JPS6331871Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a chuck unit attached to the tip of a work arm of a versatile industrial robot used in assembly work for small-volume production of a wide variety of robots.

Recently, this kind of highly versatile industrial robots have been attracting attention, but as the use of industrial robots in various industries increases, the need for screw tightening to attach them to the tip of the work arm has increased. There is a demand for the development of various work tools suitable for tasks such as box packing. Particularly in the electronics industry, there is a lot of work in which a mating member 58 having terminal pins 59 on both sides as shown in FIG. There is a need for the development of a chuck unit suitable for inserting a seed object.

The present invention has been devised in view of the above-mentioned demands, and examples thereof will be described below with reference to the drawings. In Fig. 1, 1 is an articulated industrial robot;
The first motor rotates by the motor 2 and the second motor 3, respectively.
It has an arm 4 and a second arm 5. The first motor 2 and the second motor 3 are driven by receiving a signal from a control device (not shown), and the first motor 2 is driven by the first motor 3.
The arm 4 is rotated around the support 6, and the second motor 3 rotates the second arm 5 around the first rotating shaft 7 rotatably held at the tip of the first arm 4.
It is configured to rotate. A bracket 8 containing a cylinder (not shown) is attached to the tip of the second arm 5, and the cylinder is arranged so that its first rod 9 moves up and down. Further, the bracket 8 is connected to the first bracket 8.
It has a spline shaft 10 juxtaposed with the rod 9, and this spline shaft 10
constitutes a slide shaft that moves up and down together with the first rod 9. This spline shaft 10 is rotatably held by the bracket 8 via an upper bearing 11 and a lower bearing 12 which are rotatably held. A driven pulley 1 is attached to the lower bearing 12.
7 is fixed, the first rotating shaft 7 and the support column 6
toothed pulleys 13a, which are rotatably held respectively;
13b, drive pulley 14, and toothed belt 15a, 1
5b and 15c, the rotation of the first pulse motor 16 attached to the support column 6 drives the driven pulley 17.
That is, it is configured to be transmitted to the spline shaft 10 to control the attitude of the working tool, which will be described later.

A housing 19 of a working unit 18 is fixed to the lower end of the spline shaft 10, as shown in FIGS. 2 to 4. Housing 19
A second pulse motor 20 is attached to the
The drive shaft 21a is arranged so that its axis intersects with the axis of the spline shaft 10. Further, the housing 19 includes the drive shaft 21.
A second rotary shaft 22 is rotatably held in alignment with the axis of a, and the drive shaft 21a is connected to the second rotary shaft 22 via a connector 23 so as to rotate together with the second rotary shaft 22. .

A truncated conical turret 24 is attached to one end of the second rotating shaft 22 so as to rotate together with the turret 24, and the back surface of the turret 24 is connected to the housing 19.
It is configured to rotate along the end face of the
The turret 24 has mounting surfaces at four locations on its outer peripheral surface, and is configured such that the mounting surface perpendicularly intersects the axis of the spline shaft 10 every time the turret 24 rotates 1/4. . A first chuck unit 25 and a second chuck unit 26 are fixed as working tools at two opposing locations on the mounting surface, respectively, and are alternately positioned on the axis of the spline shaft 10 by rotation of the second pulse motor 20. is configured to do so. Further, the turret 24 is provided with a first communication port 27 and a second communication port 28. On the other hand, a second cylinder mechanism 29 and a third cylinder mechanism 30 are arranged in parallel to the second rotating shaft 22 in the housing 19 . The second cylinder mechanism 29 has a second rod 31, and the second rod 31 moves forward by air from the fourth supply/discharge port 32 and engages with a positioning hole 33 formed on the back surface of the turret 24. The structure is such that the turret 24 is positioned by the following steps.
Further, the third cylinder mechanism 30 has a third rod 34 as shown in FIG.
4. During forward movement, from the third supply/discharge port 35 to the third cap 36
The air supplied through the first through-hole 37 and the second through-hole 38 which are formed through the axis of the third rod 34 is supplied to the first communication hole 27 or the second through-hole 38 which is formed in the turret 24. It is configured to be supplied to the communication port 28.

The first chuck unit 25 is composed of a chuck body 39 and a chuck pawl 40, and a first supply/discharge port 41 of the chuck body 39 is connected to the first communication port 27.

Next, the main parts of the present invention will be explained. Said second
The chuck unit 26 has two guide shafts 4.
2 are fixed in parallel, and a slide block 44 is slidably guided by a guide shaft 42. A fourth cylinder mechanism 45 having a piston 46 that moves up and down in the same direction as the up and down direction of the first rod 9 is built into the slide block 44, and a cover plate 48 is provided to cover the fourth cylinder mechanism 45. Fixed. A chuck plate 51 having a notch 50 at the center of the lower side is fixed to the cover plate 49, and a long groove 51 having an opening on the side surface is attached to the tip of the chuck plate 51.
2 is cut in the direction of movement of the fourth piston 46. Further, a leaf spring 53 extending along the chuck plate 51 is attached so as not to close the notch 50 and to close the long groove 52. Moreover, a spring retainer 54 is attached to the chuck plate 51 so as to sandwich the leaf spring 53, and one end of the leaf spring 53 is always biased so as to close the opening of the long groove 52.

On the other hand, a knockout plate 47 is attached to one end of the fourth piston 46 of the fourth cylinder mechanism 45 so as to move together with the fourth piston 46, and this knockout plate 47 is located at a position where the chuck plate 51 is sandwiched together with the leaf spring 53. It is configured to be able to freely slide along the chuck plate 51. Further, a tension spring 56 is locked between the first locking pin 48 and a second locking pin 55 fixed to the slide block 44, so that the fourth piston 46 can move back. are doing. A second supply/discharge port 57 is bored in the slide block 44 and is connected to the second communication port 28 of the turret 24.

In the above industrial robot, the first arm 4 and the second arm 5 are moved to predetermined positions, and the second arm 4 and the second arm 5 are moved to predetermined positions.
Position the check unit 26. At this time,
The second rod 31 of the second cylinder mechanism 29 protrudes to position the turret 24, while the third rod 34 of the third cylinder mechanism 30 is in a retracted position. In this state, the cylinder operates, and when the first rod 9 and spline shaft 10 descend, the second
The chuck unit 26 also descends. Therefore, the chuck plate 51 also lowers together and comes into contact with the terminal pin 59 of the counterpart 58 placed at a predetermined position. At this time, the terminal pin 59 is loosely inserted into the long groove 52 of the chuck plate 51, the side surface of the terminal pin 59 is pressed by the leaf spring 53, and the second chuck unit 26 clamps the counterpart 58.

Thereafter, as the first rod 9 and spline shaft 10 rise, the second chuck unit 2
6 lifts up the opponent object 58. The control device moves the first arm 4 and the second arm 5 again to position the second chuck unit 26 at a predetermined working position. At this working position, a substrate 61 having a pilot hole 60 into which the terminal pin 59 of the counterpart 58 is inserted is previously placed at a predetermined position, and the counterpart 58 is positioned above the pilot hole 60 . After the positioning of the second chuck unit 26 is completed, the first rod 9 and the spline shaft 10 are lowered again, and the object 58 held by the second chuck unit 26 is lowered.
The terminal pin 59 is inserted into the prepared hole 60 of the board 61. At this time, even if the descending distance of the spline shaft 10 is too long, the slide block 44 will not rise with the chuck plate 51 relative to the chuck stand 43, and the board 61 will not be strongly pressed.

When the spline shaft 10 stops descending, air is supplied from the third supply/discharge port 35 of the third cylinder mechanism 30, and the third rod 34 moves forward and comes into contact with the back surface of the turret 24. At the same time, air passes through the first through hole 37 and the second through hole 38 to the second communication hole 2.
8. This air is supplied to the second supply/discharge port 57, and the fourth cylinder mechanism 45 is operated. Therefore, the fourth piston 46 moves forward and the knockout plate 47 also descends, but when the knockout plate 47 comes into contact with the object 58, the slide block 44 is moved against the bench 43 as the third rod 34 moves forward. and rise. Therefore, the chuck plate 51 and the leaf spring 53 also rise together, and the terminal pin 59 of the counterpart 58 pressed by the knockout plate 47 is released from the long groove 52 of the chuck plate 51.

Thereafter, the first rod 9 and the spline shaft 10 are raised and returned, the knockout plate 47 that presses the object 58 is raised, and the substrate 6 of the object 58 is raised.
The insertion work into 1 is completed.

After the insertion work is completed, the second pulse motor 20 is driven by the control device to rotate the turret 24 by half a rotation.
The first chuck unit 25 is positioned on the axis of the spline shaft 10. Thereafter, the control device moves the first arm 4 and the second arm 5 and operates the first chuck unit 25.
The substrate 61 is carried out together with the counterpart 58 to the next process.

As explained above, the present invention movably arranges a chuck plate and a cylinder mechanism on a chuck stand, and uses the cylinder mechanism to movably arrange a knock-out plate relative to the chuck plate, and a long groove is bored in the chuck plate. Since one end of the long groove is closed by a leaf spring, there are advantages such as being able to provide a working tool that can reliably attach a counterpart having terminal pins on both sides to a substrate having a pilot hole. Furthermore, with the present invention, even if the terminal pins of the other device become longer, the chuck plate only comes into contact with the other object and the chuck base only descends; the chuck plate does not descend, and no strong pressure is applied to the board. There are advantages such as not having to Further, the present invention has the advantage that there is no need for opening/closing claws for holding the terminal pins, so there is no possibility of damaging other parts attached to the board.

In this embodiment, the number of long grooves provided at the tip of the chuck plate is limited to one.
Multiple pieces as shown in the figure, and at least one
By providing each long groove with an acute angle surface, there is an advantage that a chuck unit with greater versatility can be provided.

[Brief explanation of the drawing]

Figure 1 is a front view of the industrial robot according to the present invention, Figure 2 is an enlarged view of its main parts, Figure 3 is a rear view of the turret according to the present invention, and Figure 4 is A-A in Figure 2.
5 is an enlarged sectional view of the main part along line BB in Fig. 2, Fig. 6 is a sectional view of the main part of the present invention, and Fig. 7 is an enlarged bottom view of Fig. 6. Figure 8a,
b, c, d, e, f are operation explanatory diagrams of the present invention, No. 9
The figure is a front view of a counterpart according to the present invention, and FIG. 10 is an enlarged end view showing another embodiment of the chuck plate of the present invention. 1...Industrial robot, 2...First motor, 3
...Second motor, 4...First arm, 5...Second
Arm, 6... Support, 7... First rotating shaft, 8...
Bracket, 9...First rod, 10...Spline shaft, 11...Upper bearing, 12...Lower bearing, 13a, 13b...Toothed pulley, 14...Drive pulley, 15a, 15b, 15c...Teeth attached belt, 16...first pulse motor, 17...driven pulley, 18...work unit, 19...housing, 20...second pulse motor, 21a...drive shaft, 22...second rotating shaft, 23... Connector, 24
...turret, 25...first chuck unit,
26...Second chuck unit, 27...First communication port, 28...Second communication port, 29...Second cylinder mechanism, 30...Third cylinder mechanism, 31...Second rod, 32...No. 4 supply/discharge port, 33... positioning hole, 34... third rod, 35... third supply/discharge port, 36... third cap, 37... first through port, 38... second through port, 39...chuck body, 40...chuck claw, 41...first supply/discharge port,
42... Guide shaft, 43... Chalk stand,
44... Slide block, 45... Fourth cylinder mechanism, 46... Fourth piston, 47... Knockout plate, 48... First locking pin, 49... Cover plate, 50... Notch, 51... Chart board, 52...
... Long groove, 53 ... Leaf spring, 54 ... Spring holder, 5
5...Second locking pin, 56...Tension spring, 57...
...Second supply/discharge port, 58...Mate, 59...Terminal pin, 60...Prepared hole, 61...Substrate.

Claims (1)

[Claim for Utility Model Registration] A chuck stand that moves back and forth as the cylinder rod moves is arranged, a guide shaft extending in the direction of movement is arranged on the chuck stand, and a slide block is slid on the guide shaft. A cylinder mechanism having a piston that moves in the direction of movement of the rod is provided on this slide block, and a chuck plate is fixed parallel to this cylinder mechanism, and furthermore, the tip of the chuck plate has a cylinder mechanism that has a piston that moves in the direction of movement of the rod. A long groove extending into the chuck plate and having an opening is cut, and a leaf spring is fixed to this chuck plate so as to close the opening of the long groove, and a knock-out plate is fixed so as to move integrally with the piston, and this knock-out plate is A chuck unit characterized in that the chuck unit is disposed so as to be slidable along the chuck plate at a position where the chuck plate is sandwiched together with the leaf spring.