KR100591059B1 - A operate arm joint device - Google Patents

Abstract

The present invention, the support rod of the work device mounting arm on which the work device is mounted is inserted into the outer fastening bracket through the side of the mounting arm fastening bracket loaded with the inner fastening bracket, the mounting bolt from the upper side of the outer mounting fastening through the mounting table By attaching or releasing the screw, the mounting arm mounting bracket and work device mounting arm consisting of the mounting table and the inner and outer mounting brackets can be collectively bound or released. By combining / disengaging the mounting arm mounting bracket and the work device mounting arm collectively, the assembly and disassembly can be easily performed.The more the screw is attached to the mounting bolt, the more firmly the mounting arm mounting tool and the working device mounting arm can be connected. The installation arm fastening bracket, in which the working device mounting arm is coupled to the side, can be fixed directly to the mounting rod by the mounting bolt, or The mounting bracket can be mounted on the rod, and the mounting arm fastening bracket with the work device mounting arm coupled to the side can be installed on the mounting bracket, and the mounting bolt fastening tool and the working device mounting arm can be collectively attached to the mounting table by the mounting bolt. At this time, it is possible to more firmly bind the mounting bracket and the mounting arm fastening bracket by inserting a snap ring in which binding protrusion pieces are formed on the upper and lower sides between the mounting table and the mounting arm fastening bracket.

Handling Gripper Device. Mounting stand. Mounting arm fasteners. Work tool mounting arm. Mounting bolts.

Description

A Operate Arm Joint Device

1 is an exploded perspective view of the operating arm joint device according to the present invention.

Figure 2a and Figure 2b is a perspective view showing a combined state of the operating arm joint device according to the present invention.

3A and 3B are perspective views showing a state in which the vacuum gripper is installed in the operating arm joint device according to the present invention.

4A and 4B and 5A and 5B are explanatory diagrams of an operation relationship of a vacuum gripper installed in an operating arm joint device according to the present invention.

Figures 6a to 6c are different illustrations of the state in which the vacuum gripper is installed on the main arm using the operation arm joint device according to the present invention.

Explanation of symbols on the main parts of the drawings

1: operating arm joint device 2: vacuum gripper 3: handling gripper device

5: Main arm mounting bracket 10: Mounting plate 17: Mounting bolt

19: snap ring 20: mounting arm fastener 21: outer mounting bracket

22: space 23: mounting protrusion 24: fastening hole

25.26-2: Insertion hole 26: Inner fastener 27: Fastening means

30: working device mounting arm 31: support ring 32: support rod

33: insertion rod 34: mounting hole 36: nut ball

40: bolt pipe 42: support cap 50: operating pipe

51: support tube 52: upper support 53: lower support

54: nut hole 55: coil spring 60: vacuum adsorption pad

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuating arm joint device used when installing various work devices such as a vacuum (handling) gripper in an automated transport device for transporting flat articles such as doors of automobiles.

In more detail, the support rod of the work device mounting arm on which the work device is mounted is inserted through the side of the mounting arm fastening bracket composed of the inner and outer mounting fasteners, and the mounting rod (or mounting bracket) is installed on the upper side of the mounting arm fastening tool. By attaching or releasing the mounting bolt through), the mounting arm mounting bracket consisting of the mounting rod (or mounting bracket) and the inner and outer mounting brackets and the working device mounting arm can be collectively combined or released. To provide a working arm joint device.

The operating arm joint device according to the present invention is mainly installed in a robot for absorbing and transporting a product of a type such as metal, glass, wood, plastic in an industrial sale.

As a conventional method for adsorbing and transporting the object to be conveyed as described above, Korean Utility Model Publication No. 20-1997-280112 "Handling gripper device of the robot" and Patent Publication No. 10-2002-59344 "Modular gripper" Is known.

The "robot handling gripper device" known by the former has a working arm which is moved forward and backward by a cylinder at the tip of the support, and a vacuum suction pad is installed at the tip of the working arm to operate the cylinder mounted on the support in the forward and reverse directions. By advancing the working arm forward and backward and adsorbing or releasing air from the vacuum adsorption pad installed at the tip of the working arm, the adsorbed material can be vacuum adsorbed or released.

However, this is because the operating arm installed on the support is standardized, there is a problem that can not be used while efficiently changing the structure according to the shape of the adsorbed object and the site situation, and the vacuum adsorption pad installed at the tip of the operating arm is processed by the support bar. Since the robot is not installed correctly, it will not be able to adsorb the adsorbed material, and if the working arm approaches the adsorbed material with too strong force, it is not equipped with a device that can cancel such strong force. There is a problem of breaking the complex.

The latter secures a plurality of branch bars in parallel to the central lumen and installs a vacuum suction device at the end of each branch bar. The vacuum suction device combines a spherical ball into the plane of the ball joint support and sucks it at the bottom. The ball joint provided with the pad is mounted so as to be elasticated by a spring. The central lumen is mounted on the robot to move up and down, and the adsorbed material is adsorbed by the suction pad of the vacuum suction device installed at the end of the branch pipe.

However, this is because the branch arm installed in the central lumen is standardized and the vacuum suction device mounted on the branch arm simply moves from side to side along the branch arm, thus effectively changing the branch arm according to the shape of the adsorbed substance and the site situation. Not only can not be made, but there is a problem that the position of the vacuum adsorption device can not be arbitrarily adjusted, the ball coupled to the ball joint is rotated arbitrarily.

In addition, because the ball supporting the ball joint has a short diameter (support length), the bearing capacity of the ball joint is weak, and when the ball joint is operated by beating the spring, it cannot swing and be firmly supported. There is a problem that is deformed and cannot be used efficiently.

It is an object of the present invention to provide an operating arm joint device capable of solving the above problems.

The present invention inserts the support rod of the work device mounting arm on which the work device is mounted to penetrate the side of the mounting arm fastening bracket with the inner fastening bracket loaded into the outer fastening bracket, and installs the rod (or mounting bracket) from the upper side of the outer fastening bracket. By mounting or releasing the mounting bolts through the mounting bolts, the mounting arm mounting bracket and work device mounting arm consisting of the mounting rod (or mounting bracket) and the inner and outer mounting brackets can be collectively bound or released. The purpose is to provide a working arm joint device.

Another object of the present invention is to facilitate the assembly installation and disassembly by binding / disengaging the mounting arm mounting bracket and the work device mounting arm to the mounting rod (or mounting bracket) collectively by one mounting bolt. It is to provide a working arm joint device in which the bolts are screwed together so that the mounting arm mounting tool and the working device mounting arm can be more firmly bound.

Still another object of the present invention is to install the mounting arm fastening bracket to which the working device mounting arm is coupled to the side directly by the mounting bolt, or to install the mounting bracket on the mounting rod and the working device mounting arm to the mounting bracket. The present invention provides an operating arm joint device that can fix and install a mounting arm fastener that is coupled to a.

Another object of the present invention is to provide an image between the mounting rod (or mounting bracket) and the mounting arm fastening bracket when collectively binding the mounting arm fastening bracket and the working device mounting arm to the mounting rod (or mounting bracket) by the mounting bolt. It is to provide a working arm joint device that can more securely bind the mounting rod (or mounting bracket) and the mounting arm fastening bracket by inserting the snap ring formed with the binding stone piece to the lower side.

The above and other objects of the present invention,

A mounting arm fastening tool 20 in which the inner fastening tool 26 is inserted and loaded from the bottom of the outer fastening tool 21;

An inserting rod 33 formed on an outer circumference of the support ring 31 is inserted into the side of the mounting arm fastening tool 20 so that the working device mounting arm 30 is fixedly held by the fixing means;

A snap ring 19 fitted between the mounting table 10 and the mounting arm fastening tool 20;

Mounting rod 10, mounting arm fastening tool 20 and mounting arm fastening tool 20 by screwing or releasing the mounting bolt 17 through the mounting table 10) at the upper side of the outer fastening tool 21. It is achieved by the operating arm joint device 1, characterized in that it includes; to be able to collectively bind / release the working device mounting arm 30 is inserted through the side of the.

The above and other objects and features of the present invention will be more clearly understood by the following detailed description based on the accompanying drawings.

1 to 6c show a specific embodiment of the operating arm joint device 1 according to the present invention, FIG. 1 is an exploded perspective view of the operating arm joint device 1 according to the present invention, FIGS. 2a and FIG. 2B is a perspective view of a coupled state of the operating arm joint device 1 illustrated in FIG. 1, and FIGS. 3A and 3B are perspective views of a vacuum gripper installed in the operating arm joint device 1 of the present invention, and FIG. 4A. 4B and 5A and 5B are explanatory views of the operation relationship of the vacuum gripper installed in the operating arm joint device 1 according to the present invention, and FIGS. 6A to 6C show the operating arm joint device 1 according to the present invention. Figure 2 shows different examples of the vacuum gripper installed on the main arm.

The actuating arm joint device 1 according to the present invention is as illustrated in FIGS. 1 to 2b,

Mounting bracket 10 fastened to the mounting arm fastening bracket 20 and the work device mounting arm 30 by the mounting bolt 17, the mounting arm fastening bracket 20 mounted to the mounting table 10, and The working arm mounting arm 30, which is mounted on the support ring 31 of the mounting arm fastening tool 20, was divided into large parts.

The mounting table 10 was formed of an installation rod 10-1 and an installation bracket 11.

The mounting rod 10-1 was formed of a general cylindrical pipe, a mounting hole 14 was drilled at the tip, and a mounting recess 15 was formed around the mounting hole 14 at the outer circumference of the cylindrical pipe.

The actuating arm mounting bracket 10-2 has an inner surface of the mounting ring portion 11 having a cylindrical actuating arm mounting hole 13 in a popped shape so that the actuating arm 8 can be inserted therein. At both ends of the mounting holes 14 are formed side by side mounting holes 12 are drilled, each mounting piece 12 is formed so that the thickness (height) of the outer surface by the cutting removal portion (12-1) On the outer surface of the mounting piece 12, a mounting recess 15 is formed at the periphery of the mounting hole 14 to mount the mounting bolt 17 when the mounting bolt 17 and the mounting arm fastener 20 are described later. The head 17-1 and the mounting protrusion 23 of the mounting arm fastening tool 20 are inserted into the mounting recesses 15.

The mounting arm fastening bracket 20 to be mounted to the mounting hole 14 of the mounting rod 10-1 or the mounting bracket 10-2 was formed as follows.

Mounting protrusions 23 are formed on the upper surface of the outer mounting bracket 21 formed in a cylindrical shape so as to form a layer by the stepped jaw 21-1, and a fastening hole 24 that is opened upward in the inside of the outer mounting bracket 21. And formed to communicate with the space portion 22 to be opened to the lower side, the side of the insertion hole 25 was drilled to penetrate laterally.

The inner fastening tool 26 inserted and loaded into the space 22 of the outer mounting bracket 21 is formed so that the nut hole 26-1 communicates up and down on the inner center line to screw the mounting bolt 17. The insertion rods (26) of the working device mounting arm (30), which will be described later, are drilled so that the insertion hole (26-2) communicates with the insertion hole (25) of the outer mounting bracket (22). To make it work.

A snap ring 18 is provided in the mounting hole 14 of the mounting rod 10-1 forming the mounting table 10 and the mounting hole 14 of the mounting piece 12 located above the mounting bracket 10-2. The mounting bolts 17 are fitted to each other, and a snap ring (also referred to as “lock lock”) is formed on the upper surface of the mounting protrusion 23 in the outer mounting bracket 21 forming the mounting arm fastening bracket 20. In the settled state, the mounting protrusion 23 is inserted into the mounting hole 14 formed in the mounting rod 10-1 or the mounting hole 14 of the mounting piece 12 located below, and the mounting protrusion is inserted from the upper side. The mounting arm fastening tool 20 is installed by screwing the bolt 17 into the nut hole 26-1 of the inner mounting tool 26 through the fastening hole 24 of the outer mounting tool 21 positioned below. (10-1) or the mounting piece 12 of the mounting bracket 10-2.

In particular, the snap ring (19: also known as "crack lock") settled on the upper surface of the mounting protrusion 23 is formed on the outer circumference of the ring 19-1 with a fastening hole 19-2 in the center thereof. 3) and the recessed portion 19-4 were formed repeatedly, and the binding stone piece 19-5 was formed to protrude from the edge of the protrusion 19-3 adjacent to the recessed portion 19-4.

As described above, the binding protrusion pieces 19-5 are formed at the edges of the protrusions 19-3 adjacent to the recesses 19-4, so that the gripping mounting brackets 20 are installed by the mounting bolts 17. When attaching to the mounting hole 14 of the mounting hole 14 or the mounting piece 12 of the mounting bracket 10-2, the binding protrusion piece 19-5 formed on the upper / lower side of the snap ring 19 is provided with the mounting recess 15. ) Is firmly mounted on the inner surface and the upper surface of the mounting protrusion 23 to prevent flow and loosening.

On the other hand, the working device mounting arm 30 is coupled to the insertion hole 25, 26-2 of the mounting arm fastener 20 and fixed by the fixing means 27, the mounting hole 34 is supported up and down On the outer circumferential surface of the ring 31, the support rod 32 and the insertion rod 33 were integrally formed, and the lower end of the mounting hole 34 was formed with the stepped jaw 35, and the diameter of the insertion rod 33 was supported by the support rod ( It was made smaller than the diameter of 32) to form a step 37 between them.

When the insertion rod 33 was inserted into the insertion holes 25 and 26-2 of the outer mounting fastener 22 and the inner fastening fastener 26, the stepped jaw 37 was caught on the outer circumference of the insertion hole 25. In this state, the tip of the insertion rod 33 exposed to the outside of the insertion hole 25 is fixed by the fixing means.

As the fixing means 27 for fixing the tip of the insertion rod 33 exposed to the outside of the insertion rod 32, a washer cap 27-1 having a recess 27-2 formed at the center of the fastening hole is provided. The bolt 27-3 was screwed and fixed to the nut hole 36 of the insertion rod 33 in the state covered by the front-end | tip of the insertion rod 33 exposed to the outer side of the insertion hole 25.

3A and 3B, as the fixing means, the pin hole 37 is drilled at the distal end of the insertion rod 33 exposed to the outside of the insertion rod 32, or the ring groove 37-1 is provided. It was formed to insert the split pin 28 or to engage the stop ring (29).

Hereinafter, the installation and use state will be described.

The operating arm joint device 1 according to the present invention is assembled and installed as follows.

The mounting bolt 17 with the snap ring 18 is inserted through the mounting hole 14 of the mounting piece 12 located on the upper side in the mounting bracket 10-2 to which the branch arm 8 is inserted and engaged. The mounting protrusions 23 of the mounting arm fasteners 20 in which the snap rings (also called "crack locks") are placed are inserted into the mounting recesses 15 of the mounting piece 12 positioned at the upper side.

The mounting bolt 17 inserted through the mounting hole 14 of the upper mounting piece 12 is screwed into the nut hole 26-1 of the inner fastening hole 26 forming the mounting arm fastening hole 20. As the zoom, the mounting arm fastening tool 20 can be mounted to the mounting piece 12 of the mounting bracket 10-2, and the mounting bolt 17, which is fully screwed, has its head 17-1 mounted thereon. It is inserted into (15) to maintain the hidden state.

In the state where the mounting arm fastening bracket 20 is attached to the mounting bracket 10-2, the insertion bar of the work device mounting arm 30 is inserted into the insertion holes 25 and 26-2 of the mounting arm fastening bracket 20. (33) is inserted, and the bolt 27 into which the washer cap 28 is fitted is inserted into the nut hole 36 of the insertion rod 33 from the outside of the insertion hole 25 where the tip of the insertion rod 33 is located. By combining, the working device mounting arm 30 can be fixed to the mounting arm fastening tool 20.

In particular, the mounting arm fastening bracket 20 in which the insertion rod 33 of the work device mounting arm 30 is inserted into the insertion hole 25 and 26-2 is also referred to as a snap ring (19: also known as 'lock lock'). Screw the mounting bolt 17 to the nut hole 26-1 of the inner side mounting bracket 26 through the mounting hole 14 formed in the mounting piece 12 of the mounting bracket 10-2 in the state of To be coupled, the stronger the screwing the mounting bolt 17, the inner mounting bracket 26 is to move to the upper side of the insertion hole 25 formed in the outer mounting bracket (21).

Therefore, the insertion rod 33 inserted into the insertion hole 25 (26-2) is kept in a stopped state by the insertion hole 25 of the outer mounting bracket 21, the inner mounting bracket 26 By the insertion hole (26-2) of the to maintain the state to rise upward, therefore, the insertion rods 33 inserted into these insertion holes (25) (26-2) are maintained more firmly mounted state Done.

In addition, as the screwing state of the mounting bolt 17 becomes stronger, the upper and lower binding stone pieces 19-3 of the snap ring (19: also known as 'crack lock') placed on the upper side of the mounting protrusion 23 are installed. It is firmly mounted on the inner surface of the (15) and the upper surface of the mounting protrusions 23 to be firmly mounted to prevent flow and loosening.

The operation arm joint device 1 according to the present invention coupled as described above, as illustrated in FIGS. 3A to 4B, has a working device mounting arm 30 such as a vacuum suction pad 60 that is a holding device as a working device. The vacuum gripper 2 is mounted and used.

The vacuum gripper 2 mounted on the working device mounting arm 30 of the operating arm joint device 1 was formed as illustrated in Figs. 4A to 5B.

The bolt pipe 40 inserted into the support ring 31 of the work device mounting arm 30 and coupled by the upper nut 38 and the lower nut 41 and the support pipe inserted into the bolt pipe 40. An elbow 57 is screwed to the nut hole 54 of the upper support portion 52 formed at the upper end of the 51, and the support cap 42 at the lower external thread portion 53 at the lower side with the coil spring 55 fitted thereto. The screw is coupled to the operating tube 50 and the internal threaded portion (53-1) formed in the lower end of the operating tube 50 was formed as a vacuum suction pad 60, the air bolt tube 61 is screwed.

The elbow 57 screwed to the upper end of the operating tube 50 has an air hole 58 to allow the air to flow (supply), and at the lower end of the square flange 57-1 and the bolt rod. Formed (59) to be screwed to the nut hole 54 of the upper support portion 52 to form the operation pipe 50, the support cap 42 is coupled to the lower end of the operation pipe 50 is the bottom A threaded portion 44 opening upwards was formed in the inner side of the support protrusion 43 so as to be screwed to the external threaded portion 53 formed at the lower end of the operation pipe 50.

The vacuum gripper 2 configured as described above is mounted on the support ring 31 of the gripping means mounting bracket 30 forming the operation arm joint device 1 according to the present invention.

The upper nut 38 and the lower nut 41 in the state in which the bolt pipe 40 is inserted into the support ring 31 of the working device mounting arm 30 forming the operation arm joint device 1 according to the present invention. The bolt pipe 40 can be fixed to the support ring 31 by screwing the upper and lower sides, respectively.

In the state in which the support tube 51 of the operation tube 50 is inserted from the upper side to the lower side in the bolt tube 40, the coil spring 55 is inserted into the support tube 51 exposed downward, and the support cap 42 is provided. Screw to the outer thread portion 53, the air bolt pipe 61 of the vacuum suction pad 60 is screwed to the inner screw portion 53-1 at the lower end of the support tube 51, the elbow 50 of The vacuum suction hose is connected to the air hole 58 to complete the installation (installation) of the vacuum gripper 2.

The operation arm joint device 1 according to the present invention, in which the vacuum gripper 2 is mounted as described above, is equipped with a handling gripper by mounting the mounting bracket 10-2 to the operation arm 8 as illustrated in FIGS. 6A to 6C. The device 3 is formed.

The handling gripper device 3 installs one or more operation arms 8 to the main arm 4 in one or multiple stages using the main arm mounting bracket 5 and the mounting bracket 10-2. The operating arm 8 is provided with an operating arm joint device 1 equipped with a vacuum gripper 2.

Install the actuating arm 8 in one end on the main arm 2 as illustrated in FIG. 6A, or actuate arm 8 in the main arm 2 in two stages as illustrated in FIGS. 6B and 6C. Although not shown in detail, the operating arm 8 may be installed in three or more stages.

In particular, a setting stone piece 16 is formed on the inner circumferential surface of the mounting ring portion 11 forming the mounting bracket 10-2, and an uneven portion 9 is formed on the outer circumferential surface of the operating arm 8 to set the stone piece 16. To be coupled to the uneven portion (9).

When the operating arm 8 is to be installed on the main arm 2, the mounting ring 6 of the main arm mounting bracket 5 is inserted into the main arm 2, but the mounting piece 6 having no cutting surface is formed. -1) insert the vacuum suction pad 60 to face a predetermined target direction, insert the operation arm 8 into the mounting ring portion 11 of the mounting bracket 10-2, and remove the cutting surface 12 Mounting holes 6-2 coinciding with each other in a state in which the mounting piece 12 of the mounting bracket 10-2, in which -1) is not formed, is connected to the mounting piece 6-1 of the main mounting bracket 5; 14) Insert the tightening bolt (7) from one side and screw the mounting nut (7-1) on the other side.

The main mounting bracket 5 can be fixed to the main arm 2 by screwing the tightening bolt 7 and the mounting nut 7-1, and the mounting bracket 10 is attached to the main mounting bracket 5. -2) can be installed.

In particular, before fully tightening the tightening bolt 7 and the mounting nut 7-1, the mounting bracket 10-2 is turned in the proper direction as illustrated in FIGS. 6A to 6C to operate the arm 8. ), The main mounting bracket 5 can be fixed to the main arm 2 by screwing in a state in which the direction is directed in a predetermined direction, and the mounting bracket 10-2 is attached to the main mounting bracket 5. It can be attached.

The operation arm joint device 1 in which the vacuum gripper 2 is installed on the operation arm 8 as illustrated in FIG. 6A in a state in which the operation arm 8 is once installed on the main arm 2 as described above. 6b and 6c, the vacuum gripper (2) at the tip of the final operating arm (8) with the other operating arm (8) installed in two stages in the operating arm (8) installed in one end as illustrated in FIGS. The operating arm joint device 1 is installed, and the suction gripper is connected to the air hole 58 of the elbow 50 to complete the installation of the handling gripper device 3.

The handling gripper device 3, in which the vacuum gripper 2 is mounted by the operating arm joint device 1 according to the present invention as described above, is an automatic transfer device for transferring an article having a flat plate shape such as a door of an automobile (specifically). (Not shown).

The vacuum suction pad 60 mounted on the handling gripper device 3 by a predetermined automatic transfer device in a state in which air from the inside (front part) of the vacuum suction pad 60 is sucked out by the vacuum suction hose and discharged. When contacted to the outer surface of the object to be adsorbed to maintain a state in which the adsorbate is vacuum adsorbed on the vacuum adsorption pad 60 by the suction force.

In particular, when the vacuum suction pad 60 mounted on the handling gripper device 3 is connected to the outer surface of the object to be adsorbed by a predetermined automatic transfer device, the vacuum gripper 2 is automated in a state as illustrated in Fig. 5A. The vacuum suction pad 60 is in intimate contact with the substance to be absorbed by the operating force of the conveying device. When the vacuum suction pad 60 is in intimate contact with the substance to be absorbed, the vacuum suction pad 60 and the support cap 42 and the support are supported. The pipe 51 is raised while compressing the coil spring 55.

Therefore, even if the vacuum adsorption pad 60 is in close contact with the object to be adsorbed by the operating pressure of the automated transfer device, the coil spring 55 is compressed to mitigate its impact, so that the adsorbed material can be adsorbed smoothly and naturally without impact. do.

As described above, the vacuum transfer pad 60 of the vacuum gripper 2 installed in the handling gripper device 3 can move and transport the adsorbed material to a predetermined place (position) by the automatic transfer device. will be.

The operation arm joint device for the automatic transfer device according to the present invention inserts the support rod of the working device mounting arm mounted on the working means so as to penetrate through the side of the mounting arm fastening tool loaded with the inner fastening tool on the outer fastening tool, and the outer mounting. By fastening or releasing the mounting bolt through the mounting bracket (mounting rod or mounting bracket) on the upper side of the bracket, the mounting arm mounting bracket and work device mounting arm consisting of the mounting bracket and the inner and outer mounting brackets are collectively bound or bound. As a single bolt is used to bind / release the mounting arm mounting bracket and the work device mounting arm collectively, the mounting bolt can be easily mounted and disassembled. The more tightly the mounting arm mounting bracket and the work tool mounting arm can be connected together, the more the work tool mounting arm is coupled to the side. The female fastening bracket can be fixed to the mounting rod directly by the mounting bolt, or the mounting bracket can be fixed to the mounting rod, and the mounting arm fastening bracket with the working device mounting arm coupled to the side can be fixed to the mounting bracket. When the mounting arm fastening tool and the working device mounting arm are collectively fastened to each other, a snap ring formed with a binding stone piece is formed between the mounting arm and the mounting arm fastening tool so as to bind the mounting arm and the fastening arm fastener more securely. It can be done.

Claims (7)

A mounting arm fastening tool 20 in which the inner fastening tool 26 is inserted and loaded from the bottom of the outer fastening tool 21; Insertion rod 33 formed on the outer circumference of the support ring 31 is inserted through the side of the mounting arm fastener 20, the insertion rod 33 of the mounting arm fastener 20 exposed to the side A working device mounting arm 30 whose tip is fixedly held by the fixing means; A snap ring 19 fitted between the mounting table 10 and the mounting arm fastening tool 20; By mounting or releasing the mounting bolt 17 through the mounting table 10 on the upper side of the outer fastening bracket 21, the mounting rod 10, the mounting arm fastening tool 20 and the mounting arm fastening tool 20 The work device mounting arm (30) to be inserted into the penetrating side by side to enable to bind / release collectively; operating arm joint device comprising a. The method according to claim 1, The mounting arm fastener 20 is mounted to the mounting table 10; A space portion 22 is formed inside the bottom surface, and a mounting protrusion 23 is protruded from an upper surface thereof, and a fastening hole 24 is drilled in communication with the space portion 22 in the mounting protrusion 23. An outer mounting bracket 22 having an insertion hole 25 formed therein; A nut hole 26-1 is formed on the inner center line, and an insertion hole 26-2 is drilled on a side surface thereof, and an inner fastening hole 26 loaded in the space 22 of the outer mounting bracket 21; Operation arm joint device for an automatic transfer device, characterized in that formed. The mounting base 10 of claim 1, wherein the mounting arm fastening tool 20 is mounted by the mounting bolt 17; An operating arm joint device for an automated transfer device, characterized in that the mounting rod (14) or the mounting bracket (10-2) with a mounting hole (14) at the tip. The snap ring 19 of claim 1, which is settled on an upper surface of the mounting protrusion 23 and coupled to the mounting recess of the mounting piece 12, The protrusion 19-3 and the recess 19-4 are repeatedly formed on the outer circumference of the ring rim 19-1 having the fastening hole 19-2 in the center thereof, and the protrusion adjacent to the recess 19-4 ( 19-3) operating arm joint device for an automatic transfer device, characterized in that the binding projection piece (19-5) is formed to protrude from the edge. The method of claim 1, wherein the fixing means 27 for fixing the tip of the insertion rod 33 exposed to the outside of the insertion rod (32); Screwing the washer cap 27-1 to the tip of the insertion rod 33 with a bolt 27-3; Forming a pin hole 37 at the tip of the insertion rod 33 to insert the split pin 28; A ring ring groove 37-1 is formed on the outer circumference of the tip of the insertion rod 33 to engage the stop ring 29; Operation arm joint device for automatic transfer device, characterized in that any one of The mounting bracket (10-2) of claim 1, wherein the mounting arm fastening bracket (20) is mounted by the mounting bolt (17); An inner surface of the mounting ring portion 11 having a cylindrical working arm mounting hole 13 formed in a popped shape so that the operating arm 8 can be inserted therein; Forming side-by-side mounting pieces 12 in which mounting holes 14 are drilled at both ends of the popped portion; Each mounting piece 12 has a lower thickness by removing the outer surface by the cutting removing portion 12-1; Operating arm joint device for an automated transfer device, characterized in that the; forming the mounting recess (15) around the mounting hole (14) on the outer surface of the mounting piece (12). The method according to claim 1, wherein the setting stone piece 16 is formed on the inner circumferential surface of the mounting ring portion 11 forming the mounting bracket 10-2, and the uneven portion 9 is formed on the outer circumferential surface of the operating arm 8, Operated arm joint device for an automatic transfer device, characterized in that the stone piece 16 is inserted into the concave-convex portion (9).

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