JPS5877426A - Arm device - Google Patents
Arm deviceInfo
- Publication number
- JPS5877426A JPS5877426A JP56175923A JP17592381A JPS5877426A JP S5877426 A JPS5877426 A JP S5877426A JP 56175923 A JP56175923 A JP 56175923A JP 17592381 A JP17592381 A JP 17592381A JP S5877426 A JPS5877426 A JP S5877426A
- Authority
- JP
- Japan
- Prior art keywords
- arm
- arms
- tool
- fingers
- horizontal
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155418—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers the grippers moving together
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155432—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable about different axes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155435—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable
- B23Q2003/155439—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable along the pivoting axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
- B23Q3/1552—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling parts of devices for automatically inserting or removing tools
- B23Q3/1554—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore
- B23Q2003/155414—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers
- B23Q2003/155425—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable
- B23Q2003/155435—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable
- B23Q2003/155446—Transfer mechanisms, e.g. tool gripping arms; Drive mechanisms therefore the transfer mechanism comprising two or more grippers pivotable and linearly movable with translation of the pivoting axis
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、二つの物品を掴持してこれを水平にしたり或
は垂直にしたりする場合に用いるアーム装置に係り、例
えば工作機械の工具交換器に適用されるものに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an arm device used to grip two objects and make them horizontal or vertical, and is applied to, for example, a tool changer of a machine tool. Regarding.
・
従来、例えば工作機械の工具交換器に於ては、特公昭５
１−３８１０９号公報に開示された如く、主軸箱の垂直
主軸又は水平主軸に装着された旧工具と、工具貯蔵装置
から選出された新工具とを交換する様に為されている。・ Conventionally, for example, in tool changers for machine tools,
As disclosed in Japanese Patent No. 1-38109, an old tool mounted on a vertical spindle or a horizontal spindle of a spindle box is replaced with a new tool selected from a tool storage device.
而して、従来の工具交換器に用いられるアーム装置２０
０は、基本的には第１１図並びに第１２図に示す如く、
平板状のアーム２０１の両端に工具を掴持するフィンガ
ー２０２ 、２０３を設けると共に、この様なアーム２
０１を支持する俯仰体２０４を設けている。而して前記
俯仰体２０４は、固定体２０５に対して水平軸２０６廻
りに回転できる様に為され、アーム２０１が水平状態若
しくは垂直状態になる様に構成されている。Thus, the arm device 20 used in the conventional tool changer
0 is basically as shown in FIGS. 11 and 12,
Fingers 202 and 203 for gripping tools are provided at both ends of a flat arm 201.
01 is provided. The elevating body 204 is configured to be able to rotate around a horizontal axis 206 with respect to the fixed body 205, so that the arm 201 is in a horizontal state or a vertical state.
然しなから、この様な構造であると、アーム２０１を単
板状にしているので固定体２０５に対して水平軸２０６
廻りに回転する俯仰体２０４を設けねばならず、この俯
仰体２０４が往々にして邪魔になる場合があった。However, with this structure, since the arm 201 is made into a single plate, the horizontal axis 206 is
It is necessary to provide an elevating body 204 that rotates around the device, and this elevating body 204 often gets in the way.
又、俯仰体２０４は、ブロック状を呈しているので比較
的重量物となり、これを回転する回転駆動機構を強力且
つ大型のものにせねばならなかった。Furthermore, since the elevating body 204 has a block shape, it is relatively heavy, and the rotational drive mechanism for rotating it must be powerful and large.
この為、これらを支持する固定体２０５も大きく且つ重
くなる事が免がれなかった。For this reason, the fixed body 205 that supports them inevitably becomes large and heavy.
更に、アーム２０１の長手中心線と水平軸２０６とはＬ
だけ離間しているので、フィンガー２０２゜２０３に掴
持された物品（工具）は、大きく円弧を描いて回動する
事になる。従って水平から垂直或はこの逆へ物品を回動
させる際には、その周囲に大きなスペースが必要となっ
て非常に問題であった。Furthermore, the longitudinal centerline of the arm 201 and the horizontal axis 206 are L.
Since the fingers 202 and 203 are spaced apart from each other, the article (tool) gripped by the fingers 202 and 203 rotates in a large circular arc. Therefore, when rotating an article from horizontal to vertical or vice versa, a large space is required around the article, which is very problematic.
本発明は、叙上の問題点に鑑みこれを解消する為に創案
されたもので、その目的とする処は、強力且つ大型のｉ
転駆動機構を用いず、コンパクトにできると共Ｉζ、掴
持した物品が大きな円弧を描いて回転しない様にして回
転に要するスペースを最少限にし、他物に対して極力邪
魔にならぬ様にしたアーム装置を提供するにある。The present invention was devised to solve the above-mentioned problems, and its purpose is to provide a powerful and large-sized i.
It can be made compact without using a rolling drive mechanism, and it also prevents the gripped object from rotating in a large arc to minimize the space required for rotation and prevent it from getting in the way of other objects as much as possible. It is to provide an arm device.
本発明の基本的な構成は、アーム基体と、該アーム基体
の両側に水平軸廻りに回転自在に設けたアームと、各ア
ームの先端に物品を掴持すべく拡狭自在に設けた一対の
フィンガーと、前記一対のフィンガーを夫々拡狭作動さ
せる掴持駆動機構と、前記各アームを水平位置から垂直
位置まで夫々逆方向に同期して回動させる回転駆動機構
とから構成した事に特徴が存する。The basic structure of the present invention consists of an arm base, arms rotatable around a horizontal axis on both sides of the arm base, and a pair of arms that are expandable and narrowable at the tip of each arm to grip and hold an article. The device is characterized in that it is composed of fingers, a gripping drive mechanism that expands and narrows the pair of fingers, and a rotation drive mechanism that rotates each arm from a horizontal position to a vertical position synchronously in opposite directions. Exists.
つまり、アームを二分割して、これらを同一水平軸廻り
に回動する様に為し、とりわけ、各アームが水平状態か
ら垂直状態或はこの逆へ夫々逆方向に同期して回動する
様にしたものである。In other words, the arm is divided into two parts so that they can rotate around the same horizontal axis, and in particular, each arm can be rotated synchronously in opposite directions from a horizontal position to a vertical position or vice versa. This is what I did.
以下、本発明の実施例を示す図面に基づきその詳細を説
明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS The details of embodiments of the present invention will be described below based on drawings showing embodiments of the present invention.
第１図は、本発明に係るアーム装置を示す平面図であり
、第２図は、左半分を断面して示す正面図である。第３
図は、側面図を示し、第４図は、第２図に於けるｆｆ−
ＩＶ線矢視縦断側面図である。FIG. 1 is a plan view showing an arm device according to the present invention, and FIG. 2 is a front view showing the left half in section. Third
The figure shows a side view, and FIG. 4 shows the ff-
FIG. 3 is a longitudinal cross-sectional side view taken along the line IV.
本発明に係るアーム装置１は、アーム基体２と、二つの
アーム３．４と、各アームに設けた一対のフィンガー５
，５並びに６．６と、鱗持駆動機構７．８と、回転駆動
機構９とからその主要部が構成されている。The arm device 1 according to the present invention includes an arm base 2, two arms 3.4, and a pair of fingers 5 provided on each arm.
, 5 and 6.6, a scale holding drive mechanism 7.8, and a rotation drive mechanism 9.
アーム基体２は、ブロック状を呈して居り、このアーム
基体２の両側にはアーム３，４が水平軸Ｏ廻りに回転で
きる様に設けられている。The arm base 2 has a block shape, and arms 3 and 4 are provided on both sides of the arm base 2 so as to be rotatable around a horizontal axis O.
前記各アーム３．４の先端には、一対のフィンガー５．
５並びに６．６が支軸１０ 、１０並びに１１゜１１に
依り軸支され、各フィンガーの内面は円弧状に為されて
工具等の物品１００に形成した凹溝に嵌合してこれを掴
持し得る様になっている。A pair of fingers 5.4 is provided at the tip of each arm 3.4.
5 and 6.6 are pivotally supported by support shafts 10, 10, and 11°11, and the inner surface of each finger is made into an arc shape and fits into a groove formed in an article 100 such as a tool to grip it. It is now possible to hold it.
第２図に示す如く各アーム３．４の内部（アーム３の内
部のみを示しているがアーム４も同様である）には、シ
リンダ腔１２、シリンダキャップ１３、ピストン１４．
ピストンロッド１５、ピストンロッド室１６、テール室
１７、該テール室１７内に設けた掴持用のスプリング１
８から成る単動型の流体圧シリンダ１９が設けられてい
る。As shown in FIG. 2, inside each arm 3.4 (only the inside of arm 3 is shown, but the same applies to arm 4), there is a cylinder cavity 12, a cylinder cap 13, a piston 14.
A piston rod 15, a piston rod chamber 16, a tail chamber 17, and a gripping spring 1 provided in the tail chamber 17.
A single acting hydraulic cylinder 19 consisting of 8 is provided.
而して前記ピストンロッド１５の先端には、検体２０．
２０が付設されて居り、これは一対のフィンガー５．５
の根元部内側に形成した傾斜面２１ 、２１に当合する
様になっている。At the tip of the piston rod 15, a specimen 20.
20 is attached, which is a pair of fingers 5.5
It comes into contact with inclined surfaces 21, 21 formed on the inside of the root portion.
一対のフィンガー５．５間には、圧縮スプリング２２が
介装されて居り、アーム３側には一対のフィンガー５．
５の最大拡開位置及び最小狭閉位置の時に当合してフィ
ンガー５．５の拡狭範囲を規定するストッパ２３が設け
られ、これはフィンガー５に穿設した貫孔２４とこれに
遊嵌されてアーム３側に止着したピン２５とで構成され
ている。A compression spring 22 is interposed between the pair of fingers 5.5, and the pair of fingers 5.5 is disposed on the arm 3 side.
A stopper 23 is provided, which comes into contact with the finger 5.5 when the finger 5 is in the maximum expansion position and the minimum narrowing position to define the expansion/contraction range of the finger 5.5. and a pin 25 fixed to the arm 3 side.
アーム３側に取付けた物品位置決め片２６は、平面略２
型を呈して一対のフィンガー５．５間に位置され、これ
は物品１００に形成した凹溝に嵌合して該物品１００を
適正状態に位置決めする機能を発する。The article positioning piece 26 attached to the arm 3 side has a plane of approximately 2
It has a mold shape and is positioned between a pair of fingers 5.5, and has the function of fitting into a groove formed in the article 100 to properly position the article 100.
前記単動型の流体圧シリンダ１９、楔体２０ 、２０、
フィンガー５．５に設けた傾斜面２１ 、２１に依り所
謂フィンガー５．５の掴持駆動機構７が構成され、アー
ム４内にも同様のフィンガー６．６用の掴持駆動機構８
が設けられている。The single-acting fluid pressure cylinder 19, wedge bodies 20, 20,
The so-called grip drive mechanism 7 for the finger 5.5 is constituted by the inclined surfaces 21 and 21 provided on the finger 5.5, and a similar grip drive mechanism 8 for the finger 6.6 is also provided in the arm 4.
is provided.
前記掴持駆動機構７，８の流体圧シリンダ１９ 。Fluid pressure cylinder 19 of the grip drive mechanism 7, 8.
１９への流体送給は、流体圧発生源と流体圧シリンダ１
９．１（ｌのピストンロッド室１６（アーム４側は図示
せず）とを直接フレキシブルな配管で接続する事も出来
るが、アーム３．４が回転するので本実施例ではアーム
３．４並びにアーム基体２に流路を形成している。The fluid supply to 19 is carried out by a fluid pressure generation source and a fluid pressure cylinder 1.
9.1 (l) can be directly connected to the piston rod chamber 16 (the arm 4 side is not shown) with flexible piping, but since the arm 3.4 rotates, in this embodiment, the arm 3.4 and A flow path is formed in the arm base 2.
則ち、第２図に示す如く、各アーム３．４には通路２７
、２７並びに周溝ア、２８が、アーム基体２には通路
四、２９及び両通路２９ 、２９を連通ずる周溝３０並
びに通路３１が夫々穿設され、前記通路３１に適宜配管
を介して切換弁Ｖ、ポンプＰ１タンクＴから成る流体圧
発生源に接続されている。That is, as shown in FIG. 2, each arm 3.4 has a passage 27.
, 27 and circumferential grooves A and 28, and a circumferential groove 30 and a passage 31 which communicate passages 4 and 29 and both passages 29 and 29, respectively, are bored in the arm base 2, and are connected to the passage 31 via appropriate piping. It is connected to a fluid pressure generation source consisting of a valve V, a pump P1 and a tank T.
回転駆動機構９は、二つのＬ型リンク３２ 、３３と、
一つのＴ型リンク３４と、流体圧シリンダ３５とから構
成されている。The rotational drive mechanism 9 includes two L-shaped links 32 and 33,
It is composed of one T-shaped link 34 and a fluid pressure cylinder 35.
前記り型リンク３２ 、３３並びにＴ型リンク３４は、
アーム基体２の中央に削設した割溝３６内に配されて居
り、第４ｖ！Ｊに示す如く一方のＬ型リンク３２（実線
）の上端は、−側（第２図に於ては左側）のアーム３の
側面に枢着され、他方のＬ型リンク３３（想像線）の上
端は他側（第２図に於ては右側）のアーム４の側面に枢
着されて、いる。The foregoing type links 32, 33 and T type link 34 are as follows:
It is arranged in a split groove 36 cut in the center of the arm base 2, and the 4th v! As shown in J, the upper end of one L-shaped link 32 (solid line) is pivoted to the side surface of the arm 3 on the negative side (left side in FIG. 2), and the upper end of the other L-shaped link 33 (imaginary line) The upper end is pivotally attached to the side surface of the arm 4 on the other side (the right side in FIG. 2).
モして両り型リンク３２ 、３３の下端は、Ｔ型リンク
３４の水平片両端に土納され、該Ｔ型リンク３４の垂直
片下端には流体圧シリンダ３５のピストンロッド先端が
枢着しである。The lower ends of the double-sided links 32 and 33 are rested on both ends of the horizontal side of the T-shaped link 34, and the tip of the piston rod of the fluid pressure cylinder 35 is pivotally connected to the lower end of the vertical side of the T-shaped link 34. It is.
前記流体圧シリンダ３５のピストンロッドは、アーム基
体２に穿設されている割溝３６に連なる透孔３７に昇降
自在に遊嵌され、流体圧シリンダ３５のシリンダ本体は
アーム基体２等に適宜固定される。The piston rod of the fluid pressure cylinder 35 is loosely fitted into a through hole 37 connected to a groove 36 bored in the arm base 2 so as to be able to move up and down, and the cylinder body of the fluid pressure cylinder 35 is fixed to the arm base 2 etc. as appropriate. be done.
又、各アーム３．４とアーム基体２との間には、回動し
過ぎない様に回動範囲を定めるストッパ手段が設けられ
、本実施例では第１図乃至第３図に示す如くアーム３．
４の鍔部３８ 、３９に９０度だけ削設した円弧切欠４
０ 、４１と、アーム基体２側に取付けたストッパ片４
２ 、４３とに依り構成した場合を例示している。Further, a stopper means is provided between each arm 3.4 and the arm base 2 to determine the range of rotation to prevent excessive rotation, and in this embodiment, as shown in FIGS. 3.
Arc notches 4 cut by 90 degrees on the flange parts 38 and 39 of 4.
0, 41, and the stopper piece 4 attached to the arm base 2 side
2 and 43 are illustrated.
第３図は、第２図に於ける右側のアーム４とアーム基体
２間にストッパ手段を明示して居り、２左側のアーム３
とアーム基体２間に設けるストッパ手段は第１図に示す
如く前記のストッパ手段と対称配置になっている。FIG. 3 clearly shows a stopper means between the arm 4 on the right side and the arm base 2 in FIG.
The stopper means provided between the arm base 2 and the arm base 2 is arranged symmetrically with the stopper means as shown in FIG.
本発明に係るアーム装置１は、この様な構成であるので
、次にその゛作用を述解する。Since the arm device 1 according to the present invention has such a configuration, its operation will be explained next.
第１図乃至第４図は、回転駆動機構９の流体圧シリンダ
３５が伸長状態を呈し、両アーム３．４は共に垂直状態
を呈している。然も両掴持駆動機構７．８の流体圧シリ
ンダ１９ 、１９のピストンロッド室１６ 、１６へは
圧力流体が送られずにピストンロッド１５ 、１５等は
スプリング（皿バネ） １８ 、１８に依り伸長方向に
弾圧され、検体２０ 、２０が傾斜面２１．２１に当合
して一対のフィンガー５．５並びに６．６は掴持ロック
状態を呈している。1 to 4, the hydraulic cylinder 35 of the rotary drive mechanism 9 is in an extended position, and both arms 3.4 are in a vertical position. However, the pressure fluid is not sent to the piston rod chambers 16, 16 of the fluid pressure cylinders 19, 19 of the both grip drive mechanisms 7.8, and the piston rods 15, 15, etc. are dependent on the springs (disc springs) 18, 18. The specimens 20 and 20 are pressed against the inclined surface 21.21 and the pair of fingers 5.5 and 6.6 are in a gripping and locking state.
この様な状態から回転駆動機構９の流体圧シリンダ３５
を短縮させると、そのピストンロッド、Ｔ型リンク３４
、Ｌ型リンク３２ 、３３は夫々下動し、第２図に於け
る右側のアーム４は、第３図に於て垂直状態から反時計
方向（矢印方向）へ回動して水平状態になる。In such a state, the fluid pressure cylinder 35 of the rotational drive mechanism 9
When shortened, the piston rod and T-type link 34
, the L-shaped links 32 and 33 move downward, and the right arm 4 in FIG. 2 rotates counterclockwise (in the direction of the arrow) from the vertical position to the horizontal position in FIG. 3. .
他方、第２図に於ける左側のアーム３は、第３図並びに
第４図を基準にすれば垂直状態から時計方向（第４図の
矢印方向）に回動して水平状態になる。On the other hand, the left arm 3 in FIG. 2 rotates clockwise (in the direction of the arrow in FIG. 4) from a vertical position to a horizontal position, based on FIGS. 3 and 4.
つまり、両アーム３．４は、垂直状態から水平状態に、
或はこの逆へ回動し得るが、その回動方向は互に逆にな
って居り、同期して回動し得る様になっているのである
。In other words, both arms 3.4 change from a vertical state to a horizontal state.
Alternatively, they can rotate in the opposite direction, but the directions of rotation are opposite to each other, so that they can rotate in synchronization.
又、掴持駆動機構７．８の流体圧シリンダ１９゜１９の
ピストンロッド室１６ 、１６へ圧力流体を送給すれば
、ピストン１４ 、１４、ピストンロッド１５ 、１５
、楔体２０ 、２０はスプリング１８ 、１８の弾力に
抗して短縮方向へ移行し、楔体２０ 、２０と傾斜面２
１．２１との接合は解除される。従って、一対のフィン
ガー５゜５並びに６．６は拡開できる状態となる。Furthermore, if pressure fluid is supplied to the piston rod chambers 16, 16 of the fluid pressure cylinders 19, 19 of the grip drive mechanism 7.8, the pistons 14, 14, piston rods 15, 15
, the wedge bodies 20 , 20 move in the shortening direction against the elasticity of the springs 18 , 18 , and the wedge bodies 20 , 20 and the inclined surface 2
1.21 will be disconnected. Therefore, the pair of fingers 5.5 and 6.6 are in a state where they can be expanded.
然しなが−ら本実施例の場合、圧縮スプリング２２゜２
２が伸長状態で介装しであるので自然に拡開する事はな
く、一対のフィンガー５．５並びに６．６間に物品１０
０の凹溝が嵌入する際に若干拡開し、直ちに圧縮スプリ
ング２２ 、２２にて掴持位置に保たれ、一応物品１０
０を保持し得る様になっている。However, in the case of this embodiment, the compression spring 22°2
Since the finger 2 is inserted in the extended state, it does not expand naturally, and the article 10 is inserted between the pair of fingers 5.5 and 6.6.
When the concave groove 0 is inserted, it expands slightly, and is immediately held in the gripping position by the compression springs 22, 22, and the article 10 is temporarily held.
It is designed so that it can hold 0.
そしてその後、ピストンロッド室１６ 、１６への圧力
流体を停止すれば、スプリング１８ 、１８に依り確実
に掴持状態でロックできるのである。Thereafter, if the pressure fluid to the piston rod chambers 16, 16 is stopped, the springs 18, 18 can reliably lock the piston rods in the gripped state.
尚、前記掴持駆動機構７，８は、物品１００として工具
を対象としている関係上、本実施例の如く構成している
が、例えば一対のフィンガー５．５並びに６．６を夫々
掴持位置から開放位置まで作動させる構造であっても良
い事は勿論である。Note that the grip drive mechanisms 7 and 8 are constructed as in this embodiment since the object 100 is a tool; Of course, the structure may be such that the actuator is operated from the position to the open position.
又、回転駆動機構９も、本実施例にあっては、リンク手
段と流体圧シリンダを採用しているが、例えばラック・
ピニオン手段と流体圧シリンダや流体圧モータ等を用い
ても差支えない。Further, the rotational drive mechanism 9 also employs a link means and a fluid pressure cylinder in this embodiment, but for example, a rack or a hydraulic cylinder is used.
A pinion means, a fluid pressure cylinder, a fluid pressure motor, etc. may be used.
本発明に係るアーム装置１は、物品１００を水平状態か
ら垂直状態に、或はその逆にする場合に使用され、種々
のものに適用できる。但し、二つの物品は回動させた時
、夫々逆方向に回転するから天地若しくは前後が逆にな
る。゛
第５図並び番こ第６図は、第一の使用例を示して居り、
物品１００としては工具を例示している。The arm device 1 according to the present invention is used to change the article 100 from a horizontal state to a vertical state, or vice versa, and can be applied to various things. However, when the two articles are rotated, they rotate in opposite directions, so the top and bottom or front and back are reversed.゛Figure 5 shows the sequence number Figure 6 shows the first usage example,
The article 100 is illustrated as a tool.
第一の使用例に於て、各アーム３．４は第５図に示す如
く夫々水平状態に為されて居り、矢印に示す両側からマ
ニプレータ等の送給手段に依り工具１００ 、１００’
を送給する。In the first example of use, each arm 3.4 is placed in a horizontal position as shown in FIG.
to be sent.
そして画工具ｉｏｏ 、 ｔｏｏ’を各アーム３．４に
設けた一対のフィンガー５，５並びに６．６にて掴持駆
動機構７，８の作動に依り掴持する。Then, the drawing tools ioo and too' are gripped by a pair of fingers 5, 5 and 6.6 provided on each arm 3.4 by the operation of the grip drive mechanisms 7, 8.
掴持が完了すると、回転駆動機構９を作動させて各アー
ム３．４を第６図に示す如く夫々逆方向に回動させて垂
直状態にする。従ってアーム３側の工具１００はその刃
部が向う側になって水平状態となり、アーム４側の工具
１００′はこの逆向きの水平状態となる。When the gripping is completed, the rotational drive mechanism 9 is operated to rotate each arm 3.4 in opposite directions as shown in FIG. 6 to bring it into a vertical position. Therefore, the tool 100 on the arm 3 side is in a horizontal state with its blade facing toward the other side, and the tool 100' on the arm 4 side is in the horizontal state in the opposite direction.
次いで掴持駆動機構７．８を作動させて掴持状態を解除
し、マニプレータ等の取出手段に依り画工具ｉｏｏ 、
ｉｏｏ’を夫々矢印方向へ取出す。Next, the gripping drive mechanism 7.8 is activated to release the gripping state, and the drawing tool ioo is removed by a removal means such as a manipulator.
ioo' in the direction of the arrow.
コノ様に第一の使用例にあっては、二つの工具１００
、１００’を垂直から水平に変換する事ができる。In the first usage example for Mr. Kono, two tools 100
, 100' can be converted from vertical to horizontal.
又、第７図乃至第９図に示す第二の使用例の如く、アー
ム装置１を旋回させる旋回駆動装置（図示せず）を付加
せしめたならば、両側から垂直状態で送給されて来た二
つの工具１００ 、１００’を交換し、且つ互いに異な
る水平状態にして取出す事ができる。Furthermore, as in the second usage example shown in FIGS. 7 to 9, if a swing drive device (not shown) for swinging the arm device 1 is added, the arm device 1 can be fed vertically from both sides. The two tools 100, 100' can be exchanged and taken out in different horizontal positions.
この他、例えば旋回駆動装置、昇降駆動装置、前後スラ
イド駆動装置を付加せしめて、アーム装置１が第１０図
に示す各矢印方向に移動できる様にしたならば、工具交
換器にする事ができる。In addition, for example, if a swing drive device, a lifting drive device, and a front-rear slide drive device are added so that the arm device 1 can move in each arrow direction shown in Fig. 10, it can be used as a tool changer. .
従ってこの様にしたならば、工作機械の主軸箱の垂直主
軸又は水平主軸に装着された旧工具と、工作機械の側部
にある工具貯蔵装置から選出された新工具とを交換する
事ができる。Therefore, if this is done, the old tool mounted on the vertical or horizontal spindle of the spindle box of the machine tool can be replaced with a new tool selected from the tool storage device on the side of the machine tool. .
勿論、他の物流装置に適用できる事は云うまでもない。Of course, it goes without saying that the present invention can be applied to other logistics equipment.
以上既述した如く本発明に依れば、アームを二分割して
これらを同一水平軸廻りに回動する様に為すと共に、各
アームを水平状態から垂直状態、或はこの逆へ夫々逆方
向に同期して回動させる様にしたから、回転駆動機構を
強力且つ大型のものにせずに済み、コンパクトに構成で
きる。As described above, according to the present invention, the arm is divided into two parts so that they can rotate around the same horizontal axis, and each arm can be moved in the opposite direction from the horizontal state to the vertical state, or vice versa. Since the rotary drive mechanism is rotated in synchronization with the rotary drive mechanism, it is not necessary to make the rotary drive mechanism powerful and large, and the structure can be made compact.
又、掴持した物品が大きな円弧を描いて回転しないので
、回転に要するスペースを極力小さくする事ができる。Furthermore, since the gripped article does not rotate in a large circular arc, the space required for rotation can be minimized.
この為、他物に対して邪魔になる様な事はなくなり、容
易に設置する事ができる。Therefore, it does not get in the way of other objects and can be easily installed.
更に、構造も比較的簡単で作動も確実である等諸種の効
果を奏するものである。Furthermore, the structure is relatively simple, the operation is reliable, and various other effects are achieved.
第１図は、本発明に係るアーム装置を示す平面図。
第２図は、左半分を断面して示す正面図。
第３図は、側面図。
第４図は、第２図のＩＶ−ＩＶ線矢視縦断側面図。
第５図並びに第６図は、本発明に係るアーム装置の第一
の使用例を示す略式斜視図。
第７図乃至第９図は、第二の使用例を示す略式第１０図
は、工具交換器として使用する場合の略式斜視図。
第１１図並びに第１２図は、従来のアーム装置の一例を
示す略式斜視図である。
１・・・・・・アーム装置
２・・・・・・アーム基体
３．４・・・・・・ア − ム
５．６・・・・・・フィンガー
７．８・・・・・・掴持駆動機構
９・・・・・・回転駆動機構
１００・・・・・・物品（工具）FIG. 1 is a plan view showing an arm device according to the present invention. FIG. 2 is a front view showing the left half in section. Figure 3 is a side view. 4 is a longitudinal sectional side view taken along the line IV-IV in FIG. 2; FIG. 5 and 6 are schematic perspective views showing a first usage example of the arm device according to the present invention. FIGS. 7 to 9 are schematic views showing a second usage example, and FIG. 10 is a schematic perspective view when used as a tool changer. FIG. 11 and FIG. 12 are schematic perspective views showing an example of a conventional arm device. 1...Arm device 2...Arm base 3.4...Arm 5.6...Finger 7.8...Grip Holding drive mechanism 9... Rotating drive mechanism 100... Article (tool)
Claims (1)
回転自在に設けたアーム３．４と、各アーム３．４の先
端に物品１００を掴持すべ（拡狭自在に設けた一対のフ
ィンガー５．５並びに６．６と、前記一対のフィンガー
５．５並びに６．６を夫々拡狭作動させる掴持駆動機構
７．８と、前記各アーム３．４を水平位置から垂直位置
まで夫々逆方向に同期して回動させる回転駆動機構９と
から構成した事を特徴とするアーム装置。An arm base 2, arms 3.4 rotatably provided on both sides of the arm base 2 on horizontal axes, and a pair of arms 3.4 for gripping and holding an article 100 at the tip of each arm 3.4 (a pair of The fingers 5.5 and 6.6, the gripping drive mechanism 7.8 for expanding and narrowing the pair of fingers 5.5 and 6.6, respectively, and the respective arms 3.4 from the horizontal position to the vertical position. An arm device comprising a rotational drive mechanism 9 that rotates in opposite directions synchronously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56175923A JPS5877426A (en) | 1981-11-02 | 1981-11-02 | Arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56175923A JPS5877426A (en) | 1981-11-02 | 1981-11-02 | Arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS5877426A true JPS5877426A (en) | 1983-05-10 |
Family
ID=16004607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56175923A Pending JPS5877426A (en) | 1981-11-02 | 1981-11-02 | Arm device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5877426A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61117634U (en) * | 1984-12-29 | 1986-07-24 | ||
| EP0640433A1 (en) * | 1993-08-26 | 1995-03-01 | Mikron Ag Biel | Tool changer |
-
1981
- 1981-11-02 JP JP56175923A patent/JPS5877426A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61117634U (en) * | 1984-12-29 | 1986-07-24 | ||
| EP0640433A1 (en) * | 1993-08-26 | 1995-03-01 | Mikron Ag Biel | Tool changer |
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