JPS6059106B2 - Fixed position stop device for mobile machine base - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Object of the Invention) The present invention relates to a fixed position stopping device for a mobile machine base.
The purpose is to quickly move and stop a mobile machine base having a plurality of stop positions located on a straight line to a specific stop position, and to accurately position this stop position.

The present invention, for example, moves a mobile machine base equipped with an industrial mouth pot that supplies workpieces to a lathe in a linear direction, and holds partially processed workpieces taken out from the lathe on a pallet at a predetermined interval. It is used when placing workpieces in a straight line or when supplying workpieces to several lathes by one industrial robot.

(Prior art) Conventionally, as a method for stopping a mobile machine platform equipped with various devices such as an industrial robot at a specific position among multiple stopping positions located on a straight line, there has been a digital control method using a pulse motor, etc. However, there were drawbacks such as a lack of accuracy in the stopping position and an expensive device.

(Structure of the Invention) The present invention was completed as a result of repeated research in view of the above-mentioned problems. A brake rack is attached to the side of the guide shaft parallel to the guide shaft, and a V
A plurality of positioning books provided with grooves are installed at each stop position of the movable machine base on the side of the guide shaft so as to be parallel to the guide shaft, and on the side of the movable machine base, A positioning pin having a V-shaped tip is attached to the positioning block so that it can be raised and lowered so as to fit in and out of the V groove of the positioning block, and is mounted on a fixed shaft supported on the side of the movable machine base with its axis horizontal. , a brake pinion is fitted so as to be freely reversible, an electromagnetic brake is fitted, and the brake rack and the brake pinion are engaged with each other.Hereinafter, a mobile machine according to an embodiment of the present invention The fixed position stopping device S for the stand will be explained with reference to the accompanying drawings.

'91 In Figures 1 to 4, an industrial robot A is shown in which a guide shaft 3 is horizontally supported by brackets 2 fixed to both lengthwise ends of a substrate 1, and is used to feed a workpiece to a lathe. A distal end portion of a rod 6 of a pneumatic cylinder 5 fixed to the base plate 1 with the equipped mobile machine base 4 slidably connected to the guide shaft 3;
The movable machine base 4 is connected to the movable machine base 4 via a bracket 7 attached to the side surface of the movable machine base 4, and the movable machine base 4 is caused to reciprocate linearly along the guide shaft 3 by operating the pneumatic cylinder 5.

In addition, in FIG. 2, 8 indicates a direction control valve of the pneumatic cylinder 5. Also, on the side of the mobile machine stand 4 there is a bracket 9 shaped like
A fixed shaft 10 is horizontally supported by the vertical plate part 9a of the bracket 9 and the side part of the mobile machine base 4, and a brake pinion 11 is fitted to the fixed shaft 10 so as to freely rotate. Fit the electromagnetic brake 12.

Further, a guide member 14 is attached to the side surface of the movable machine base 4 to guide the raising and lowering of the positioning pin 13, and the positioning pin 13 is slidably fitted into a guide groove 15 provided perpendicularly to the guide member 14. The positioning pin 13 is attached to the tip of the rod 17 of the pneumatic cylinder 16 attached to the upper surface of the member 14.

The tip end 13a of the positioning pin 13 is formed into a V-shape so that it can be easily inserted into a V-groove 21a of a positioning block 21, which will be described later. On the other hand, a brake rack 18 is fixed to the base plate 1 on the side of the guide shaft 3 in parallel with the guide shaft 3, and this brake rack 18 and a brake rack 18 fitted to the fixed shaft 10 so as to freely rotate It meshes with pinion 11. The brake pinion 11, electromagnetic brake 12, and brake rack 18 constitute a brake device B for stopping the mobile machine base 4.

Further, a pair of brackets 19 fixed to both longitudinal ends of the board 1 are used to hold the threaded rod 20 flush with the guide shaft 3. Each positioning block 21 is supported in a row and has a horizontal insertion hole 22 in a V-block-shaped positioning block 21, and the number of positioning blocks 21 corresponds to the number of stop positions of the mobile machine base 4 (six in this embodiment).
Insert the screw rods 20 into the respective insertion holes 22, correct the position of each positioning block 21, and tighten both sides with the tightening nuts 23 so that the mobile machine base 4 can stop at each stop position. , each positioning block 21 is fixed to the screw rod 20. Then, the pneumatic cylinder 16 is operated to lower the positioning pin 13, and the tip 13a of the positioning pin 13 is inserted into the V-groove 21a of the positioning block 21 as shown by the two-dot chain line in FIG. As a result, the stopping position of the mobile machine base 4 can be accurately determined. Further, as shown in FIGS. 5 and 6, a limit switch dog 24 is attached to the side surface of each positioning block 21, and a limit switch 25 for detecting the stop position of the mobile machine base 4 is attached to the guide member L member. When the pressure roller 26 of the limit switch 25 is pressed by the dog 24 by the number of times preset on a counter (not shown) by the movement of the moving machine base 4, the direction of the pneumatic cylinder 5 is controlled. The valve 8 is shut off and the mobile machine base 4 is placed in an unloaded state. Furthermore, in order to change the stopping position of the movable machine base 4, the tightening nuts 23 tightened on both sides of the positioning block 21 may be loosened, and the positioning block 21 may be moved in the axial direction of the screw rod 20.

Further, in the above embodiment, the mobile machine stand 4 is equipped with the industrial robot A for supplying workpieces to the lathe, but in addition to the industrial robot A, devices having various functions are installed on the mobile machine stand 4.
can be equipped to. In FIG. 8, L is a lathe, W is a workpiece, and P is a pallet on which the workpiece W is placed.

(Operation of the invention) Next, the operation of the invention will be explained based on FIGS. 1 to 6.

For example, a mobile machine base 4 equipped with an industrial robot A for supplying workpieces to a lathe is moved from a stop position shown by a solid line in FIG. 1 to a stop position shown by a two-dot chain line in the same figure, and then stopped. Let me explain the case.

In this case, the pressure roller 2 of the limit switch 25
6 is pressed four times by the dog 24, the counter is preset so as to shut off the directional control valve 8 of the pneumatic cylinder 5. First, with the mobile machine base 4 stopped at the stop position shown by the solid line in FIG. 1, the pneumatic cylinder 16 is operated to raise the positioning pin 13.
The directional control valve 8 of the pneumatic cylinder 5 is activated, and the rod 6 of the pneumatic cylinder 5 is retracted, so that the mobile machine base 4 begins to move in the direction of arrow P.

In this case, since the electromagnetic brake 12 of the brake device B is not operating, the brake pinion 11 moves on the brake rack 18 while rotating. Then, the pressing roller 26 of the limit switch 25 attached to the guide member 14 of the mobile machine base 4 is pressed against the positioning block 21.
Immediately after being pressed four times by the dog 24 attached to the
The directional control valve 8 of the pneumatic cylinder 5 is shut off, and the mobile machine base 4 becomes unloaded. Immediately thereafter, the electromagnetic brake 12 that constitutes the brake device B is activated to prevent the brake pinion 11 from rotating. As a result, the mobile machine base 4 stops.

The reason why the electromagnetic brake 12 is actuated to stop the mobile machine 4 immediately after the mobile machine 4 becomes unloaded is to prevent the mobile machine 4 from coasting due to inertia. Then, when the pneumatic cylinder 16 is operated while the electromagnetic brake 12 is kept operating, the positioning pin 13 is lowered.
As shown by the two-dot chain line in FIG.
It is inserted into the groove 21a of No. 1.

When the electromagnetic brake 12 is deactivated in this state, the tip 13 of the V-shaped positioning pin 13
is inserted into the groove 21a of the positioning block 21, so that the stop position of the movable machine base 4 can be positioned extremely accurately. Furthermore, when the movable machine base 4 is stopped by operating the electromagnetic brake 12, if the movable machine base 4 is slightly deviated from a specific correct stopping position, as shown in FIG. Although the tip end 13a of the positioning block 21 does not fit snugly into the V-groove 21a of the positioning block 21, the pneumatic cylinder 16 is still operating even after the electromagnetic brake 12 is deactivated.
When the tip 13a of the positioning pin 13 is tightly fitted into the V-groove 21a of the positioning block 21, the movable machine base 4 moves slightly in the required direction, thereby ensuring accurate positioning of the stop position. It will be held in Furthermore, by changing the value preset in the counter, the stopping position of the mobile machine base 4 can be changed freely. As is clear from the above explanation, the mobile machine base 4 can be accurately positioned and stopped at a specific position among a plurality of stop positions located on a straight line. , a pallet P is placed between the fixed-position stopping devices S according to the present invention, and a partially machined workpiece W1 is taken out from the lathe L1 by an industrial robot A1 equipped on the movable machine base 4 of the fixed-position stopping device S1. After that, the industrial robot A1 is rotated and the moving machine table 4 is moved to stop at a predetermined stop position, and in this state, the workpiece W1 taken out by the industrial robot A1 is placed on the pallet P1 and moved. When the above-mentioned operations are repeated by sequentially changing the stop position of the machine 4, partially machined workpieces W1 are placed on the pallet P1 at the same intervals as the intervals (equal intervals) l of the positioning blocks 21.
is placed in a straight line.

Another fixed-position stopping device S2 adjacent to the fixed-position stopping device S1 via the pallet P1 uses the same action as above to industrially transport the partially processed workpiece W1 placed linearly on the pallet P1. The robot ~ takes it out, supplies it to the lathe L, processes it, and then does the same thing as above to make the pallet P2.
A workpiece W2 machined by lathe is placed on. Therefore, it is possible to supply the work W to each lathe L without using any conveyance means such as a conveyor or a chute. Furthermore, by installing a plurality of lathes on one side or both sides of the fixed position stopping device according to the present invention and moving the movable machine base 4, one industrial robot equipped on the movable machine base 4 can be used. A makes it possible to supply workpieces to multiple lathes.

In this case, since the moving distance of the movable machine base 4 is generally long, it is desirable that the movement of the movable machine base 4 be performed by a drive motor rather than by pneumatic or hydraulic cylinders. (Effects of the Invention) As described above, the present invention can quickly move and stop a mobile machine base having a plurality of seven stop positions located on a straight line to a specific stop position, and also Since the positioning pin having the tip fits into the groove provided in the positioning block, the stop position of the movable machine base can be positioned extremely accurately.

Further, since the present invention does not use any pulse motor or the like and is mainly based on a mechanical structure, the device can be manufactured at low cost.

[Brief explanation of drawings]

FIG. 1 is a front view of one embodiment of the device of the present invention, FIG. 2 is a plan view thereof, FIG. 3 is a sectional view taken along the line X-X in FIG.
The figure is a sectional view taken along the line Y-Y in Figure 1, Figures 5 and 6 are a front view and side view of the main parts, respectively, and Figure 7 is a state in which the positioning pin is inserted into the groove of the positioning block. FIG. 8 is a plan view for explaining the operation of the present invention. (Explanation of symbols of main parts), 3: Guide shaft, 4: Mobile machine base, 5: Pneumatic cylinder, 11: Brake pinion, 1
2: electromagnetic brake, 13: positioning pin, 13a: tip of positioning pin, 18: brake rack, 20: screw rod, 21: positioning block, 21a: V groove, A: industrial robot, B: brake device.

Claims (1)

[Claims] 1. A movable machine base that is moved by the operation of a pneumatic or hydraulic cylinder is slidably inserted into a supported guide shaft with its shaft center horizontal, and a brake rack is placed parallel to the guide shaft on the side of the guide shaft. A plurality of positioning blocks each having a V-groove on the top thereof are mounted at each stop position of the movable machine stand on the side of the guide shaft so as to be parallel to the guide shaft,
A positioning pin with a V-shaped tip is attached to the side of the movable machine base so as to be able to move up and down so as to fit into and disengage from the V groove of the positioning block, and the axis is horizontally attached to the side of the movable machine base. A fixed shaft supported by a fixed shaft is fitted with a brake pinion so as to be reversible, and an electromagnetic brake is fitted therein, and the brake rack and the brake pinion are engaged with each other. Position stop device.