closing cylinder 14, into which a piston 15 that moves forward and backward in the horizontal axis is fitted, and a piston rod 16 integrated with the piston 15 is fitted. An engagement pin 17 having an axis parallel to the pivot shaft 11 is fixed to the tip. On the other hand, gripping claw 8
T-shaped actuating pieces 12a, 12b extend toward the piston rod 16 side at the center, which is the pivot point of a, 8b. Guide slot 13
a and 13b, and each guide slot 13
This is a structure in which the engagement pin 17 is engaged with a and 13b. In Fig. 3, 19 is a pressure air source, 2
0 indicates a switching valve provided on a pipe between the pressure air source 19 and the front and rear chambers of the opening/closing cylinder 14, and 21 indicates an exhaust muffler.

Next, the operation of the present invention will be explained. The rotary table 1 is rotated and indexed counterclockwise at an angle of pitch interval l ₁ as shown by the arrow in Fig. 1, and the unprocessed workpiece W carried in at the carry-in position P _I is moved to the processing position.
Sequentially transfer to P _W and take out the processed workpiece W
Sequentially transferred to P _O. Therefore, when the machined workpiece W is taken out at the take-out position _PO , the holding portion of the workpiece W at that location becomes empty, and the rotary table 1 is indexed and rotated to be positioned at the carry-in position P _I.

The robot 3 that carries the workpiece W into and out of the rotary table 1 performs the following operations.

At the same time, the holding part for the empty workpiece W at the carry-in position P _I is indexed, and at the same time, the processed workpiece W to be taken out next is located at the take-out position P _O. In this state, the second arm 6 turns in the direction of the carrying-in conveyor 30, closes the gripping portion 9a of one of the gripping claws 8a and 8b, and grips the unprocessed workpiece W on the carrying-in conveyor 30. To close this one grip part 9a,
As shown in FIG. 2, by moving the piston 15 forward, the engagement pin 17 and the guide elongated holes 13a, 1
Due to the inclination angle of 3b, the gripping claws 8a and 8b are swung about the pivot shaft 11 in a direction in which the facing surfaces of one gripping portion 9a approach each other. As a result, the other grip portion 9b is opened so that the facing portion thereof is separated from each other.

The operating head 7, which grips the workpiece W on the carry-in conveyor 30 described above, is positioned at the carry-in position P _I on the rotary table 1 by rotating the second arm 6 by 90 degrees counterclockwise in FIG. At this time,
Since the pitch interval l ₂ between the gripping parts 9a and 9b is the same as the pitch interval l 1 of the holding part of the workpiece W on the rotary table ₁ , the other open gripping part 9b is positioned corresponding to the take-out position P _O. Ru. In this state, by retracting the piston 15, one of the gripping parts 9a
is opened and the unprocessed workpiece W is carried into the empty workpiece W holding part on the rotary table 1 located at the carry-in position P _I , and at the same time the other grip part 9b
closes and grips the machined workpiece W at the take-out position P _O. Thereafter, the second arm 6 is shown in FIG.
Further, the work head 7 is rotated 90 degrees counterclockwise to position it on the carry-out conveyor 31, and the grip portion 9b is opened to transfer the processed workpiece W onto the carry-out conveyor 31. Then, while raising the first arm 5,
The second arm 6 is rotated 180 degrees clockwise in FIG. 1, and the first arm 5 is lowered. moving the piston 15 forward while the second arm 6 is pivoting;
One of the gripping portions 9a is left open in preparation for the next loading operation.

Note that although the workpiece transfer device is the rotary table 1 in the above embodiment, a chain conveyor type device that moves around can also be used.

<Effects of the invention> According to the invention, the workpiece transfer device has the following effects:
Since the loading of unprocessed workpieces and the unloading of processed workpieces can be carried out in one motion by two sets of workpiece gripping claws that alternately open and close, the time required for loading and unloading workpieces can be significantly shortened. Furthermore, the middle of the pair of gripping claws is rotatably supported on the support member, and gripping parts for gripping the workpiece are formed at both ends of the pair of gripping claws, so that the pitch interval between the two gripping parts can be adjusted. As a result, the pitch interval between the holding parts of the rotary table can be shortened, and the radius of the rotary table can be reduced, resulting in an effect of miniaturization. Furthermore, two sets of workpiece gripping claws are alternately opened and closed at the same time.
When the cylinder is used, there are advantages that the number of parts is small, the structure is simple, and it can be provided at low cost.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing an embodiment of the device of the present invention, FIG. 2 is a plan view of the working head, FIG. 3 is a central vertical cross-sectional side view of the working head, and FIG. 4 is a sectional view showing the indexing and rotating mechanism of the work transfer device. 1... Rotary table, 3... Robot, 4...
Base, 5...first arm, 6...second arm,
7: Working head; 8a, 8b: Grip claws; 9:
a, 9b ... gripping portion, 10 ... support member, 11 ...
... pivot shaft, 13a, 13b... guide slot, 14...
...opening/closing cylinder, 15... piston, 16...
Piston rod, 17: engagement pin, 18: support block, 22: rotating shaft, 23: drive motor, 24: drive gear, 25: driven gear, 26
……rotating disk, 27……dog, 28……proximity switch, P _O ……removal position, P _I ……loading position, P _W …
... Machining location.

Claims (1)

[Scope of utility model registration request] A rotary table is rotatably supported around a vertical axis so that the periphery passes through the machining position, the workpiece loading position, and the workpiece unloading position, and the holding part that holds the workpiece on this rotary table is connected to the workpiece loading position and the workpiece unloading position. The robot is formed equally around the circumference with pitch intervals between the workpiece carry-out positions, is provided with a drive motor that rotates and indexes the rotary table at the pitch intervals, and moves the tip of the arm to the workpiece carry-in position and the workpiece carry-out position. A support member equipped with an opening/closing cylinder device is provided at the tip of the arm of the robot, and the middle of the pair of gripping claws is rotatably supported on this support member, and the pitch interval is set at both ends of the pair of gripping claws. form a gripping part that grips the workpiece by holding it at the same intervals as the
An actuating piece is extended from the middle of the pair of gripping claws, and each actuating piece has an X shape with a different inclination direction.
A workpiece loading/unloading device characterized in that guide elongated holes intersecting in a character shape are formed, and an engaging pin that engages with each guide elongated hole is fixed to the tip of the piston rod of the opening/closing cylinder device.