JPH0234738B2 - - Google Patents

Description

【発明の詳細な説明】 本発明は工作物着脱装置等の作業ヘツドを所定
の経路を介して移動させ、その経路中の各作業位
置において工作物の着脱作業等を行う倣い作業装
置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a copying work device that moves a work head such as a workpiece attachment/detachment device through a predetermined path and performs work such as workpiece attachment/detachment at each work position along the path. be.

一般に工作機械はその前方に搬入搬出装置を備
え、この搬入搬出装置を工作機械とこの工作機械
の前方に配置されたコンベア装置との間で移動さ
せ、工作物の搬入搬出を行なつている。 Generally, a machine tool is equipped with a loading/unloading device in front of the machine tool, and this loading/unloading device is moved between the machine tool and a conveyor device disposed in front of the machine tool to load and unload workpieces.

しかしながらかかる従来装置のように工作機械
の前方に工作物搬入搬出装置ならびにコンベア装
置を設けると、工作機械の前方が狭まくなり、作
業者が機械の運転状況を監視したりあるいは保守
を行うための作業スペースに制約をうける欠点が
あつた。 However, if a workpiece loading/unloading device and a conveyor device are installed in front of the machine tool as in the conventional device, the front area of the machine tool becomes narrow, making it difficult for operators to monitor the operating status of the machine or perform maintenance. The disadvantage was that the work space was restricted.

また作業スペースを広くとるために工作機械を
またぐようにして走行レールを設置し、この走行
レールに沿つてマニプレータを移動させるように
した装置もあるが、上記したように機械をまたい
で設置することにより、装置が大型化しかつコス
ト高となる欠点があつた。 In addition, in order to increase the work space, there is a device in which a running rail is installed so as to straddle the machine tool, and the manipulator is moved along this running rail. This has the disadvantage of increasing the size and cost of the device.

本発明は従来のこのような不具合を解消するた
めになされたものであり、その目的とするところ
は任意の形状につくられた案内面に沿つて作業ヘ
ツドを移動させることにより他の装置との関連あ
るいは保守スペース等を考慮した最適な径路を描
いて走行させるとともに装置の構成を簡単かつ小
型化することである。 The present invention was made to solve these conventional problems, and its purpose is to move the work head along a guide surface formed in an arbitrary shape to facilitate interaction with other devices. The object of the present invention is to draw an optimal route in consideration of related and maintenance space, and to simplify and downsize the structure of the device.

本考案の他の目的とするところは、走行径路中
における作業ヘツドの向きを水平面内で任意の方
向に姿勢制御し、工作機械あるいはコンベアの向
きに合わせた姿勢での工作物の着脱を可能にする
ことである。 Another purpose of the present invention is to control the orientation of the work head in any direction in the horizontal plane during the travel path, making it possible to attach and detach workpieces in a posture that matches the orientation of the machine tool or conveyor. It is to be.

以下本発明の実施例を図面に基づいて説明す
る。第１図において、１０は工作機械で、この工
作機械１０のベツド１１上には主軸台１２、心押
台１３ならびに砥石台１４が周知の構成で載置さ
れている。工作機械１０の斜め前方には周知の構
成のコンベア装置１５が前記工作機械１０と平行
に設置され、このコンベア装置１５と前記工作機
械１０との間に本発明の倣い作業装置２０が設置
されている。この倣い作業装置２０は工作機械側
方に設置された固定基台２１より前方へ延びるオ
ーバハング構成をなし、工作機械１０の前方に大
きな作業スペースが確保されている。 Embodiments of the present invention will be described below based on the drawings. In FIG. 1, reference numeral 10 denotes a machine tool, and a headstock 12, a tailstock 13, and a grindstone head 14 are mounted on a bed 11 of the machine tool 10 in a well-known configuration. A conveyor device 15 of a known configuration is installed diagonally in front of the machine tool 10 in parallel with the machine tool 10, and a copying device 20 of the present invention is installed between the conveyor device 15 and the machine tool 10. There is. This copying work device 20 has an overhanging configuration extending forward from a fixed base 21 installed on the side of the machine tool, and a large work space is secured in front of the machine tool 10.

第２図ないし第４図は本発明装置の具体的構成
を示すもので、前記固定基台２１上には重量支持
機構としてのリンク機構２２が取付られている。
このリンク機構２２は鉛直線と平行をなす枢軸２
５によつて折曲げ可能に連結された一対の揺動リ
ンク２３，２４よりなり、この一方の揺動リンク
２３は第３図に示すように鉛直線と平行をなす枢
軸２７によつて前記固定基台２１上のブラケツト
３０に枢支され、また他方の揺動リンク２４には
後述する回転軸４５によつて支持体３１が枢支さ
れ、このリンク機構２２によつて水平面内におけ
る支持体３１の移動を可能にしている。 FIGS. 2 to 4 show the specific structure of the apparatus of the present invention, in which a link mechanism 22 as a weight support mechanism is mounted on the fixed base 21. As shown in FIG.
This link mechanism 22 has a pivot 2 parallel to the vertical line.
It consists of a pair of swing links 23 and 24 that are bendably connected by a pivot point 5, and one of the swing links 23 is fixed by a pivot shaft 27 parallel to the vertical line, as shown in FIG. It is pivotally supported by a bracket 30 on the base 21, and a support body 31 is pivotally supported on the other swing link 24 by a rotation shaft 45, which will be described later. It allows for the movement of

前記支持体３１の前面には第４図に示すように
プレート２９を介して一組の工作物着脱装置３
４，３５よりなる作業ヘツド３３が取付られてい
る。この工作物着脱装置３４，３５はいずれも固
定ブロツク３６に昇降可能に支持された昇降体３
７を有し、例えばこの昇降体３７を流体圧シリン
ダ装置３８にて昇降動作させ、さらに把持爪３９
を開閉動作することによつて前記工作機械１０上
あるいはコンベア装置１５上の各作業位置にて工
作物Ｗを搬入搬出するようになつている。 As shown in FIG.
A working head 33 consisting of 4 and 35 is attached. Both of these workpiece attachment/detachment devices 34 and 35 have an elevating body 3 supported by a fixed block 36 so as to be movable up and down.
7, for example, the elevating body 37 is moved up and down by a fluid pressure cylinder device 38, and a gripping claw 39 is provided.
The workpiece W is carried in and out of each work position on the machine tool 10 or the conveyor device 15 by opening and closing the opening and closing operations.

一方支持体３１には第３図に示すように第１、
第２回転軸４５，４６が水平方向に互いに離間し
た位置で鉛直軸線回りに回転自在に軸承されてい
る。この第１、第２回転軸４５，４６を回転駆動
する駆動モータ４７は前記揺動リンク２４上に固
定され、この駆動モータ４７の出力軸４８と前記
第１回転軸４５とが一体的に連結されている。こ
の駆動モータ４７の回転は、第１回転軸４５上の
ギヤ５０、中間ギヤ５１ならびにギヤ５２を介し
て第２回転軸４６に伝えられ、第１、第２回転軸
４５，４６を同期回転させるようになつている。
第１回転軸４５の下端には同軸に第１走行ローラ
５３が固着され、第２回転軸４６の下端には同軸
に第２、第３走行ローラ５４，５５が固着されて
いる。この第１、第２走行ローラ５３，５４は、
上下端面をＮ、Ｓ極とする磁石５３ａ，５４ａ
と、この磁石５３ａ，５４ａの両端に固定された
磁性体円板５３ｂ，５３ｃ，５４ｂ，５４ｃより
構成され、この磁性体円板５３ｂ，５３ｃ，５４
ｂ，５４ｃを後述する第１案内部材６４に当接さ
せるようにしている。これら磁性体円板５３ｂ，
５３ｃ，５４ｂ，５４ｃは磁束の漏洩を少くなく
し、大きな吸引力を得るのに役立つ。第３走行ロ
ーラ５５は前記第１、第２走行ローラ５３，５４
に対して半径差△ｍを有し、かつこの第２走行ロ
ーラ５４と同軸上において前記磁性体円板５４と
一体的に形成されている。 On the other hand, as shown in FIG.
Second rotating shafts 45 and 46 are rotatably supported around a vertical axis at positions spaced apart from each other in the horizontal direction. A drive motor 47 that rotationally drives the first and second rotation shafts 45 and 46 is fixed on the swing link 24, and an output shaft 48 of the drive motor 47 and the first rotation shaft 45 are integrally connected. has been done. The rotation of the drive motor 47 is transmitted to the second rotating shaft 46 via the gear 50, intermediate gear 51, and gear 52 on the first rotating shaft 45, causing the first and second rotating shafts 45 and 46 to rotate synchronously. It's becoming like that.
A first running roller 53 is fixed coaxially to the lower end of the first rotating shaft 45, and second and third running rollers 54, 55 are fixed coaxially to the lower end of the second rotating shaft 46. The first and second running rollers 53 and 54 are
Magnets 53a, 54a with upper and lower end faces as N and S poles
and magnetic disks 53b, 53c, 54b, 54c fixed to both ends of the magnets 53a, 54a.
b, 54c are brought into contact with a first guide member 64, which will be described later. These magnetic disks 53b,
53c, 54b, and 54c are useful for reducing leakage of magnetic flux and obtaining a large attractive force. The third running roller 55 is the first and second running roller 53, 54.
It has a radius difference Δm with respect to the second running roller 54, and is formed integrally with the magnetic disc 54 coaxially with the second running roller 54.

さらに前記固定基台２１の側方にはブラケツト
６２，６３によつてそれぞれ第１、第２案内部材
６４，６５が固定されている。この第１案内部材
６４には前記第１、第２走行ローラ５３，５４を
案内走行させる第１案内面６４ａが形成され、ま
た第２案内部材６５には第３走行ローラ５５を案
内走行させる第２案内面６５ａが平面的に見て２
つの円弧をつなぎ合わせた形状に形成されてい
る。この第１、第２案内面６４ａ，６５ａは前記
走行ローラ５３，５４の半径差△ｍより若干大き
な段差△ｎを有しかつ鉛直線方向に位置をずらし
て形成されている。従つて第２図に示す走行区間
Ａでは大径の第１、第２走行ローラ５３，５４が
第１案内部材６４の第１案内面６４ａに接触し、
また走行区間Ｂでは小径の第３走行ローラ５５が
第２案内部材６５の第２案内面６５ａに接触し、
その接触状態に応じて走行速度が自動的に制御さ
れるようになつている。 Further, first and second guide members 64 and 65 are fixed to the sides of the fixed base 21 by brackets 62 and 63, respectively. The first guide member 64 is formed with a first guide surface 64a for guiding the first and second running rollers 53 and 54, and the second guide member 65 is formed with a first guide surface 64a for guiding the third running roller 55. The 2 guide surface 65a is 2 when viewed in plan.
It is formed in the shape of two circular arcs connected together. The first and second guide surfaces 64a and 65a have a step difference Δn that is slightly larger than the radius difference Δm between the traveling rollers 53 and 54, and are formed to be shifted in position in the vertical direction. Therefore, in the traveling section A shown in FIG. 2, the large diameter first and second traveling rollers 53, 54 contact the first guide surface 64a of the first guide member 64,
Further, in the traveling section B, the third traveling roller 55 with a small diameter contacts the second guide surface 65a of the second guide member 65,
The traveling speed is automatically controlled depending on the contact state.

前記ブラケツト６３には第２案内面６５の２つ
の円弧をつなぎ合わせた近傍に旋回軸７０が回転
自在に軸承され、この旋回軸７０には前記第２案
内部材６５に設けられたクリツプストツプ機構７
１が係合している。このクリツプストツプ機構７
１は旋回軸７０の凹み７２に係合する鋼球７３
と、スプリング７４とより構成され、前記旋回軸
７０を所定角度位置に位置決めする。この位置決
め状態においてこの旋回軸７０上の旋回部材７５
ならびにこの旋回部材７５に形成された凹状の案
内溝７６を前記第１案内面６４ａに揃えるように
なつている。この案内溝７６は前記第１案内面６
４ａ上を転動走行してきた第１、第２走行ローラ
５３，５４を受け入れるべくその両端は開放され
かつその溝巾は前記第１、第２走行ローラ５３，
５４の直径より若干大きめに形成されている。 A pivot shaft 70 is rotatably supported on the bracket 63 in the vicinity of connecting two arcs of the second guide surface 65, and a clip stop mechanism 7 provided on the second guide member 65 is mounted on the pivot shaft 70.
1 is engaged. This clip stop mechanism 7
1 is a steel ball 73 that engages with a recess 72 of a pivot shaft 70;
and a spring 74, which positions the pivot shaft 70 at a predetermined angular position. In this positioning state, the rotating member 75 on the rotating shaft 70
In addition, a concave guide groove 76 formed in the rotating member 75 is aligned with the first guide surface 64a. This guide groove 76 is formed by the first guide surface 6
Both ends thereof are open to receive the first and second running rollers 53 and 54 rollingly running on the rollers 4a, and the groove width is the same as that of the first and second running rollers 53 and 54.
It is formed slightly larger than the diameter of 54.

なお、７８および７９は走行移動端において第
３走行ローラ５５に係合して支持体３１を停止さ
せるストツプ部材である。 Note that 78 and 79 are stop members that engage with the third running roller 55 at the end of the running movement to stop the support body 31.

次に上記構成における作動を説明すると、第２
図は作業ヘツド３３を工作機械１０の上方位置Ｐ
１に停止された状態を示している。これより工作
物Ｗの加工が終了すると同時に一方の工作物着脱
装置３４の把持爪３９を下降させて加工ずみの工
作物Ｗを把持し、しかる状態において駆動モータ
４７を回転駆動すると、第１、第２、第３走行ロ
ーラ５３，５４，５５が回転駆動され、その中で
径の大なる前記第１、第２走行ローラ５３，５４
のみが第１案内面６４に吸着係合しながら一定距
離転動する。これにより支持体３１は第１案内面
６４ａに沿つて直線的にシフトされ、主軸台１２
のチヤツクより加工ずみの工作物Ｗを抜出す。そ
の後、加工ずみの工作物Ｗを把持した工作物着脱
装置３４の把持爪３９は上昇され、これと同時に
未加工の工作物Ｗを把持した工作物着脱装置３５
の把持爪３９が下降される。工作物軸線がセンタ
軸線に一致する位置まで下降したところで、駆動
モータ４７が逆回転されて支持体３１は逆方向に
一定距離シフトされ、未加工の工作物Ｗをチヤツ
ク内に挿入する。挿入後、工作物着脱装置３５の
把持爪３９は上昇され、一連の工作物着脱作業が
終了する。 Next, to explain the operation in the above configuration, the second
The figure shows the work head 33 at a position P above the machine tool 10.
1 shows the stopped state. As soon as the machining of the workpiece W is completed, the gripping claw 39 of one of the workpiece attachment/detachment devices 34 is lowered to grip the machined workpiece W, and in this state, the drive motor 47 is driven to rotate. Second and third running rollers 53, 54, 55 are rotationally driven, and among them, the first and second running rollers 53, 54 having a large diameter
Only the first guide surface 64 rolls a certain distance while being attracted and engaged with the first guide surface 64. As a result, the support body 31 is linearly shifted along the first guide surface 64a, and the headstock 12
Pull out the machined workpiece W from the chuck. Thereafter, the gripping claws 39 of the workpiece attachment/detachment device 34 gripping the machined workpiece W are raised, and at the same time, the workpiece attachment/detachment device 35 gripping the unprocessed workpiece W is raised.
The gripping claws 39 are lowered. When the workpiece axis has been lowered to a position where it coincides with the center axis, the drive motor 47 is reversely rotated, the support 31 is shifted a certain distance in the opposite direction, and the unmachined workpiece W is inserted into the chuck. After insertion, the gripping claws 39 of the workpiece attachment/detaching device 35 are raised, and a series of workpiece attachment/detachment operations is completed.

その後、駆動モータ４７によつて第１、第２、
第３走行ローラ５３，５４，５５を再び回転駆動
すると、前記第１、第２走行ローラ５３，５４の
みがその磁力によつて第１案内面６４ａに吸着係
合しながら転動する。これにより支持体３１なら
びに作動ヘツド３３は第１、第２走行ローラ５
３，５４によつて決まる姿勢を維持しながら走行
区間Ａを高速走行し、そして走行区間Ｂにさしか
かると同時に第１、第２走行ローラ５３，５４は
旋回部材７５の案内溝７６内に転がり込む。一方
この走行区間Ｂにさしかかると同時に径の小なる
第３走行ローラ５５は第２案内部材６５の第２案
内面６５ａに吸着係合し、この第２案内面６５ａ
上を転動するため、低速走行に切換えられる。こ
のとき、第３走行ローラ５５の移動方向の向き
が、当初旋回軸７０に向かつていたのが、旋回軸
７０に沿う向きに変えられるため、旋回部材７５
に回転モーメントが作用し、旋回部材７５ととも
に支持体３１は反時計方向に旋回され、その結果
第１走行ローラ５３が先行する状態から第２、第
３走行ローラ５４，５４が先行する状態に方向転
換され、そして第３走行ローラ５５がストツプ部
材７９に当接してその走行が停止される。 Thereafter, the drive motor 47 drives the first, second,
When the third running rollers 53, 54, 55 are rotated again, only the first and second running rollers 53, 54 roll while being attracted and engaged with the first guide surface 64a by their magnetic force. As a result, the support body 31 and the operating head 33 are connected to the first and second running rollers 5.
3 and 54 at high speed, and at the same time as the vehicle reaches the traveling section B, the first and second traveling rollers 53 and 54 roll into the guide groove 76 of the rotating member 75. On the other hand, at the same time as it reaches this traveling section B, the third traveling roller 55 having a smaller diameter attracts and engages with the second guide surface 65a of the second guide member 65, and this second guide surface 65a
Since it rolls on top of the vehicle, it can be switched to low-speed running. At this time, the direction of movement of the third running roller 55, which was initially facing the rotation axis 70, is changed to the direction along the rotation axis 70, so that the rotation member 75
A rotational moment acts on the supporting body 31 together with the rotating member 75 in the counterclockwise direction, and as a result, the direction changes from the state in which the first running roller 53 is in the lead to the state in which the second and third running rollers 54 and 54 are in the lead. Then, the third running roller 55 comes into contact with the stop member 79 and its running is stopped.

上記走行動作に伴い、リンク機構２２は伸縮な
らびに揺動運動を行い、また作業ヘツド３３に支
持された工作物Ｗは第５図に示すような径路を描
きながらその途中で工作物Ｗの向きが反転され、
そして最終的にコンベア装置１５上では90°度反
転した姿勢で位置決めされる。 Along with the above-mentioned traveling operation, the link mechanism 22 performs expansion/contraction and swinging movements, and the workpiece W supported by the work head 33 traces a path as shown in FIG. reversed,
Finally, it is positioned on the conveyor device 15 with an attitude reversed by 90 degrees.

コンベア装置１５の上方位置Ｐ２に作業ヘツド
３３が移動すると同時に前記駆動モータ４７の回
転が停止され、この位置において前記一対の工作
物着脱装置３４，３５が交互に作動され、未加工
の工作物Ｗをコンベア装置１５上より持ち上げ、
また加工ずみの工作物Ｗをコンベア装置１５上へ
戻す。着脱作業終了後、駆動モータ４７によつて
第１、第２、第３走行ローラ５３，５４，５５が
逆回転され、その結果第３走行ローラ５５が第２
案内面６５ａに沿つて逆方向に走行される。この
第３走行ローラ５５の走行に伴つて支持体３１は
第１回転軸４５を中心として時計方向に旋回する
とともに旋回部材７５は旋回軸７０を中心として
時計方向に旋回され、その後旋回部材７５が元の
角度位置まで旋回されると、旋回部材７５はクリ
ツプストツプ機構７１にて位置決めされる。そし
て第３走行ローラ５５が走行区間Ｂを通過して走
行区間Ａにさしかかると同時に第３走行ローラ５
５は第２案内面６５ａより外れる。このとき案内
溝７６内にある第１、第２走行ローラ５３，５４
はこの案内溝７６内を転動しながら第１案内面６
４ａへと移り、この第１案内面６４ａを転動す
る。これにより支持体３１ならびに作業ヘツド３
３は走行区間Ａを高速走行され、そして最後に第
３走行ローラ５５がストツプ部材７８が係合する
位置まで移動すると駆動モータ４７の回転が停止
して支持体３１ならびに作業ヘツド３３は工作機
械１０上において所定の姿勢で位置決めされ、次
の着脱作業に備えられる。 At the same time as the work head 33 moves to the upper position P2 of the conveyor device 15, the rotation of the drive motor 47 is stopped, and at this position, the pair of workpiece attachment/detachment devices 34 and 35 are operated alternately, and the unprocessed workpiece W from above the conveyor device 15,
Also, the processed workpiece W is returned onto the conveyor device 15. After the attachment/detachment work is completed, the first, second, and third running rollers 53, 54, and 55 are reversely rotated by the drive motor 47, and as a result, the third running roller 55 is rotated in the second direction.
It runs in the opposite direction along the guide surface 65a. As the third running roller 55 travels, the support body 31 rotates clockwise around the first rotating shaft 45, and the rotating member 75 rotates clockwise around the rotating shaft 70, and then the rotating member 75 When pivoted to the original angular position, the pivoting member 75 is positioned by the clip stop mechanism 71. Then, at the same time as the third running roller 55 passes through the running section B and reaches the running section A, the third running roller 55 passes through the running section B and reaches the running section A.
5 is removed from the second guide surface 65a. At this time, the first and second running rollers 53 and 54 in the guide groove 76
The first guide surface 6 rotates in this guide groove 76.
4a, and rolls on this first guide surface 64a. As a result, the support 31 and the working head 3
3 is run at high speed in the running section A, and finally, when the third running roller 55 moves to the position where the stop member 78 engages, the rotation of the drive motor 47 is stopped and the support 31 and the work head 33 are moved to the machine tool 10. It is positioned in a predetermined posture on the top and is ready for the next attachment/detachment operation.

なお、本考案は第５図に示すように工作機械１
０上とコンベア装置１５上とで工作物Ｗの姿勢を
90度反転するものに限定されるものではなく、第
２案内部材６５の第２案内面６５ａの形状を変更
することにより、例えば第６図に示すように工作
物Ｗを平行移動させるとともに向きを180度反転
させたり、あるいは第７図に示すように向きをそ
のままにして平行移動させたりすることもでき
る。 The present invention is based on the machine tool 1 as shown in Fig. 5.
0 and conveyor device 15
By changing the shape of the second guide surface 65a of the second guide member 65, the workpiece W can be moved in parallel and its direction can be changed, for example, as shown in FIG. It is also possible to flip it 180 degrees, or to move it in parallel while keeping the same orientation as shown in Figure 7.

前記したように本発明は、案内部材の案内面に
走行ローラを磁力で吸着させながら転動させるこ
とにより支持体を移動させるようにした構成であ
るので、案内面の形状によつて支持体を工作機械
コンベア等の装置との関連さらには保守スペース
等を考慮した最適な径路を描いて移動することが
でき、しかも大型の走行レールも不用であるため
構成を簡単かつ小型化することができ占有スペー
スが少ない利点を有する。 As described above, the present invention has a configuration in which the support is moved by rolling the running roller while magnetically attracting it to the guide surface of the guide member. It is possible to draw an optimal route for movement in consideration of the relationship with equipment such as machine tool conveyors, maintenance space, etc. Moreover, since there is no need for large running rails, the configuration can be made simple and compact, making it easy to occupy. It has the advantage of taking up less space.

また本発明は、支持体に第１走行ローラを鉛直
軸線回りに回転可能に軸承し、支持体に第２走行
ローラを第１走行ローラの回転軸線に対して水平
方向に離間した鉛直軸線回りに回転可能に軸承
し、磁石からなる第１、第２走行ローラを案内面
上を転動させるようにした構成であるため、支持
体の姿勢を案内面と直角になるように自動的に姿
勢変換することができ、支持体を移動させる駆動
モータで支持体の姿勢を変換することができるの
で、コンパクトになるとともにコストダウンが図
れる効果が得られる。 In addition, the present invention has a first running roller rotatably supported on a support body about a vertical axis, and a second running roller supported on a support body around a vertical axis spaced horizontally with respect to the rotational axis of the first running roller. Since the structure is rotatably supported and the first and second running rollers made of magnets roll on the guide surface, the posture of the support body is automatically changed to be perpendicular to the guide surface. Since the attitude of the support body can be changed by the drive motor that moves the support body, it is possible to achieve the effect of achieving compactness and cost reduction.

さらに本発明は、第２案内面の近傍で鉛直軸線
回りに旋回する旋回部材を設け、この案内部材に
第１、第２走行ローラを係合させ、第２案内面上
を転動する第３ローラの移動によつて旋回部材に
回転モーメントを働かせ、旋回部材とともに支持
体を旋回させるようにした構成であるので、工作
機械あるいはコンベアの向きに合わせた姿勢に工
作物を姿勢制御することができる利点を有する。 Furthermore, the present invention provides a turning member that turns around a vertical axis near the second guide surface, engages the first and second running rollers with this guide member, and provides a third roller that rolls on the second guide surface. The structure is such that rotational moment is applied to the rotating member by the movement of the rollers, and the support body is rotated together with the rotating member, so the posture of the workpiece can be controlled to match the orientation of the machine tool or conveyor. has advantages.

【図面の簡単な説明】[Brief explanation of drawings]

図面は本発明の実施例を示すもので、第１図は
本発明装置と工作機械ならびにコンベア装置との
配置関係を示す配置図、第２図は本発明装置の平
面図、第３図は第２図の−線矢視断面図、第
４図は第２図の−線矢視図、第５図は工作物
の走行径路を説明する説明図、第６図および第７
図は工作物の走行径路の他の実施例を説明する説
明図である。 ２１……固定基台、２２……リンク機構、３１
……支持体、３３……作業ヘツド、４７……駆動
モータ、５３……第１走行ローラ、５４……第２
走行ローラ、５５……第３走行ローラ、６４……
第１案内部材、６５……第２案内部材、７５……
旋回部材。 The drawings show an embodiment of the present invention, and FIG. 1 is a layout diagram showing the arrangement relationship between the device of the present invention, a machine tool, and a conveyor device, FIG. 2 is a plan view of the device of the present invention, and FIG. 2 is a sectional view taken along the - line in FIG. 2, FIG. 4 is a sectional view taken along the - line in FIG.
The figure is an explanatory diagram illustrating another embodiment of the travel path of the workpiece. 21...Fixed base, 22...Link mechanism, 31
... Support body, 33 ... Work head, 47 ... Drive motor, 53 ... First running roller, 54 ... Second
Running roller, 55...Third running roller, 64...
First guide member, 65...Second guide member, 75...
Rotating member.

Claims (1)

【特許請求の範囲】[Claims] １ 鉛直軸線回りに揺動可能に枢支連結された２
節の揺動リンクの一端を固定基台に鉛直軸線回り
に揺動可能に枢支し、２節の揺動リンクの他端に
支持体を鉛直軸線回りに揺動可能に枢支し、この
支持体に昇降体を上下動可能に設け、この昇降体
の下端に工作物を把持する把持爪を開閉可能に設
け、支持体の下部に磁石からなる第１走行ローラ
を鉛直軸線回りに回転可能に軸承し、前記支持体
の下部に磁石からなる第２走行ローラを第１走行
ローラと同じ高さで第１走行ローラの回転軸線に
対して水平方向に離間した鉛直軸線回りに回転可
能に軸承するとともに第２走行ローラと異なる高
さで磁石からなる第３走行ローラを支持体の揺動
中心に対して水平方向に離間した鉛直軸線回りに
回転可能に軸承し、前記第１走行ローラ、第２走
行ローラと第３走行ローラを回転駆動する駆動モ
ータを設け、前記第１走行ローラと第２走行ロー
ラを磁力によつて吸着しながら転動可能に案内す
る第１案内面を形成した第１案内部材を前記固定
基台上に設置し、前記第３走行ローラを磁力によ
つて吸着しながら転動可能に案内する第２案内面
を前記第１案内面と高さをずらして連続して形成
した第２案内部材を前記固定基台上に設置し、第
１走行ローラと第２走行ローラが係合する案内溝
を水平方向に形成した施回部材を第２案内面の近
傍で鉛直軸線回りに旋回可能に固定基台上に設置
したことを特徴とする倣い作業装置。1. 2 pivotally connected to be able to swing around a vertical axis.
One end of the swing link of the joint is pivoted to be swingable around the vertical axis on a fixed base, and a support body is pivoted to the other end of the swing link of the second joint so as to be swingable around the vertical axis. An elevating body is provided on the support so that it can move up and down, a gripping claw for gripping the workpiece is provided at the lower end of the elevating body so that it can be opened and closed, and a first running roller made of a magnet is rotatable around the vertical axis at the bottom of the support. A second running roller made of a magnet is rotatably supported at the lower part of the support body at the same height as the first running roller and about a vertical axis spaced horizontally with respect to the rotational axis of the first running roller. At the same time, a third running roller made of a magnet is supported at a different height from the second running roller so as to be rotatable about a vertical axis spaced horizontally with respect to the swing center of the support body. A first roller, which is provided with a drive motor that rotationally drives the second running roller and the third running roller, and forms a first guide surface that rollably guides the first running roller and the second running roller while attracting the first running roller and the second running roller by magnetic force. A guide member is installed on the fixed base, and a second guide surface that rollably guides the third traveling roller while attracting it by magnetic force is connected to the first guide surface with a height shifted from the second guide surface. The formed second guide member is installed on the fixed base, and the rotating member in which the guide groove in which the first running roller and the second running roller engage is formed in the horizontal direction is aligned with the vertical axis in the vicinity of the second guide surface. A copying work device characterized in that it is installed on a fixed base so as to be able to turn around.