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WO2024062983A1 - Structure de fixation d'unité à main pour dispositif de transport - Google Patents

Structure de fixation d'unité à main pour dispositif de transport Download PDF

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Publication number
WO2024062983A1
WO2024062983A1 PCT/JP2023/033317 JP2023033317W WO2024062983A1 WO 2024062983 A1 WO2024062983 A1 WO 2024062983A1 JP 2023033317 W JP2023033317 W JP 2023033317W WO 2024062983 A1 WO2024062983 A1 WO 2024062983A1
Authority
WO
WIPO (PCT)
Prior art keywords
hand unit
hand
mounting member
attached
mounting structure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/033317
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English (en)
Japanese (ja)
Inventor
順喜 森本
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nakamura Tome Precision Industry Co Ltd
Original Assignee
Nakamura Tome Precision Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nakamura Tome Precision Industry Co Ltd filed Critical Nakamura Tome Precision Industry Co Ltd
Priority to JP2024548220A priority Critical patent/JPWO2024062983A1/ja
Publication of WO2024062983A1 publication Critical patent/WO2024062983A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof

Definitions

  • the present invention relates to a transport device used to transport a workpiece inside and outside a machine tool, and particularly relates to a mounting structure for a hand unit that is replaced depending on the type of workpiece.
  • workpiece transport devices are provided for loading and unloading workpieces inside and outside the machine and transferring workpieces between spindles.
  • a peripheral device called an end effector, gripper, hand, etc. is attached for holding the workpiece. In this specification, it is expressed as a hand.
  • the suitable hand size and opening/closing structure differ depending on the shape and size of the workpiece, so until now, hand specifications were designed to suit the workpiece, so it is now possible to change the hand according to the workpiece to be processed.
  • the preparation work was difficult. Additionally, it was necessary to check the interference area, speed, control parameters, etc. for each hand used.
  • Patent Document 1 discloses an automatic gripper exchange device, which has a main body having claws for gripping a workpiece, and a gripper that is attached to and detached from a slider by a pin provided on the opposite side.
  • a gripper that is attached to and detached from a slider by a pin provided on the opposite side.
  • An object of the present invention is to provide a hand unit mounting structure that allows easy replacement of the hand unit attached to the tip of a conveying device and is compatible with a wide variety of workpieces.
  • a hand unit mounting structure for a transport device is a hand unit mounting structure that can be attached to the transport device in a replaceable manner, and includes a first mounting member provided on the transport device side and a hand unit mounting structure that is attached to the first mounting member. a second attachment member and a connecting portion provided on the hand unit side; a mutual positioning member is provided between the first attachment member and the second attachment member; and a mutual positioning member is provided between the second attachment member and the connecting portion.
  • the hand unit is characterized by having a mechanism for adjusting the mounting angle of the hand unit between the hand unit and the hand unit.
  • the first mounting member is attached to the conveying device side
  • the second mounting member is attached to the connecting portion of the hand unit
  • a positioning member such as a parallel pin is provided between the first mounting member and the second mounting member, so that new centering work is not required each time the hand unit is replaced.
  • the attachment angle can also be adjusted.
  • the transport device has a sensor means for identifying the attached hand unit when the hand unit is attached to the conveying device.
  • the area of interference with the movement of a hand workpiece, the movement path, the movement speed, etc. are controlled by a program. Therefore, when the hand unit is replaced, it is necessary to select a program accordingly, but if sensor means for identifying the hand unit is provided in this way, the corresponding program will be automatically selected. There is no need to check parameters etc. each time.
  • the hand unit may include a drive section that controls the movement of the hand, which serves as a claw section for gripping a workpiece, and peripheral equipment such as an air blower.
  • the hand unit can be easily replaced if it has a connector for wiring and/or piping, and it can also be made waterproof by using a waterproof connector as the connector.
  • the hand unit has a hand section that grips a workpiece and a drive section that rotates or opens/closes the hand section, the drive section is a rotary actuator, and the hand is gear-coupled with the rotary actuator.
  • the hand portion may be cantilevered with respect to the drive portion by a cross roller ring.
  • an air cylinder may be used as the drive unit, and if a rotary actuator is used and the gear-connected hand unit is cantilever-supported by a cross roller ring, the support rigidity of the hand is improved, and piping and wiring Routes can be centrally arranged.
  • the mounting structure of the hand unit according to the present invention can be applied to various types of hand units, such as a type in which the hand unit has hands in two places so that the hand unit can be rotated, and a type in which the hand unit has a shaft hand for gripping a shaft-shaped workpiece.
  • the mounting position at the tip of the transport device is stable, and peripheral equipment such as piping and wiring can be shared. This makes it possible to handle a wide variety of workpieces and improves setup work efficiency.
  • FIG. 1 An example of a structure in which a hand unit is attached to an attachment part of a transport device is shown.
  • (a) shows a side view of the hand unit connected to the attachment part, and
  • (b) shows a bottom view of the connection part.
  • a cross-sectional view of the hand unit in an attached state is shown.
  • the mounting structure of the hand unit is shown schematically, with (a) showing a side view and (b) showing a bottom view.
  • 13A and 13B are explanatory diagrams for adjusting the angle of the hand unit.
  • An example of a sensor attached to a hand unit is shown.
  • FIG. 4 is an explanatory diagram of a drive unit of the hand unit.
  • An explanatory diagram of the hand unit piping and wiring connector is shown.
  • FIG. 1 partially shows the distal end side of the conveyance device, showing the main body portion 10 and the attachment portion 11 of the hand unit 20.
  • the conveying device may be a robot hand, a loader for a machine tool, or the like, and is not particularly limited, and its movement in the X, Y, and Z axis directions is controlled as necessary.
  • the hand unit 20 shown in FIG. 1 is an example that includes a hand section 21 that grips a workpiece and a drive section 23 that controls turning and opening/closing of the hand section 21.
  • the drive unit 23 in FIG. 1 shows a cylinder drive system, it may also be a rotary actuator system, etc., as described later.
  • a first mounting member 12 is fixed to the distal end side of the transfer device with bolts or the like, and a connecting portion 22 provided on the hand unit 20 side is connected to the first mounting member 12 via a second mounting member 13. Connect and fix. The details will be explained below based on FIGS. 2 to 5.
  • FIG. 2(a) shows a side view of the first mounting member 12, second mounting member 13, and connecting portion 22 fixed to the main body of the conveyance device
  • FIG. 2(b) shows the connecting portion 22 from below.
  • FIG. 3 is a partial sectional view showing the mounting structure of the first mounting member 12, the second mounting member 13, and the connecting portion 22,
  • FIG. 4 is a schematic diagram for explanation.
  • the connecting portion 22 on the side of the hand unit 20 has four concentric elongated holes 22b and four working holes 22c.
  • the first mounting member 12 has a plate shape and is fixed to the main body 10 side with bolts or the like. member) 12a, 12a.
  • the connecting part 22 is fixed to the second mounting member 13 by inserting the bolt 22a into the arc-shaped elongated hole 22b. This can be done with a screwdriver or the like through the working hole 22c of the connecting portion 22.
  • the reason for adopting such a mounting structure will be explained with reference to the schematic diagram of FIG. 4. If the first mounting member 12 is positioned and fixed to the main body part 10 of the conveyance device, and the connecting part 22 of the hand unit 20 is positioned and fixed to the second mounting member 13, when replacing the hand unit 20, it is necessary to Since they have been positioned, the distance between the first mounting member 12 and the second mounting member 13 is determined by the positioning members 12a, 12a such as parallel pins at the time of the next replacement, so there is no need to center them again. Furthermore, although it is shown in an expanded form in FIG.
  • the bolt fastening hole of the connecting part 22 is made into a long hole 22b in order to align the Z-axis center. Therefore, the angle of deviation of the axis of the hand portion 21 can be adjusted. In this case as well, once the attachment angle between the connecting portion 22 and the second attachment member 13 is adjusted, there is no need to make adjustments each time the attachment is replaced.
  • FIG. 6 shows an example in which a sensor 24 is provided that identifies the specifications of the hand unit 20 when the hand unit 20 is attached to the attachment portion 11 of the transport device. In this way, an NC program corresponding to the hand unit 20 identified by the sensor 24 is selected, making it possible to carry out automatic control directly.
  • FIG. 7 shows an example in which a drive section 33 consisting of a rotary actuator is adopted as the drive section of the hand unit 20, and a shaft section 34 for rotating the hand section, etc. is gear-connected with gears 33a and 33b, and the shaft section 34 is cantilever-supported using a cross roller ring 33c. This improves the support rigidity of the hand portion 21 and enables centralization of piping and wiring.
  • FIG. 8 shows an example in which the wiring connector 41 and the piping connector 42 are used to facilitate common wiring connections and piping connections when replacing the hand unit 20, and to facilitate connection replacement. Furthermore, it is also possible to employ a connector such as the multi-connector 43 that allows for one-touch replacement of a plurality of pipes. In this case, a waterproof connector can also be used. This facilitates peripheral replacement and connection of piping, wiring, etc. when replacing the hand unit 20.
  • the hand unit mounting structure according to the present invention has a mounting member that can be positioned between the transport device and the hand unit attached thereto, so it can be used in transport devices in various fields.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Le problème décrit par la présente invention est de fournir une structure de fixation qui est destinée à une unité à main, et avec laquelle l'unité à main fixée à une partie d'extrémité avant d'un dispositif de transport peut être facilement remplacée et divers types de pièces peuvent être manipulés. La solution selon l'invention porte sur une structure de fixation d'unité à main qui est apte à fixer une unité à main à un dispositif de transport d'une manière remplaçable, la structure étant caractérisée en ce qu'elle comprend : un premier élément de fixation disposé sur le côté dispositif de transport ; un second élément de fixation fixé au premier élément de fixation ; et une partie de liaison disposée sur le côté unité à main, un élément de positionnement réciproque étant disposé entre le premier élément de fixation et le second élément de fixation, et un mécanisme de réglage d'angle de fixation pour l'unité à main étant disposé entre le second élément de fixation et la partie de liaison.
PCT/JP2023/033317 2022-09-22 2023-09-13 Structure de fixation d'unité à main pour dispositif de transport Ceased WO2024062983A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2024548220A JPWO2024062983A1 (fr) 2022-09-22 2023-09-13

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022150782 2022-09-22
JP2022-150782 2022-09-22

Publications (1)

Publication Number Publication Date
WO2024062983A1 true WO2024062983A1 (fr) 2024-03-28

Family

ID=90454353

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/033317 Ceased WO2024062983A1 (fr) 2022-09-22 2023-09-13 Structure de fixation d'unité à main pour dispositif de transport

Country Status (3)

Country Link
JP (1) JPWO2024062983A1 (fr)
TW (1) TW202421335A (fr)
WO (1) WO2024062983A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0520236B2 (fr) * 1984-11-05 1993-03-18 Furukawa Electric Co Ltd
JPH07246584A (ja) * 1994-03-10 1995-09-26 Nitta Ind Corp 自動工具交換装置
JP2707716B2 (ja) * 1989-04-26 1998-02-04 株式会社デンソー １軸駆動源によるデュアルヘッド装置
JP2017196720A (ja) * 2016-04-28 2017-11-02 ファナック株式会社 ロボットの関節構造

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0520236B2 (fr) * 1984-11-05 1993-03-18 Furukawa Electric Co Ltd
JP2707716B2 (ja) * 1989-04-26 1998-02-04 株式会社デンソー １軸駆動源によるデュアルヘッド装置
JPH07246584A (ja) * 1994-03-10 1995-09-26 Nitta Ind Corp 自動工具交換装置
JP2017196720A (ja) * 2016-04-28 2017-11-02 ファナック株式会社 ロボットの関節構造

Also Published As

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TW202421335A (zh) 2024-06-01
JPWO2024062983A1 (fr) 2024-03-28

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