JP2606786B2 - Automatic rotation positioning jig - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an ATC (Automatic Too
The present invention relates to an automatic rotary positioning jig for automatically rotating and positioning a workpiece to be processed by an end effector at the tip of a robot arm which can be detachably exchanged via a Changr).

[0002]

2. Description of the Related Art Generally, in a work of automatically performing deburring, finishing, and the like of a small-volume, multi-product production work using a robot, the angle of the work is changed or reversed during the process. In such a case, the jig for fixing the workpiece is once taken out and inverted by changing the clamp or the like. However, the work is interrupted due to the change of the work, which is a burden on the operator. Conventionally, in order to solve such a problem, a rotating shaft capable of holding and rotating a workpiece is supported on a bearing stand arranged opposite to a base plate, and the rotating shaft is interlocked and connected via a brake to rotate the rotating shaft. An automatic rotation positioning jig for NC control of the motor is considered.

[0003]

However, in the conventional automatic rotation positioning jig, a power source (battery and control device) for driving and rotating the motor must be separately provided, and the jig and the workpiece are not provided. There is a problem that a cable, a wiring, and the like as a dedicated device are required because the device usually moves. Therefore, an object of the present invention is to provide an automatic rotation positioning jig that does not separately include a power source and a control device and that does not require a cable or a wiring as a dedicated device.

[0004]

In order to solve the above-mentioned problems, an automatic rotation positioning jig according to the present invention holds a workpiece to be machined by an end effector at the tip of a robot arm which is detachable and replaceable via an ATC. This is an automatic rotation positioning jig that automatically rotates and positions. A rotation shaft that is supported by a bearing base that is arranged opposite to the base plate and that can rotate while holding the workpiece, and is interlocked with a brake interposed on the rotation shaft A motor, a sensor for detecting the rotational position of the rotating shaft, and an ATC at the tip of the robot arm, which are connected to the base plate and send detection signals from the sensor to a control device of the robot. And an ATC socket for transmitting a motor driving power and a rotation positioning control signal to a motor and a brake. .

[0005]

In the above means, the power for driving the motor and the rotation positioning control signal are supplied from the robot. ATC
It is preferable that the socket (ATC tool side) is provided with a buffer means for absorbing and mitigating an impact when the ATC at the tip of the robot arm is connected. Further, it is preferable that a plurality of sensors are provided and each of them is mounted so as to be position-adjustable in a circumferential direction on a circumference around the rotation axis.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of a processing system by a robot using the automatic rotation positioning jig of the present invention. In the figure, 1 is a multipurpose robot which is a human-arm-sized compact arm installed in a work area surrounded by a fence 2.
The robot 1 is connected to a robot controller 3 and an interlock control panel 4 disposed outside a fence 2 via cables 5a and 5b, and is used for deburring and cutting stored in an end effector storage stand 6. Various end effectors 7
The workpiece W is machined by being detachably mounted via the ATC 1b (see FIG. 2) at the tip a.

A bed 8 extending from the vicinity of the multipurpose robot 1 to the outside of the fence 2 is provided in the work area. The bed 8 is conveyed onto the bed 8 by a roller conveyor 9 and the like arranged outside the fence 2. A slide table 11 on which an automatic rotation positioning jig 10 is mounted is provided so as to be able to reciprocate. The automatic rotation positioning jig 10
As shown in FIG.
Are arranged opposite to each other, and a rotating shaft 14 that can rotate while holding the workpiece W is supported by the two bearing stands 13. At one end (the right end in FIG. 3) of the rotating shaft 14, a motor 15 for rotating the rotating shaft 14 is interposed with a brake 16 attached to one (the right in FIG. 3) bearing stand 13. Linked and linked. The other bearing stand 13 has a plurality (four in FIG. 3) for detecting the rotational position of the rotating shaft 14.
The sensor 17 is mounted on a circle around the other end of the rotating shaft 14 so as to be position-adjustable in the circumferential direction.

On the base plate 12, an ATC socket 18 connectable to the ATC 1b at the tip of the robot arm 1a is provided with a guide case 19 provided on the base plate 12 to absorb and reduce the shock when the ATC 1b is connected.
a lifting and lowering post 19b which is inserted into the guide case 19a so as to be able to move up and down and supports the ATC socket 18; Is mounted via. The ATC socket 18, the sensor 17, the motor 15 and the brake 16 are interposed between the terminal box 20 and the detection signal line 21 for transmitting the detection signal of the sensor 17 to the interlock control panel 4 of the multipurpose robot 1. A power line 22 for supplying motor driving power from the robot 1 to the motor 15 and a control signal line 23 for transmitting a rotation positioning control signal from the multipurpose robot 1 to the brake 16 are connected. In FIG. 3, reference numeral 24 denotes a positioning hole for positioning the base plate 12 on the slide table 11.

In order to perform deburring finishing of the workpiece W using a machining system by a robot using the automatic rotation positioning jig having the above-described configuration, the workpiece W is automatically rotated and positioned on a jig 10 (hereinafter simply referred to as a “judge”). The jig 10 is moved to the front of the multipurpose robot 1 by moving the slide table 11. Next, the ATC 1b of the robot arm 1a is connected to the ATC socket 18 of the jig 10.
As shown in FIG. 4, the rotation position signal of the rotation shaft 14 from the sensor 17 is input to the interlock control panel 4 of the multipurpose robot 1, and based on a jig rotation command from the robot controller 3, Power and control signals are sent from the interlock control panel 4 to the jig 10 via the ATC 1b at the tip of the robot arm 1a, and the rotary shaft 14 is zero-positioned. Next, under the control of the robot controller 3, the ATC 1b is separated from the ATC socket 18, the robot arm 1a is moved onto the end effector storage stand 6, and the end effector 7 for deburring is connected to the ATC 1b. Automatic processing such as deburring and finishing of the workpiece W held on the jig 10 by the effector 7 is performed.

When the automatic machining of the required portion of the workpiece W is completed, the end effector 7 is separated and returned to the end effector storage stand 6, and the ATC 1b is connected to the ATC socket 18 of the jig 10 to perform zero alignment. The rotation shaft 14 is rotated by a required angle in the same manner as in the above case, and thereafter, the ATC 1b and the ATC socket 18 are separated, and the ATC
1b, processing of workpiece W, separation of end effector 7, and ATC 1b and AT
The workpiece W is processed by repeating the connection of the C socket 18. When all machining on the workpiece W is completed,
The jig 10 is retracted from the front of the multipurpose robot 1, and the workpiece W is taken out of the jig 10.

[0010]

As described above, according to the automatic rotation positioning jig 10 of the present invention, since the power for driving the motor and the rotation positioning control signal are supplied from the robot, the following effects can be obtained. (1) A power source and a control device are not required for the automatic rotation positioning jig, so that the jig can be made small, lightweight, and inexpensive. (2) Direct connection of wiring and piping between the automatic rotation positioning jig and the external device is not required, and the automatic rotation positioning jig can be easily moved as one unit. (3) Almost no electronic circuit of the control system is required in the automatic rotation positioning jig, and no failure occurs even by the movement. (4) Since the robot uses the ATC as it is, no special modification is required, and the operation is reasonable because the robot itself is used. (5) The control sequence is easily incorporated into the robot program, and no special control computer is required.

[Brief description of the drawings]

FIG. 1 is a perspective view of a processing system by a robot using an automatic rotation positioning jig of the present invention.

FIG. 2 is a perspective view of a main part of FIG.

FIG. 3 is a perspective view showing an embodiment of the automatic rotation positioning jig of the present invention.

FIG. 4 is a block diagram of the system shown in FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Multipurpose robot 1a Robot arm 1b ATC 4 Interlock control panel 7 End effector 12 Base plate 13 Bearing stand 14 Rotary axis 15 Motor 16 Brake 17 Sensor 18 ATC socket

Claims (1)

(57) [Claims] An automatic rotary positioning jig for automatically rotating and positioning a workpiece to be processed by an end effector at the tip of a robot arm which is detachable and replaceable via an ATC, wherein the bearing is opposed to a base plate. A rotating shaft that is rotatably supported by a table and that can hold and rotate a workpiece;
A motor that is interlocked and connected to the rotating shaft via a brake, a sensor that detects the rotating position of the rotating shaft, and an ATC at the tip of the robot arm are connected to the base plate and are attached to the base plate. An automatic rotation positioning jig comprising: an ATC socket for transmitting power for driving a motor and a rotation positioning control signal from the robot to a motor and a brake while transmitting the rotation driving control signal from the robot to a control device of the robot.