JP5622456B2 - Hand attachment / detachment mechanism in workpiece transfer device - Google Patents

Description

  The present invention relates to a work transfer device that is an industrial robot used for sequentially transferring a work to a mold arranged in a press machine, and in particular, a base end portion of a work holding hand capable of holding a work is transferred. The present invention relates to a hand attaching / detaching mechanism in a work transfer device which is an industrial robot that is detachably attached to a hand support portion of an apparatus and drives a transfer device to sequentially transfer a workpiece at a predetermined position to another predetermined position. In addition, as a work holding hand attached to the hand support portion of the transport device, a negative pressure suction hand, a magnet hand, a clamp hand (also referred to as a chucking hand), and the like are known.

  The following Patent Document 1 is known as an example of this type of work transfer device.

  Here, work holding hands capable of holding a work are fixed to both ends of a feed bar configured to be able to slide in an axial direction and move up and down. For example, the feed bar is lifted, axially slid and lowered. Thus, there is described a workpiece transfer device that is an industrial robot that transfers a workpiece from one place to another (for example, sequentially transfers the workpiece to a mold arranged in a press machine).

  Patent Document 1 listed below discloses a plurality of work holding hands (for example, negative pressure suction pads on the front end side) that correspond to the type of work so as to efficiently cope with the transfer of various works having different shapes and sizes. A plurality of types of negative pressure suction hands having different layouts, etc.) are prepared in advance, and a workpiece holding hand exchanging device (attachment / detachment mechanism) is disclosed in which the workpiece holding hand can be easily exchanged for the feed bar with one touch.

  That is, the workpiece holding hand exchanging device of Patent Document 1 will be described with reference to an actual device. As shown in FIG. 13, a hand support having left and right grooves 4a and vertical grooves 4b perpendicular to the left and right grooves 4a is formed. On the other hand, a base 4 of a work holding hand (negative pressure suction hand) 5 in which a negative pressure suction pad 6 capable of sucking and holding the work W is integrated is fixed to the front side of the feed bar 2. A rectangular block 7 with left and right projections 7a that can be engaged with the vertical groove 4b of the holder 4 is integrated by screw fixing.

  In order to mount the work holding hand 5 to the holder 4 (feed bar 2), the rectangular block 7 at the base end of the hand 5 is engaged with the vertical groove 4b of the holder 4 (the left and right protrusions 7a are engaged with the left and right grooves 4a). The block 7 (work holding hand 5) is positioned with respect to the holder 4 (feed bar 2), and the piston 8 of the air cylinder built in the holder 4 is moved forward (sliding in the C direction). The workpiece holding hand 5 can be fixedly integrated with the feed bar 2 by engaging the tip of the piston 8 with the engaging recess 7b provided on the side of the rectangular block 7.

JP-A-8-1260 (see paragraphs 0011 to 0018, FIG. 1 and FIG. 3)

  However, in this work holding hand exchanging device, first, when the work holding hand 5 is mounted, the base end portion (block 7) of the work holding hand 5 is pushed in the direction of the arrow A and then moved downward (arrow On the other hand, when the workpiece holding hand 5 is detached, the base end (block 7) of the workpiece holding hand 5 is pushed upward (in the opposite direction to the arrow B) and then forward. An operation of extracting in the direction opposite to the arrow A is required.

  For this reason, even though the workpiece holding hand 5 can be replaced with a single touch, it involves a two-step operation in which the workpiece suction hand 5 is pushed forward and then lowered (raised and pulled forward), so that the workability is poor. There was a problem that it was difficult to replace the work holding hand.

  Second, when the workpiece holding hand 5 holds the workpiece W, the workpiece holding hand 5 is lowered integrally with the feed bar 2, and for example, the suction pad 6 is pressed against the workpiece W. The pressing force acts as a load on a fixing portion (tip portion of the piston 8) with the holder 4 which is a fastening portion of the work holding hand 5 and a screw fastening portion with the block 7. In order to reliably hold (suck) the workpiece W, the pressing force is generally set somewhat higher.

  For this reason, there is a second problem that this pressing force acts as an impact force on the fastening portion on the base end side of the work holding hand 5 and is repeated, leading to damage to the work holding hand 5 and the feed bar 2. It was.

  The present invention has been made in view of the problems of the prior art described above, and its purpose is to attach and detach the work holding hand only by moving the base end of the work holding hand back and forth in the front-rear direction with respect to the hand support part. It is possible to provide a hand attaching / detaching mechanism in a workpiece transfer device that is effective for improving the durability of the workpiece holding hand and the hand support portion.

In order to achieve the above-described object, in the hand attachment / detachment mechanism in the workpiece transfer device according to claim 1, the base end portion of the workpiece holding hand that can hold the workpiece is detachably attached to the hand support portion of the transfer device, by driving the transport device to a hand detaching mechanism in the workpiece transfer device is a industrial robot for sequentially conveying the workpiece in a predetermined position to another predetermined position,
The hand support portion includes a slide groove for engaging the hand base end portion, and a fluid pressure cylinder for fixing the hand base end portion engaged with the slide groove,
A hand attaching / detaching mechanism in a workpiece transfer device in which the hand base end portion that is positioned by engaging with the slide groove is pressed and fixed at a predetermined position in the slide groove by a piston that slides by driving of the fluid pressure cylinder. And
The slide groove is configured by a hand insertion hole that extends in the horizontal front-rear direction orthogonal to the workpiece conveyance direction and opens forward, and the inserted base end portion of the hand is provided at a substantially central portion in the width direction of the insertion hole. The V-shaped block for positioning to which the insertion end side is engaged, and the upper and lower sliding pistons of the fluid pressure cylinder are integrated, and a substantially central portion of the hand base end portion inserted into the hand insertion hole is upward. And a lock pin that is pressed and fixed to the bottom surface of the insertion hole from the front and rear direction.
On the other hand, the insertion end side of the hand base end portion is configured to be bifurcated so as to be engageable with the V-shaped block, and the lock pin distal end portion is provided on the base side of the bifurcated portion of the upper surface of the hand base end portion. in hand detaching mechanism in word over click feeder tapered engaging portion is provided to be engaged with the lower target narrow conical lock,
The workpiece hoist hand is composed of a negative pressure suction hand provided with a plurality of negative pressure suction pads on the tip side of the hand,
On the bottom surface of the hand base end portion, a negative pressure transmitted side conduit opens, while on the bottom surface of the insertion hole of the hand support portion, a negative pressure generation side conduit passes through a counterbore portion. The bellows that is open and press-contacts the opening peripheral edge of the negative pressure receiving side pipe and the opening peripheral edge of the negative pressure generating side pipe to keep both pipes in communication. The mold seal ring was configured to be loaded .

  (Operation) When the hand base end is inserted into the slide groove (hand insertion hole) from the front side of the hand support part, the bifurcated insertion side end of the hand base end is engaged with the V-shaped block. The insertion end side of the hand base end is positioned in the front-rear and left-right directions.

  At this time, the lower tapered mortar-shaped lock at the tip of the lock pin is in a corresponding position above the tapered engagement portion on the bifurcated root side of the upper surface of the hand base end, and the lock pin is driven by driving the fluid pressure cylinder. When lowered, the mortar-shaped lock of the lock pin engages with the taper engagement portion on the hand base end side, and the hand base end portion is accurately positioned in the front-rear and left-right directions. ) It is pressed and fixed to the bottom wall. Specifically, the hand base end portion is engaged with the bifurcated insertion side end portion of the V-shaped block (a pair of V-shaped end surfaces thereof) in contact with the two portions, and the upper surface of the substantially central portion of the hand base end portion. The tapered engagement portion on the side of the bifurcated root engages with the mortar-shaped lock of the lock pin, so that it is accurately positioned in the front-rear and left-right directions with respect to the slide groove (hand insertion hole) and fixed to the hand support portion.

  On the other hand, when the fluid pressure cylinder is driven to raise the lock pin, the mortar-shaped lock at the tip of the lock pin is disengaged from the tapered engagement portion at the hand base end side, and the hand base end by the lock pin Is fixed to the hand support.

  That is, the base end of the hand is inserted into the slide groove (hand insertion hole) of the hand support so that the V-shaped block in the slide groove (hand insertion hole) engages with the bifurcated insertion side end of the hand base end. ), Driving the fluid pressure cylinder, and clamping the tapered engagement part on the base end side with the lock pin, the hand base end part can be positioned and fixed to the hand support part (the hand insertion hole). If the fluid pressure cylinder is driven so as to release the clamp of the hand base end portion by the lock pin, the hand base end portion can be easily pulled out from the slide groove (insertion hole) to the front side.

  For this reason, the operations for attaching and detaching the work holding hand to the hand support part include the work holding hand (hand base end) except for the drive of the hydraulic cylinder (clamping / clamping the hand base end by the lock pin). Part) is simply slid along the slide groove (hand insertion hole) of the hand support part.

  In addition, the pressing force (clamping force) of the lock pin that presses and fixes the base end of the hand to the bottom of the slide groove (hand insertion hole) is the fluid pressure of the fluid pressure cylinder. When an excessive load such as impact force acts on the side, the base end of the hand rocks vertically against the bottom of the slide groove (hand insertion hole) against the fluid pressure of the fluid pressure cylinder (fluid By causing the piston of the pressure cylinder to slide up and down), it is possible to prevent an excessive load from being transmitted as it is to the hand support portion.

That is, when the workpiece holding hand holds the workpiece, for example, the workpiece holding hand is lowered, and the workpiece holding member (negative pressure suction pad, magnet, etc.) on the tip side of the hand is pressed against the workpiece W. The force (collision force with the workpiece W) acts as a large load on the lock pin that clamps (presses and fixes) the hand base end (acts as a larger load as the hand is longer). However, excessive loads such as impact force acting on the lock pin are alleviated by the buffering action (shock absorbing action) of the fluid pressure cylinder, so that excessive loads such as impact force are alleviated and transmitted to the hand support. As much as that, the work holding hand and hand support are less likely to be damaged.
Furthermore, in the form in which the base end portion of the hand is pressed and fixed to the insertion hole (slide groove) of the hand support portion by the lock pin, the upper and lower ends of the bellows type seal ring loaded in the counterbore portion are countersunk. The negative pressure suction hand is held in pressure contact with the opening peripheral edge of the negative pressure generating side pipe line on the bottom surface and the open peripheral edge of the negative pressure receiving side pipe line on the bottom surface of the base end part, so that both pipes are kept in communication. An appropriate negative pressure capable of adsorbing and holding the workpiece under negative pressure acts on both of the negative pressure suction pads through both the above-described pipes.
In particular, when the negative pressure suction hand descends and the negative pressure suction pad is pressed against the workpiece, the impact during pressing acts as a load on the negative pressure suction hand, but if the pressing force (impact) is large, the fluid pressure cylinder In order to relieve the impact force, the hand base end that is clamped by the pressure of the hand resists the pressure of the fluid pressure cylinder, which is the pressing force (clamping force) of the lock pin, and the hand insertion hole (slide groove) Swing up and down with respect to the bottom surface of For this reason, the bottom surface of the hand base end (opening peripheral edge of the negative pressure receiving side conduit) and the bottom face of the counterbore of the hand insertion hole bottom surface of the hand supporting portion (opening peripheral edge of the negative pressure generating side conduit) ) Swing each other and a gap is generated in the pressure contact surface between the opening peripheral edge of each pipe line and the seal ring, so that an appropriate negative pressure may not act on the negative pressure suction pad.
However, the bellows portion of the seal ring absorbs the swing of the hand base end relative to the slide groove, and the upper end of the seal ring swings following the bottom surface of the hand base end (the seal ring is the base end of the hand). The negative pressure adsorbing hand is held in contact with the opening peripheral edge of the negative pressure receiving side conduit on the bottom surface and the opening peripheral edge of the negative pressure generating side conduit on the bottom surface of the counterbore of the hand support portion). Even if the hand base end swings up and down due to the impact when the negative pressure suction pad is pressed against the workpiece by descending, it is between the negative pressure generation side pipe, the seal ring, and the negative pressure receiving side pipe No gap that causes a reduction in the suction force (negative pressure) of the negative pressure suction pad does not occur.
Also, when inserting the hand base end into the hand insertion hole (slide groove) of the hand support part, the upper end of the bellows type seal ring is located above the bottom surface of the hand insertion hole (slide groove) Although the upper end of the seal ring interferes with the hand base end insertion end side to be inserted into the hand insertion hole (slide groove), the bellows is accompanied by the insertion into the insertion hole (slide groove) of the hand base end. Since the part shrinks and slides along the bottom surface of the hand base end, the seal ring turns up when the hand base end is inserted into or removed from the insertion hole (slide groove). The insertion and departure from the insertion hole (slide groove) in the hand base end are not hindered by the seal ring.

According to a second aspect of the present invention, in the hand attaching / detaching mechanism of the workpiece conveying device according to the first aspect, a frame-shaped lid is fixed to a pair of left and right side walls of the slide groove having a U-shaped cross section that opens upward. Configure the insertion hole,
The fluid pressure cylinder is housed in the hand support portion, arranged directly below the slide groove, and the lock pin is suspended from the flat plate-like piston that slides up and down, and a bottom wall of the slide groove and While configured to penetrate the lid and protrude upward,
The crotch portion constituting the bifurcated insertion side end portion of the hand base end portion is configured to extend at least to a position engageable with the lock pin penetrating the hand insertion hole (slide groove) vertically. .
(Operation) Since the fluid pressure cylinder is built in the hand support part and directly below the slide groove, the structure around the hand support part is simpler and smaller than when the fluid pressure cylinder is installed on the hand support part. .

  In addition, the upper part of the U-shaped slide groove forming the hand insertion hole is covered with a lid, but since the frame-shaped lid is provided with an opening, the frame-shaped lid (of the Since the lock pin and V-shaped block in the hand insertion hole (slide groove) can be seen by the operator through the opening), the bifurcated insertion side end of the hand base end is engaged with the lock pin and V-shaped block Easy to do.

According to a third aspect of the present invention, in the hand attaching / detaching mechanism in the workpiece conveying device according to the first or second aspect, the fluid pressure cylinder is formed of an air cylinder, and a compression spring acting as a clamping force of the lock pin is provided in the cylinder. Configured to accommodate.
(Effect) Since the pressing force for pressing and fixing the base end of the hand can be increased by an amount equivalent to the spring force of the compression spring without increasing the operating pressure of the air cylinder, a small (small capacity) air cylinder is used instead of a large capacity air cylinder. Even so, the hand base end can be securely fixed and held.

In Claim 4 , The hand attachment / detachment mechanism in the workpiece conveyance apparatus in any one of Claims 1-4 WHEREIN: The said workpiece conveyance apparatus is provided with the feed bar which reciprocates at least to an axial direction horizontal, In the said feed bar, The holder frame which is the hand support portion is provided at a predetermined interval in the longitudinal direction.
(Operation) Since the feed bar is provided with a plurality of holder frames as hand support portions, a plurality of positions of workpieces can be simultaneously handled in the next step by attaching workpiece holding hands to the respective holder frames. It can be transported to a predetermined position.

  As is apparent from the above description, according to the workpiece holding hand attaching / detaching mechanism in the transport apparatus according to claim 1, the operation for attaching / detaching the workpiece holding hand to / from the hand support portion causes the hand base end portion to slide into the slide groove (hand Since only a very simple operation of sliding along the insertion hole) is required, the work holding hand can be attached to and detached from the hand support part with a single touch.

In addition, when the work holding hand holds the work, an excessive load or impact force that may act on the work holding hand or the hand support part is a buffering action of a fluid pressure cylinder that presses and fixes (clamps) the hand base end part. Since it is mitigated by (impact absorbing action), damage to the work holding hand and the hand support part is suppressed, and the durability of the work holding hand and the hand support part constituting the work transfer device is guaranteed.
Even if the base end of the hand swings up and down with respect to the hand insertion hole (slide groove) due to the impact of the negative pressure suction pad holding and holding the workpiece, the negative pressure transmitted side conduit The bellows-type seal ring interposed between the negative pressure generation side pipes expands and contracts to absorb the vertical swing of the peripheral edge of the opening of both pipes, and the communication state between the two pipes is ensured. Therefore, an appropriate negative pressure capable of sucking and holding the workpiece always acts on the negative pressure suction pad, so that the workpiece can be reliably sucked and held without being dropped to a predetermined position.
In addition, since the hand base end can be smoothly inserted and deviated from the hand insertion hole (slide groove), the attaching / detaching operation of the negative pressure suction hand becomes even easier.

  According to the second aspect, since the peripheral structure of the hand support part is simple and small, the weight load for moving the hand support part to which the work holding hand is attached is small, and the work can be transported smoothly.

  In addition, the operator can insert and remove the bifurcated insertion side end of the hand base end while visually checking the position of the lock pin and V-shaped block in the hand insertion hole (slide groove). This makes it easier to attach and detach the work holding hand.

  According to the third aspect, by adopting a small air cylinder instead of a large-capacity air cylinder, the cost of the transfer device can be reduced.

According to the fourth aspect , since the workpieces at a plurality of positions can be simultaneously conveyed to a predetermined position corresponding to the next process, the workpiece can be efficiently conveyed.

It is a front view of the whole workpiece conveyance apparatus which is one Example of this invention. It is a principal part longitudinal cross-sectional view of the hand attachment / detachment mechanism in the conveyance apparatus, (a) shows the state which clamped the hand base end part, (b) shows the state which released the clamp of the hand base end part. It is a perspective view of the hand attachment / detachment mechanism in the conveyance apparatus, and shows a state where the hand base end is clamped with a lock pin. It is a perspective view of the hand attachment / detachment mechanism in the conveyance apparatus, and shows a state in which the hand base end is extracted from the hand insertion hole. It is a top view of a hand base end part. It is a longitudinal cross-sectional view (cross-sectional view in alignment with line VI-VI shown in FIG. 5) of a hand base end part. It is a perspective view of the hand attachment / detachment mechanism in the conveyance apparatus, and shows a mode that a hand base end part is inserted in a hand insertion hole (slide groove). It is a perspective view of the hand attaching / detaching mechanism in the same conveying device, and shows a state where the hand base end portion inserted into the hand insertion hole (slide groove) is clamped by the lock pin. It is sectional drawing in the connection part of the negative pressure generation side pipe line provided in the holder frame, and the negative pressure receiving side pipe line provided in the hand base end part. FIG. 4 is a partially broken perspective view of a bellows-type seal ring interposed between a negative pressure generator side pipe line opened at the bottom surface of the slide groove of the holder frame and a negative pressure transmitted side pipe line opened at the bottom surface of the hand base end portion. is there. It is a principal part longitudinal cross-sectional view of the hand attachment / detachment mechanism in the conveying apparatus which is the 2nd Example of this invention. It is a principal part longitudinal cross-sectional view of the hand attachment / detachment mechanism in the conveying apparatus which is the 3rd Example of this invention. It is a principal part disassembled perspective view of the conventional workpiece holding hand exchange apparatus.

  Hereinafter, embodiments of the present invention will be described based on examples.

  1 to 10 show a hand attachment / detachment mechanism in a workpiece transfer apparatus according to an embodiment of the present invention, FIG. 1 is a front view of the entire workpiece transfer apparatus, and FIGS. 2 to 8 are hand attachment / detachment in the transfer apparatus. The mechanism is shown.

  In FIG. 1, a workpiece transfer device 10 is installed at an intermediate position between a pair of press machines (not shown), for example, as in the conventional example described above, and one of the press machines (for example, the left side of FIG. 1). It is configured as an industrial robot that receives a workpiece from a workpiece mounting table (not shown) and sends the workpiece to the workpiece mounting table (not shown) of the other (for example, the right side of FIG. 1) press machine.

  Specifically, the workpiece transfer device 10 is a horizontally extended holder base 12 that can be moved up and down with respect to the feed bar drive base 11, and a length that is slidably assembled to the holder base 12 in the longitudinal direction (left and right direction in FIG. 1). A scale-like feed bar 14, holder frames 18, 18 provided at both ends of the feed bar 14, and a negative pressure suction hand unit 40, which is a pair of work holding hand units attached to the holder frames 18, 18. 40.

  Then, a drive mechanism (not shown) built in the feed bar drive base 11 is driven to raise and lower the feed bar 14 integrally with the holder base 12, so that the feed bar 14 is elongated relative to the holder base 12. The workpiece W is moved from one workpiece mounting table to the other workpiece by moving the direction W horizontally and causing the workpiece W to be sucked and removed via the negative pressure suction hand unit 40 (negative pressure suction pad 48 on the front end side). It is comprised so that it may convey sequentially to a mounting base. Reference numeral 16 denotes an operation panel provided with a switch and the like for operating driving of each drive mechanism in the transport apparatus.

  The basic configuration of such a workpiece transfer device 10 (configuration in which the feed bar 14 is moved up and down, moved horizontally in the longitudinal direction, and sucked and desorbed by the workpiece W via the negative pressure suction hand unit 40) is as follows. Since this is the same as this type of conventional apparatus (conveyance apparatus) such as Japanese Patent Application Laid-Open No. 7-80576 and Japanese Patent Application Laid-Open No. 8-1260, the description of the basic configuration as a known work conveyance apparatus is omitted. A hand attaching / detaching mechanism, which is a characteristic feature of the workpiece transfer apparatus 10 of this embodiment, will be described.

  1-4, the holder frames 18 provided at both ends of the long-shaped feed bar 14 having a T-shaped longitudinal section are fixed to the lower surface of the feed bar 14, and the front is opened in a rectangular shape. A holder, which is a flat rectangular block shape, which is horizontally fixed so as to intersect the holder frame body 19 on the front side of the holder frame body 19 by a rectangular frame-shaped holder frame body 19 and a tapping screw 20c. It is comprised with the scale 20.

  As shown in FIGS. 3, 4, 7, and 8, a pair of left and right brackets 20 a provided with a vertically extending long hole 20 b are formed on the holder scale 20, and a tapping screw 20 c (see FIGS. 3 and 4) is provided. By loosening, the fixing position of holder holder 20 relative to holder frame body 19 (the position of front and rear slide groove 21 described later) can be adjusted in the vertical direction.

  The upper surface of the holder scale 20 is sandwiched between a pair of left and right side walls 20d and 20d, and is in the front-rear direction (left-right direction in FIG. 2) perpendicular to the extending direction of the feed bar 14 (direction perpendicular to the paper surface in FIG. 2). An extending front / rear slide groove 21 is provided. Further, a flat frame-like lid 23 that covers the upper side of the front / rear slide groove 21 is attached to the pair of left and right side walls 20d, 20d, and a hand insertion hole H that opens on the front side where the hand base end portion 42 can be inserted is opened. Is configured. The lid 23 is provided with four openings 23a, and the inside of the hand insertion hole H (front / rear slide groove 21) can be visually confirmed (confirmed) from these openings 23a.

  As shown in FIGS. 2 and 7, a position determining V-shaped block 24 engaged with the insertion end side of the hand base end portion 42 inserted into the slide groove 21 is provided at a substantially central portion in the width direction of the front / rear slide groove 21. A lock pin 28 is provided spaced apart in the front-rear direction so as to press and fix a position spaced from the insertion side end of the hand base end 42 by a predetermined distance to the bottom surface of the hand insertion hole H (slide groove 21). Yes.

  As shown in FIGS. 5 and 7, the V-shaped block 24 is screwed to the back wall 20e of the holder equal 20 and the desired side of the front / rear slide groove 21 is the hand base end 42 insertion end side (the bifurcated end portion). 43, 43).

  Further, as shown in FIGS. 2A and 2B, a cylindrical air cylinder 25 having a disk-like piston 26 slidable in the vertical direction is provided directly below the front / rear slide groove 21 of the holder scale 20. Decorated.

  A lock pin 28 is suspended from the piston 26 accommodated in the cylinder 25, and the lock pin 28 passes through the bottom wall 21 a and the lid 23 of the front / rear slide groove 21 upward to form a V-shaped block 24. Projecting to a predetermined position separated by a predetermined distance in the front-rear direction. The protruding tip of the lock pin 28 is provided with a lower tapered mortar block 29 that engages with a tapered engaging portion 45 provided on the hand base end portion 42.

  Further, an air port (not shown) communicating with the upper part of the cylinder chamber is provided on the right side wall of the holder scale 20, and an air port 25 a (see FIG. 2) communicating with the lower part of the cylinder chamber is provided on the lower wall of the holder scale 20. As shown in FIGS. 2A and 2B, the air cylinder 25 is driven (piston 26 slides in the vertical direction) by supplying and discharging air into the cylinder 25 through these air ports. To do. Reference numeral 27 denotes a compression coil spring housed in the upper part of the cylinder chamber, and the spring force acts as a force for clamping the hand base end portion 42 via the piston 26 (lock pin 28) together with the air pressure of the air cylinder 25 ( 2 (a)).

  On the other hand, as shown in FIG. 1 and FIG. 2A, the negative pressure suction hand unit 40 has a plurality of suction pads 48 at the front end on a T-shaped hand base end portion 42 called a unit holder. An elongated support member 49 called a vacuum holder provided on the side is integrated by bolt and nut fastening. Reference numeral 49a denotes a long hole provided in the support member 49. By adjusting the extension direction and extension length of the support member 49 extending from the hand base end portion 42, the arrangement (layout) of the negative pressure suction pad 48 can be adjusted. It can be adjusted according to the workpiece W to be conveyed.

  As shown in FIGS. 3 to 8, the hand base end portion 42 is formed to have a width that matches the width of the front / rear slide groove 21 of the holder scale 20, and the insertion end side of the hand base end portion 42 is a lock pin. 28 is configured to be bifurcated to allow insertion of the hand base end portion 42 into the hand insertion hole H (slide groove 21) and sliding of the lock pin 28 in the vertical direction. That is, a slit 44 extending in the front-rear direction with a width slightly larger than the outer diameter of the lock pin 28 is provided on the insertion end side of the hand base end portion 42. The tip of the lock pin 28 is located at a predetermined position in the front-rear direction of the slit 44 corresponding to the distance between the V-shaped block 24 and the lock pin 28 on the upper surface of the hand base end portion 42 (in the embodiment, the base side of the slit 44). A tapered engaging portion 45 that engages with the mortar-shaped block 29 is provided.

  The lock pin 28 integrated with the piston 26 that slides by driving the air cylinder 25 is positioned in the front-rear and left-right directions with the bifurcated end portions 43, 43 on the insertion end side engaged with the V-shaped block 24. In addition, a hand base end portion fixing mechanism that clamps substantially the center portion of the hand base end portion 42 and fixes the hand base end portion 42 at a predetermined position in the slide groove 21 is configured.

  Specifically, when the bifurcated end portions 43 and 43 of the hand base end portion 42 are engaged with the V-shaped block 24, the hand base end portion 42 is roughly positioned in the front-rear and left-right directions with respect to the slide groove 21, and then locked. By engaging the mortar-shaped block 29 at the tip of the pin 28 with the tapered engagement portion 45, the distal ends 43, 43 of the hand base end 42 are in pressure contact with the V-shaped block 24, and the mortar-shaped block 29 is tapered. And the hand base end 42 is clamped by the lock pin 28 (the bottom surface of the slide groove 21). Is fixed by pressing).

  Further, the lid 23 covering the upper side of the slide groove 21 has a function of preventing deviation of the hand base end portion 42 inserted into the hand insertion hole H (slide groove 21). That is, the hand unit 40 is provided with the negative pressure suction pad 48 on the tip side thereof, and thus has a center of gravity on the tip side. For this reason, if the lid 23 is not provided in the slide groove 21, the hand unit 40 (hand base end part 42) swings in the direction in which the heavy tip end descends when the hand base end part 42 is inserted into the slide groove 21 ( 2), the hand base end portion 42 deviates from the slide groove 21 without permission.

  Therefore, when the hand unit 40 (hand base end portion 42) is about to swing (turn), the hand unit 40 (hand base end portion 42) swings due to interference with the hand base end portion 42 insertion end side. A lid 23 that functions as a member that prevents (rotation) is provided on the slide groove 21 to prevent the hand unit 40 (hand base end portion 42) from falling off.

  Next, a procedure for attaching / detaching the hand unit 40 (hand base end portion 42) to / from the hand insertion hole H (slide groove 21) of the holder equal 20 will be described.

  When the hand base end portion 42 is inserted into the hand insertion hole H (slide groove 21) from the front side of the holder scale 20, the bifurcated end portions 43 and 43 (slit 44) on the hand base end portion 42 insertion end side slide. Engage with the lock pin 28 protruding above the groove 21 and also with the V-shaped block 24, and the insertion end side of the hand base end portion 42 is positioned in the front-rear and left-right directions (FIG. 2 (b), (See FIG. 7).

  At this time, the lower tapered mortar-shaped lock 29 at the distal end portion of the lock pin 28 is at a corresponding position above the tapered engagement portion 45 on the bifurcated root side of the upper surface of the inserted hand base end portion 42, and the air cylinder 25. When the lock pin 28 is lowered by driving the mortar-shaped lock 29, the mortar-shaped lock 29 of the lock pin 28 engages with the tapered engagement portion 45 on the hand base end portion 42 side, and the hand base end portion 42 moves to the slide groove 21. It is pressed and fixed to the bottom wall 21a of the slide groove 21 (hand insertion hole H) in a form accurately positioned in the front-rear and left-right directions with respect to the (hand insertion hole H) (FIGS. 2A, 3 and 3). 8).

  Specifically, when the air cylinder 25 is driven and the lock pin 28 clamps (presses and fixes) the hand base end portion 42 to the bottom wall 21a of the slide groove 21 (hand insertion hole H), the hand base end portion 42 is bifurcated. The side end portions 43 and 43 are pressed against two portions of the V-shaped block 24 (a pair of V-shaped end surfaces 24a and 24a thereof), and the mortar-shaped lock 29 of the lock pin 28 is located on the upper surface of the substantially central portion of the hand base end portion 42. The hand base end portion 42 is held in pressure contact with the tapered engagement portion 45 and is accurately positioned in the front / rear / left / right direction with respect to the slide groove 21 (hand insertion hole H). The attachment of the base end portion 42) to the hand insertion hole H (slide groove 21) of the holder equal 20 is completed.

  On the other hand, when the hand unit 40 (hand base end portion 42) is pulled out from the hand insertion hole H (slide groove 21) of the holder equal 20, the lock pin 28 is lifted by driving the air cylinder 25. Since the mortar-shaped block 29 at the distal end and the tapered engagement portion 45 on the hand base end portion 42 side are disengaged, the clamp (fixing) of the hand base end portion 42 by the lock pin 28 is released. As shown in FIG. 4, the hand unit 40 (hand base end portion 42) can be pulled out from the hand insertion hole H (slide groove 21) of the holder scale 20 to the near side.

  As described above, in this embodiment, as an operation for attaching / detaching the hand unit 40 (hand base end portion 42) to / from the hand insertion hole H (slide groove 21) of the holder scale 20, driving of the air cylinder 25 ( Except for the operation of clamping and releasing the hand base end 42 by the lock pin 28, the hand unit 40 (hand base end 42) is slid only in the front-rear direction along the hand insertion hole H (slide groove 21). Therefore, the hand unit 40 (hand base end portion 42) can be attached and detached with a single touch.

  In particular, when the operator inserts the hand base end portion 42 into the hand insertion hole H (slide groove 21), an opening 23 a provided in the lid 23 constituting the upper surface wall of the hand insertion hole H is provided. Through which the hand base end portion 42 can be inserted into the hand insertion hole H (slide groove 21) while confirming (viewing) the lock pin 28 and the positioning block 24 in the hand insertion hole H (slide groove 21). The mounting operation of the hand unit 40 (hand base end portion 42) can be performed more smoothly and reliably.

  The pressing force (clamping force) of the lock pin 28 that presses and fixes the hand base end portion 42 to the bottom surface of the slide groove 21 (hand insertion hole H) is the air pressure of the air cylinder 25 and the spring force of the built-in spring 27. Therefore, when an excessive load such as an impact force acts on the front end side of the hand unit 40, the hand base end portion 42 is slid against the air pressure of the air cylinder 25 (the hand insertion hole H). By swinging in the vertical direction with respect to the bottom surface 21a (the piston 26 of the air cylinder 25 slides up and down), an excessive load is weakened and transmitted to the holder frame body 19, the holder ikerule 20, and the feed bar 14. Is done.

  That is, when the hand unit 40 holds the workpiece W by suction, the hand unit 40 is lowered integrally with the feed bar 14, and the negative pressure suction pad 48 on the tip side of the hand presses the workpiece W. The (collision force with the workpiece W) acts as a large load on the lock pin 28 that clamps (presses and fixes) the hand base end portion 42 (acts as a larger load as the hand unit 40 becomes longer). However, an excessive load such as an impact force acting on the lock pin 28 is alleviated by a buffering action (impact absorbing action) of the air cylinder 25, and the holder frame 18 and the feed bar 14 are subjected to an excessive load such as an impact force. Since the light is relaxed and transmitted, the holder frame 18 and the feed bar 14 are less likely to be damaged.

  1, 3, and 4, reference numeral 56 is a vacuum generator attached to the side of the holder frame body 19 via a bracket 55, and the negative pressure (vacuum) generated by the vacuum generator 56 is a vacuum. A flexible hose 57 extending from the generator 56 to the holder scale 20, a negative pressure generating side pipe 52 (see FIG. 2) drilled in the holder scale 20, and a negative pressure transmitted side pipe drilled in the hand base end part 42 It is configured to act on the negative pressure suction pad 48 on the distal end side of the hand unit 40 via a path 46 (see FIG. 2) and a flexible hose 47 extending from the hand base end portion 42.

  That is, by attaching the hand unit 40 (hand base end portion 42) to the front / rear slide groove 21 of the holder scale 20, the negative pressure generation side pipe line 52 and the hand unit 40 (hand base end portion 42) on the holder scale 20 side. The negative pressure-transmitted side pipe 46 on the side is connected. The vacuum generator 56, the flexible hose 57, and the negative pressure generation side conduit 52 on the holder scale 20 side are symmetrical with respect to the pair of left and right holder frames 18 (holder frame body 19) provided on the feed bar 14. It is provided as follows.

  Here, the connection between the holder frame main body 19 (holder scale 20) on the left side of FIG. 1 and the vacuum generator 56 will be described in detail.

  As shown in FIG. 9, one end side opens in the port 52 a (see FIG. 2) provided on the holder scale 20 and the other end side is a counterbore portion 50 provided on the bottom surface of the slide groove 21. Is provided with a negative pressure generating side pipe line 52 that opens (port 52b). On the other hand, one end side of the hand base end portion 42 opens at a port 46a provided on the bottom surface of the hand base end portion 42, and the other branch side has four branch ports 46b provided on the left and right side surfaces of the base end portion 42 (see FIG. 3, 4, 7, and 8), a negative pressure transmitted side conduit 46 that opens is provided.

  When the hand base end 42 is attached to the front / rear slide groove 21 of the holder scale 20, as shown in an enlarged view in FIG. 9, the counterbore 50 (port 52b) on the front / rear slide groove 21 side and the hand base end The negative pressure generating side pipe 52 and the negative pressure transmitted side pipe 46 communicate with each other so that the port 46a on the side of the portion 42 is almost directly opposed.

  The counterbore 50 of the front / rear slide groove 21 includes an opening peripheral portion of the negative pressure generation side conduit 52 (peripheral portion of the port 52b) and an opening peripheral portion of the negative pressure receiving side conduit 46 (periphery of the port 46a). Are loaded with bellows-type seal rings 54 that are in pressure contact with each other and hold (connect) both pipes 46 and 52 in communication.

  As shown in an enlarged view in FIG. 10, the bellows-type seal ring 54 includes a thick disc-shaped base end portion 54a having an outer diameter matching the inner periphery of the spot facing portion 50, and an inner portion of the disc-shaped base end portion 54a. A thin cylindrical bellows portion 54b that rises vertically from the periphery is integrally formed of resin or rubber.

  The overall length (vertical height) of the bellows-type seal ring 54 is set to be somewhat larger (longer) than the depth h (see FIG. 9) of the counterbore 50, and the hand unit 40 (hand base end 42). ) Is inserted into the front / rear slide groove 21 (hand insertion hole H), the disc-shaped base end portion 54a of the bellows-type seal ring 54 loaded in the counterbore portion 50 is the port 52b on the bottom surface of the counterbore portion 50. The upper end portion of the cylindrical bellows portion 54b of the bellows type seal ring 54 is in pressure contact with the peripheral edge portion of the port 46a on the bottom surface of the base end portion 42, and the negative pressure generating side conduit 52 and the negative pressure received side tube Since the communication state of the path 46 is maintained, an appropriate negative pressure capable of adsorbing and holding the workpiece W through the conduit 46 and the flexible hose 47 always acts on the negative pressure suction pad 48 of the hand unit 40.

  In particular, in this embodiment, as described above, when the force (impact) for pressing the work W of the hand unit 40 (the negative pressure suction pad 48) is large due to the lowering of the feed bar 14, the cylinder groove 21 is pressed against. Since the hand base end portion 42 is actively swung up and down, the impact transmitted to the holder frame 18 through the hand base end portion 42 is reduced, so that the hand base end portion 42 A gap is easily generated between the bottom surface, the seal ring 54, and the bottom surface of the front and rear slide groove 21.

  However, in the present embodiment, the cylindrical bellows portion 54a of the seal ring 54 absorbs the swing of the base end portion 42 of the workpiece suction hand unit 40 with respect to the front and rear slide groove 21, and the upper end portion of the seal ring 54 is the hand base end. Since the seal ring 54 is held in contact with the peripheral edge portion of the port 46a on the bottom surface of the base end portion 42 and the peripheral edge portion of the port 52b on the bottom surface of the spot facing portion 50. Even if the hand base end 42 swings up and down due to an impact when the hand unit 40 (negative pressure suction pad 48) presses the workpiece W, the negative pressure generation side pipe line 52 and the negative pressure transmitted A gap that causes a decrease in the suction force (negative pressure) of the negative pressure suction pad 48 does not occur at the connection portion between the side pipes 46.

  Therefore, in the present embodiment, an appropriate negative pressure capable of sucking and holding the workpiece W always acts on the negative pressure suction pad 48, so that the workpiece W is reliably sucked and held and does not fall to a predetermined position. Can be transported.

  In addition, before the hand base end portion 42 is inserted into the front / rear slide groove 21, the upper end portion of the bellows type seal ring 54 is located above the bottom surface of the front / rear slide groove 21, as shown by the phantom line in FIG. 9. When the hand base end portion 42 is inserted into the front / rear slide groove 21, the upper end portion of the seal ring 54 may interfere with the distal end side (insertion end side) of the hand base end portion 42 inserted into the front / rear slide groove 21.

  However, in this embodiment, as shown by reference numeral 43a in FIG. 2, the lower side edges of the insertion side end portions 43 and 43 of the hand base end portion 42 are rounded and chamfered, and as shown in FIG. Since the outer peripheral edge of the upper end portion of the ring 54 is formed in a circular arc shape in the vertical cross section, the upper end portion of the seal ring 54 becomes the hand base end as the insertion side end portions 43 and 43 of the hand base end portion 42 are inserted (advanced). When the hand base end portion 42 is inserted (moved forward) by the chamfered portion 43 a of the portion 42, the bellows portion 54 b contracts and the upper end portion of the seal ring 54 slides along the bottom surface of the base end portion 42. To do.

  For this reason, when the hand base end portion 42 is inserted into the front / rear slide groove 21 or removed from the front / rear slide groove 21, the seal ring 54 is turned over, or insertion or deviation of the hand base end portion 42 into the front / rear slide groove 21 is sealed. It is not obstructed by the ring 54.

  As described above, in this embodiment, since the hand base end portion 42 can be smoothly inserted and deviated from the front / rear slide groove 21, the mounting operation of the hand unit 40 to the front / rear slide groove 21 is very simple. Become.

  FIG. 11 is a longitudinal sectional view of an essential part of the hand attaching / detaching mechanism in the workpiece transfer apparatus according to the second embodiment of the present invention.

  In the first embodiment described above, the V-shaped block 24 is screwed to the back wall 20e of the holder scale 20. However, in this second embodiment, the V-shaped block 24A is formed hollow and the holder The V-shaped block 24 </ b> A is urged and held toward the opening side of the front / rear slide groove 21 by a compression coil spring 24 b interposed between the rear wall 20 e of the scale 20. Reference numeral 24c is a guide pin that functions as a sliding guide for the V-shaped block 24A.

  That is, when the lock pin 28 clamps the hand base end portion 42 (the mortar-shaped block 29 at the tip end of the lock pin 28 engages with the tapered engagement portion 45 on the hand base end portion 42 side), the hand base end portion 42. Is pushed against the urging force of the compression coil spring 24b in a direction approaching the back wall 20e of the holder equal 20, so that the hand base end portion 42 is positioned in a form in which the urging force of the compression coil spring 24b is applied. Retained.

  In this embodiment, even if the formation position of the tapered engagement portion 45 provided on the hand base end portion 42 is slightly shifted in the longitudinal direction of the slit 44, this displacement can be absorbed by the urging force of the compression coil spring 24b. Accordingly, the processing of the tapered engagement portion 45 at the hand base end portion 42 is facilitated (the processing accuracy at the position where the tapered engagement portion 45 is formed is reduced).

  Others are the same as those of the first embodiment described above, and therefore, the same reference numerals are given and duplicate descriptions are omitted.

  FIG. 12 is an exploded perspective view of the main part of the hand attaching / detaching mechanism in the workpiece transfer apparatus according to the third embodiment of the present invention.

  In the first and second embodiments described above, the air cylinder 25 that presses and fixes (clamps) the hand base end portion 42 inserted into the front / rear slide groove 21 (hand insertion hole H) via the lock pin 28, Although it was built in the holder scale 20 and provided directly below the front / rear slide groove 21 (hand insertion hole H), in the third embodiment shown in FIG. 3, the hand base end portion 42 is fixed by pressing (clamping). The air cylinder 25A is mounted on the holder scale 20 and is provided directly above the front / rear slide groove 21 (hand insertion hole H).

  The air cylinder 25A is attached to the left and right side walls 20d, 20d of the front / rear slide groove 21, so that the bottom 25a of the air cylinder 25A functions as the lid 23 of the first embodiment (the rotation of the hand unit 40 is prevented). And the function of preventing the hand base end portion 42 from falling off the front and rear slide grooves 21).

  The lock pin 28A suspended from the piston 26A of the air cylinder 25A protrudes downward through the cylinder lower surface wall 25a of the front / rear slide groove 21 (hand insertion hole H), and is formed at the tip of the lock pin 28A. A downward tapered mortar-shaped lock 29 that engages with a tapered engaging portion 45 formed on the upper surface of the hand base end portion 42 is provided.

  Others are the same as those in the first and second embodiments described above, and therefore, the same reference numerals are used to omit redundant description.

  In the first to third embodiments described above, the hand base end portion 42 inserted into the front / rear slide groove 21 (hand insertion hole H) by the air pressure of the air cylinders 25 and 25A built in the holder scale 20. Is pressed and fixed (clamped), but instead of the air cylinders 25 and 25A, the base end of the hand inserted into the front / rear slide groove 21 (hand insertion hole H) by the hydraulic pressure of the hydraulic cylinder built in the holder scale 20 The portion 42 may be configured to be pressed and fixed (clamped).

  In the first to third embodiments, the hand base end portion of the negative pressure suction hand unit 40 that is a work holding hand unit is inserted into the front and rear slide groove 21 (hand insertion hole H) provided in the holder scale 20. 42 is detachably mounted, but as a work holding hand unit other than the negative pressure suction hand unit 40, a magnet hand unit or a clamp hand (also called a chucking hand) having a plurality of magnets and chucks on the tip side of the hand. ) The unit may be known, and the hand base end of the magnet hand unit or the clamp hand unit may be detachably mounted in the front / rear slide groove 21 (hand insertion hole H) of the holder equal 20.

  In the above-described embodiment, the holder frame 18 (the holder frame main body 19 and the holder scale 20) is fixed to the feed bar 14 configured to be vertically movable and slidable in the axial direction (longitudinal direction). The hand attaching / detaching mechanism in the transport device 10 in which the hand base end portion 42 of the work holding hand unit is mounted in the front / rear slide groove 21 provided in the holder scale 20 has been described. However, the feed bar 14 does not move up and down in the vertical direction. Holder holder 20 is a hand support portion that is slidable only in the direction (longitudinal direction) and is mounted to the holder frame main body 19 fixed to the feed bar 14 so as to be movable up and down via, for example, a ball screw mechanism. The workpiece holding hand uni It can be applied to the hand detaching mechanism in the preparative hand proximal end 42 and a work conveying apparatus of the mounted structure.

  Further, in the above-described embodiment, the hand attaching / detaching mechanism in the work transfer device including the feed bar 14 that is slidable at least in the axial direction (longitudinal direction) has been described. However, the multi-axis control configured to perform a predetermined reciprocating operation. A hand attachment / detachment mechanism in a workpiece transfer apparatus having a structure in which a holder arm 20 as a hand support is provided on an arm of a robot, and a hand base end portion 42 of a workpiece holding hand unit is attached to a front / rear slide groove 21 provided in the holder ear 20 It can also be applied to.

DESCRIPTION OF SYMBOLS 10 Conveyance apparatus 11 Feed bar drive stand 12 Holder base 14 Feed bar W Work 18 Holder frame 19 Holder frame main body 20 Holder scale H Hand insertion hole 21 Slide groove 21a Bottom wall 25a of slide groove Cylinder bottom wall 23 Above front and rear slide groove Frame-shaped lids 24, 24A V-shaped blocks 25, 25A for positioning in the front-rear and left-right directions Air cylinders 26, 26A Pistons 28, 28A Lock pins 29, 29A for positioning in the left-right direction Mortar-shaped block 40 Negative pressure adsorption Hand unit 42 Hand base end portion 43 Insertion side bifurcated end portion 44 of the hand base end portion Slit 45 extending forward and backward constituting the bifurcated portion 45 Tapered engagement portion 46 Negative pressure transmission side conduit 48 Negative pressure adsorption pad 50 Seat Boring portion 52 Negative pressure generation side conduit 54 Bellows type seal ring 54b Bellows portion

Claims (4)

A workpiece that is an industrial robot that detachably attaches the base end of a workpiece holding hand capable of holding a workpiece to the hand support portion of the transfer device, and drives the transfer device to sequentially transfer a workpiece at a predetermined position to another predetermined position. a hand detaching mechanism in the transport device,
The hand support portion includes a slide groove for engaging the hand base end portion, and a fluid pressure cylinder for fixing the hand base end portion engaged with the slide groove,
A hand attaching / detaching mechanism in a workpiece transfer device in which the hand base end portion that is positioned by engaging with the slide groove is pressed and fixed at a predetermined position in the slide groove by a piston that slides by driving of the fluid pressure cylinder. And
The slide groove is configured by a hand insertion hole that extends in the horizontal front-rear direction orthogonal to the workpiece conveyance direction and opens forward, and the inserted base end portion of the hand is provided at a substantially central portion in the width direction of the insertion hole. The V-shaped block for positioning to which the insertion end side is engaged, and the upper and lower sliding pistons of the fluid pressure cylinder are integrated, and a substantially central portion of the hand base end portion inserted into the hand insertion hole is upward. And a lock pin that is pressed and fixed to the bottom surface of the insertion hole from the front and rear direction.
On the other hand, the insertion end side of the hand base end portion is configured to be bifurcated so as to be engageable with the V-shaped block, and the lock pin distal end portion is provided on the base side of the bifurcated portion of the upper surface of the hand base end portion. in hand detaching mechanism in word over click feeder tapered engaging portion is provided to be engaged with the lower target narrow conical lock,
The work holding hand is composed of a negative pressure suction hand provided with a plurality of negative pressure suction pads on the tip side of the hand,
On the bottom surface of the hand base end portion, a negative pressure transmitted side conduit opens, while on the bottom surface of the insertion hole of the hand support portion, a negative pressure generation side conduit passes through a counterbore portion. The bellows that is open and press-contacts the opening peripheral edge of the negative pressure receiving side pipe and the opening peripheral edge of the negative pressure generating side pipe to keep both pipes in communication. A hand attaching / detaching mechanism in a work transfer device, wherein a mold seal ring is loaded. The hand insertion hole is configured by fixing a frame-shaped lid to a pair of left and right side walls of a U-shaped slide groove having an open top.
The fluid pressure cylinder is housed in a hand support portion and is disposed directly below the slide groove, and the lock pin is suspended from a flat plate-like piston that slides up and down, and a bottom wall of the slide groove And the crotch portion that protrudes upward through the lid body and that constitutes the bifurcated insertion side end portion of the hand base end portion, and the lock pin that vertically penetrates the hand insertion hole (slide groove) The hand attaching / detaching mechanism in the work transfer device according to claim 1, wherein the hand attaching / detaching mechanism extends at least to an engageable position.   3. The workpiece transfer apparatus according to claim 1, wherein the fluid pressure cylinder includes an air cylinder, and a compression spring that acts as a clamping force of the lock pin is accommodated in the cylinder. Hand attachment / detachment mechanism. The said hand support part is comprised under the feed bar which reciprocates at least horizontally, and was comprised by the holder frame which provided the slide groove for the workpiece holding hand attachment or detachment in the front side. A hand attaching / detaching mechanism in the workpiece transfer apparatus according to any one of claims 3 to 4.

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