JPS6144617B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a working unit of a working device that performs various operations such as supplying parts to workpieces and inspecting them on an assembly line.

In general, this type of work equipment is, for example,
As described in No. 9358, it is structured as follows. That is, the working device includes a moving table on which a workpiece is placed and moving, and a plurality of working units arranged near the moving table.
Each work unit is designed to work on a workpiece on a moving table, and specifically,
It is designed to perform one of the following: supplying parts to the workpiece, inspecting (for example, checking whether the parts are being supplied to the specified position), caulking and press-fitting the parts with a weak force, supplying and removing the workpieces to the moving table, etc. . In order to perform such work, each work unit includes a fixed part fixed to another stationary table or the like, and a working part movably supported by the fixed part. For example, a chuck is attached to the operating part, and by moving the operating part while holding the part by the chuck, the part is moved to, for example, a workpiece.

However, in the conventional structure, as a mechanism for moving the operating portion, a structure is adopted in which a motor built in the working device is connected to the operating portion via a gear cam mechanism or the like.

In this way, the conventional structure uses a gear cam mechanism as a device to drive the operating parts of each work unit, which has the disadvantage of making the work equipment larger and more complex, resulting in higher costs. .

Furthermore, in the conventional structure, one or two driving shafts (intermediate driving shafts) are driven by a motor via a cam gear, etc., and the driving shafts are connected to a large number of work units via a gear mechanism. . Therefore, the mounting position of each work unit is greatly limited by the position of the drive shaft and the structure of the gear mechanism. For example, it is not possible to install the work unit far away from the drive shaft or extremely close to the drive shaft. Can not. In other words, it may be possible to arrange the work unit at an optimal position taking into account the flow of the workpiece.

Moreover, the gear mechanism connecting the driving shaft and the working unit is bulky, and the mounting positions of the working units are restricted, so the working units cannot be installed close to each other. Therefore, it became impossible to attach a large number (for example, 13) of work units to one work device, and there was also a problem that the work capacity (number of processes) of each work device was low.

A device has already been developed in which a working unit is driven by an air cylinder instead of the motor and cam gear mechanism described above. In that case, there are no restrictions on the mounting position of the working device. However, providing an air cylinder in each work unit itself increases the cost of the equipment. Furthermore, since the air cylinder is bulky, many work units cannot be attached to one work device, resulting in a relatively low work capacity (number of processes).

The present invention attempts to solve the above-mentioned conventional problems by driving a work unit using a Bowden wire. In the working unit, the working unit includes a fixed part that forms the frame of the unit, a stopper that restricts the amount of movement in both forward and reverse directions by the fixed part, and a spring that biases the operating part in the forward or reverse direction. At the same time, one end of the Bowden wire is connected to the operating part, a traction mechanism is provided at a position remote from the working unit to which the other end of the Bowden wire is connected, and a spring is installed between the wire traction part of the traction mechanism and the wire. The device is characterized in that the actuating portion is biased in the reverse direction or the forward direction by the traction mechanism, and will be explained next with reference to the drawings.

In FIG. 1, which is a schematic vertical cross-sectional view of a working device employing a working unit according to the present invention, the lower part of a vertical cylindrical shaft 5 is rotatably supported by a case 2 installed on a foundation 1 via bearings 3 and 4. An annular moving table 6 is fixed to the upper end of the cylindrical shaft 5, and a plurality of workpieces W (only one is shown) are placed on the outer periphery of the table 6 at intervals in the circumferential direction.
A turret 7 is fixed to the cylinder shaft 5 within the case 2, and a cam follower 8 protruding from the turret 7 is engaged with a roller gear cam 10 (or barrel cam, globoidal cam). Reference numeral 11 denotes an electric motor that drives a cam 10 and a wire pulling mechanism 13 (described later) via a chain 12. When the electric motor 11 is operated, the cylinder shaft 5 and table 6 are stopped intermittently due to the action of the cam 10 and the cam follower 8. Rotate. A fixed shaft 15 whose lower end is fixed to the case 2 is arranged inside the cylinder shaft 5. The fixed shaft 15 projects above the cylindrical shaft 5, and a circular table 16 having a smaller diameter than the table 6 is fixed to the upper end. A plurality of work units 17 (only one is shown) are arranged on the upper surface of the outer periphery of the circular table 16 at intervals in the circumferential direction.

As shown in FIG. 2, which is an enlarged cross-sectional view of FIG. A plate-shaped bracket 21 extending inward from the end 20 (center side (right side in FIG. 2)) is fastened to the table 16 by bolts 23 inserted through four holes 22. Frame 1
The both sides 25 of the table 16 extend horizontally and parallel to each other at intervals in the circumferential direction of the table 16, and there is a side part between the inner end 20 and the outer end 26 that connect both ends of the both sides 25. Two guide rods 27 parallel to 25
has been erected. Both ends of each guide rod 27 fit into holes in the frame ends 20 and 26, and are fixed by setscrews 24a screwed into threaded holes 24 (FIG. 3) in the outer end 26. Two pairs of guide rods 27 (total 4
movable base 30 via the bushes 28, 29
(operating part) are slidably fitted. A two-stage hole 31 extending from the inner (right side) end face to the center of the movable base is opened in the portion between both guide rods 27 of the movable base 30. The two-stage outer end of a rod-shaped stripper 32 fits into the hole 31, and the movable base 30 is secured to the movable base 30 by a stop pin 35 (FIG. 3) that fits into the vertical hole 33 at the tip of the stripper 32 and the vertical hole of the movable base 30. It is connected to. In the illustrated state in which the movable table 30 has moved to the innermost side (to the right), the intermediate portion and right end portion of the stripper 32 are connected to the frame end portion 20 as shown in FIG.
A cylindrical boss 36 protruding toward the center of the table 16 from
The hole 37 is inserted into the hole 37. Hole 37 table 1
A screw 38 is provided on the inner surface of the end on the center side (right side in the figure) of the table 16, and a bolt-shaped stopper 40 is screwed into the screw 38 from the center side of the table 16. A fixing fitting 45 for fixing the outer tube 43 of the Bowden wire 42 is screwed into a small diameter screw portion 41 formed at the center side end of the table 16 of the stopper 40, and a nut 47 is screwed into the large diameter screw portion 46 of the boss 36. It is screwed together while being pressed against the end face. 48 is a hexagonal nut-shaped flange (FIG. 3) formed between the large and small diameter threaded portions 41 and 46. The inner cable 44 of the Bowden wire 42 is connected to the stopper 40.
Fits into the hole of the stripper 32 through the inner hole,
Screw 4 screwed into the screw hole 50 of the stripper 32
It is fixed by 9. The end face of the stopper 40 on the stripper 32 side and the two-step hole 31 of the movable base 30
A compression coil spring 51 is compressed between the stepped portion and the stepped portion. In the illustrated state, the stripper 32
is in contact with the stopper 40. 52 is a bolt-like stopper that is screwed into a screw hole (not shown) in the frame end 26, and 52b is a nut that is screwed into the stopper 52. A vertically extending cylinder 53 is located in the center of the movable base 30, and the cylinder 53 is formed by a pair of notches 5 with an arcuate cross section provided on the movable base 30.
4, 54'.

In FIG. 3, which is a cross-sectional view of FIG. 2, the cylinder 53 is fixed to the movable base 30 by a snap spring 53a fitted in a groove on the outer peripheral surface and a nut 56 screwed into a screw 55 on the outer periphery of the lower end. A vertical shaft 58 (operating portion) is slidably fitted into the inner periphery of the lower half of the cylinder 53 via a bush 57.
A male thread 61 on the lower half of the stopper 60 is screwed into the thread on the inner surface of the upper end. A pair of slits 62 extending in the longitudinal direction from near the upper end to the middle part of the cylinder 53 are provided at positions facing each other in the diametrical direction, and one horizontal screw 63 is inserted into each of the slits 62. cylinder 53
and an annular stopper 64 disposed between the shaft 58 and the shaft 58.
is pressed against the cylinder 53 and fixed. 6
5 is a screw that is screwed into the screw hole of the cylinder 53;
The tip fits into a vertical groove 67 on the outer peripheral surface of the shaft 58 to prevent the shaft 58 from rotating. 66 is a lock nut. The shaft 58 has a hole 68 extending from the upper end to the vicinity of the lower end.
It also has an outward flange 70 at its upper end. A compression coil spring 71 is compressed between the bottom surface of the hole 68 and the lower end surface of the stopper 60. hole 6
The tip of an inner cable 74 of a Bowden wire 73 is fitted into a small diameter hole 72 formed at the center of the bottom surface of the wire 8, and is fixed by a screw 75a that is screwed into a screw hole 75. The cable 74 passes through the hole in the stopper 60, and the outer tube 76 is fixed to the stopper 60 by a fixing fitting 77 that is screwed into the male threaded portion at the upper end of the stopper 60. Although not shown, an air chuck, a magnetic chuck, etc., for example, are attached to the lower end of the shaft 58, and a wire-driven chuck 17c (eighth
(Fig.) can also be attached.

As shown in FIG. 4, which is a partially cutaway enlarged view of the wire pulling mechanism 13 in FIG.
The other ends of the outer tubes 43 and 76 of No. 2 and 73 are fixed to bolt-like holders 81 and 82 by nut-like fixing fittings 79 and 80, and both holders 8
1 and 82 are screwed into screw holes of a vertical plate-shaped frame portion 83 at intervals in the vertical direction. Both inner cables 44, 74 are attached to holders 81, 82
The tip extends to the right in the figure through the hole in the holder 8.
The sleeves 44a with slits are fitted into holes in cylindrical holders 84 and 85 that are approximately concentric with the holders 84 and 82, and fixed by screws 86a that are threaded into screw holes 86 in the holders 84 and 85. holder 84,
85 is a horizontal rod 8 perpendicular to the holders 84 and 85.
The holder 8 is slidably fitted into the holes 7 and 88.
Compression coil springs 91, 92 are compressed between the step portions 89, 90 of 4, 85 and the rods 87, 88.

As shown in FIG. 5, which is a view taken along arrow V in FIG. 4, eight holders 84 are attached to the rod 87, and six holders 85 are attached to the rod 88. Among the eight holders 84, one holder 8
4 holds the cable 44 connected to the movable base 30 in FIG. A cable 44 is retained which is connected to the working part of a working unit (not shown). Note that if the number of other operating parts that operate synchronously or approximately synchronously with the movable base 30 is less than seven (for example, five), only six holders 84 in total are attached to the rod 87. If the number is eight or more, some of the holders 84 of the cables 44 connected to their working parts are held by other rods (e.g. 87a), and the rods 87a are synchronously or roughly similar to the rods 87. Operate synchronously.
Even if the number of operating parts operating synchronously or substantially synchronously with the movable platform 30 is less than seven, some of the cables 44 may be connected to the rod 87a. One of the six holders 85 of the rod 88 holds the cable 74 connected to the shaft 58 in FIG. As in the case of
A wire 74 is carried which is connected to the working parts of other working units which operate synchronously or generally synchronously with the shaft 58.

The rods 87 and 88 have holes 95 at the upper ends of each pair of arms 93 and 94, each having a small diameter portion at both ends extending vertically.
96 so as to be rotatable. Arm 93,9
The lower end of 4 is a common axis 97 parallel to rods 87 and 88.
is rotatably supported via pushbutton 99a,
The shaft 97 is secured to a bracket 99 bolted to the bottom frame 98 and to side frames 100.
In addition, in FIG. 5, the arms 93 and 94 are indicated by the arrow F in FIG.
It is shown rotated to a vertical position. A bracket 10 is provided at the vertically intermediate portion of the outer pair arm 93 and extends toward the front with respect to the paper surface of FIG.
1 (Fig. 4), and both ends of a horizontal member 102 are bolted to the ends of both brackets 101.
A bracket 10 is provided in the middle of the member 102 and extends parallel to the bracket 101 and between the pair of arms 93.
3 (Fig. 4) is bolted to the bracket 10.
Bolt 1 is attached to the side of the tip of No. 3 (right side in Fig. 5).
05, an annular cam follower 106 is fastened. Of the pair of arms 94, the left arm 94 in FIG. 5 has a threaded hole 1 parallel to the rod 88 in the middle.
07, and a threaded portion of a bracket 108 is screwed into the screw hole 107 from the right side, and an annular cam follower 111 is fastened to the distal end surface of the bracket 108 by a bolt 110. Both cam followers 1
06, 111 is a common driving shaft 112 parallel to the axis 97
It is in contact with plate cams 113 and 114 fixed to. The cams 113 and 114 are, for example, generally elliptical plate cams, and as they rotate, the arms 93 and 114 pass through cam followers 106 and 111, respectively.
94 is made to swing as described later. The driving shaft 112 is supported by the side frame 100 via a bearing 115, and a sprocket 116 is fixed to the left end of the shaft 112 in FIG. 5, and the chain 12 shown in FIG. 1 is attached to the sprocket 116. A bolt 117 is screwed into the screw hole in the middle part of the arm 94 on the right side of FIG. 5 from the left side, and the bracket 1
Bolts 118 are screwed into the screw holes on the upper surface of the tip of 03, and these bolts 117, 118 and bolts 120, 1 fixed to the frame portion 83 (Fig. 4)
21 are tension coil springs 122, 123.
(return spring) is tensioned. One arm 93b having the same structure as the arm 93 is provided on the left side of the arm 93 on the left side of FIG.
A short rod 12 is attached to the left side of the upper end of the arm 93b.
One wire holder 84 is connected via 5. On the right side of the arm 93 on the right side in FIG. It is also shared in

Next, the operation will be explained. By operating the electric motor 11 shown in FIG. 1, the common driving shaft 112 is rotated via the chain 12 and the sprocket 116 shown in FIG.
3,114 rotates in the direction of arrow R. On the other hand, the fourth
Cam follower 106 of arms 93, 94 in the figure,
111 are tension coil springs 123 and 12, respectively.
2 and is constantly in contact with the cams 113 and 114. Therefore, as the cams 113, 114 rotate, the arms 93, 94 swing about the common shaft 97 between the position shown by the solid line and the position shown by the two-dot chain lines 93', 94'.

When the arm 93 is in the position shown by the solid line in FIG. 4, the rod 87 and the holder 84 are at the farthest position from the holder 81 of the outer tube 43. Therefore, when the arm 93 is in the position shown by the solid line, the arm 93 is pulling the cable 44 through the rod 87 and the holder 84 to the maximum extent possible.

Further, when the arm 94 is in the position shown by the solid line in FIG. 4, the rod 88 and the holder 85 are at the farthest position from the holder 82 of the outer tube 76. Therefore, when the arm 94 is in the position shown by the solid line, the arm 94 is maximally pulling the cable 74 through the rod 88 and holder 85.

On the other hand, when the arm 93 is at the position indicated by the two-dot chain line 93', the rod 87 and the holder 84 are at the closest position to the holder 81 of the outer tube 43. Therefore, when the arm 93 is in the position indicated by the two-dot chain line 93', the arm 93 loosens the cable 44 through the rod 87 and the holder 84 to the maximum extent possible.

When the arm 91 is in the position indicated by the two-dot chain line 94', the rod 88 and the holder 85 are in the position where the outer tube 76 is closest to the holder 82. Therefore, when the arm 94 is in the position indicated by the two-dot chain line 94', the arm 94 loosens the cable 74 through the rod 88 and the holder 85 to the maximum extent possible.

Of course, when the arms 93 and 94 move from the position shown by the solid line to the position shown by the two-dot chain line, the arm 9
The tensile forces exerted on cables 44, 47 from 3, 94, respectively, decrease. Also, when the arms 93, 94 move from the position shown by the two-dot chain line to the position shown by the solid line, the cables 44,
The tensile force exerted on 74 increases.

When the tensile force applied to the cable 44 decreases as described above, the movable base 30 moves over the guide rod 27 to the stopper 5 due to the repulsive force of the spring 51 shown in FIG.
2, and the axis 58 in FIG.
It moves to the position indicated by the dotted chain line 58'. that time,
The stopping position of the movable table 30 can be adjusted by turning the stopper 52 and moving the position of the stopper head 52a. Next, when the cable 44 is pulled by the drive mechanism 13 shown in FIG. 4 against the elasticity of the spring 51, the movable base 30 is moved via the stripper 32 to the position where the stripper 32 contacts the stopper 40 (the position shown in the figure). be returned. After that, movable platform 3
The zero stop position can be adjusted by turning the stopper 40 and changing the amount by which the stopper 40 fits into the hole 37.

In FIG. 3, when the tension in the cable 74 is reduced, the repulsive force of the spring 71 causes the shaft 58 to descend to the position where the flange 70 touches the stopper 64. At this time, the stopping position of the shaft 58 can be adjusted by operating the screw 63 and changing the vertical position of the stopper 64. Next, when the cable 74 is pulled upward by the drive mechanism 13 shown in FIG.
0 (the position shown in the figure).
At this time, the stopping position of the shaft 58 can be adjusted by turning the stopper 60 and changing the amount of insertion into the cylinder 53. The operating parts of other working units, not shown, are likewise driven by cables and springs.

The specific work of the above-mentioned work unit 17 is, for example, as follows. In Fig. 3, first the movable base 3
When the shaft 58 is lowered (stroke M ₁ ) with 0 pushed to the outermost position and a part (not shown) in the corresponding position is held by an air chuck attached to the lower end of the shaft 58, the shaft 58 is raised. (M ₂ ), the movable table 30 moves inward (M ₃ ), then the shaft 58 descends (M ₄ ), and the chuck supplies the parts to the workpiece W (Fig. 1), completing the supply. Then, the shaft 58 rises (M ₅ ), the movable table 30 moves outward (M ₆ ), and the operation is repeated in the same manner. Incidentally, if there is no problem in holding and supplying parts, the shaft 58 and the movable base 30 can be operated at the same time. Table 6 in Figure 1
rotates intermittently so that a new workpiece W stops directly below the work unit 17 for each work cycle described above, and the workpiece W whose work has been completed by the unit 17 is moved to the working position of the subsequent work unit (for example, directly below it). sent to. The above-mentioned parts have previously been conveyed below the shaft 58' by a suitable mechanism.

Next, according to FIGS. 4 and 5, the wire pulling mechanism 13
will be explained in more detail. First, in relation to the arm 93, in the state shown in FIG. 4, the arm 93 is pulling the cable 44 as much as possible in the direction of the reverse arrow F, and when the cam 113 rotates in the direction of the arrow R from this state, Arm 93 has spring 123
Due to the contraction force of the arm 93, the rod 87, the spring 91, and the holder 84 swing in the direction of arrow F around the common shaft 97 to the position 93'.
The tensile force in the reverse F direction that has been applied to the cable 44 through the cable 44 is reduced. When the tensile force decreases, the movable base 30 moves outward due to the action of the spring 51 in FIG. 2 as described above, and the movable base 30 pulls the cable 44 in the direction of the arrow F in FIG. 4. ,
The holder 84 moves in the direction of arrow F to a position 84'. Note that when the tensile force on the cable 44 decreases, the cable 44
However, since both ends of the cable 44 are pulled in opposite directions by the spring 51 in FIG. 2 and the spring 91 in FIG.
4 never slackens. When the cam 113 further rotates, the arm 93 swings in the direction of the reverse arrow F and returns to the position shown by the solid line, the cable 44 is pulled in the direction of the reverse arrow F, and the movable base 30 in FIG. Return to position.

As described above, the movable base 30 moves in response to the arm 93, but in this case, by changing the relative characteristics of the spring 51 (FIG. 2) and the spring 91, the movement of the movable base 30 with respect to the swing timing of the arm 93 can be controlled. The timing can be adjusted. That is, if a long spring is used as the spring 91, for example, in a free state and is greatly compressed, and the arm 93 starts swinging in the direction of the arrow F from the solid line position in FIG. If the repulsive force of the spring 91 is the same as or exceeds the repulsive force of the spring 51 in FIG. Do not start moving. On the contrary, if a weak spring is used as the spring 91, and the repulsive force of the spring 91 matches the repulsive force of the spring 51 on the movable base 30 side in the state shown in FIG.
Simultaneously with the start of swinging in the direction, the movable base 30 also starts moving. Also, the arm 93 is in the position indicated by the two-dot chain line 93' in FIG. 4, and the movable base 30 in FIG.
When the spring 5 on the movable base 30 side is in contact with the
If the repulsive force of the spring 91 on the arm 93 side is made to exceed the repulsive force of the spring 91 on the arm 93 side, even if the arm 94 starts swinging in the reverse F direction, only the spring 91 will be compressed, and the movable base 30 will be able to keep the arm 93 in its place. Do not start moving until a certain amount of vibration occurs. On the contrary, if the repulsive forces of both springs 51 and 91 are matched at the start of the tension, the timings at which the arm 93 and the movable table 30 start moving in the reverse F direction coincide. In this way, the movement timing of the movable base 30 is adjusted by the springs 51 and 91, and similarly, the holder 84 and the cable 4 are attached to the rod 87 in FIG.
The operating timing of each of the operating parts of the plurality of working units connected via 4 is adjusted by a corresponding spring.

Like arm 93, arm 94 is driven by a corresponding cam 114. That is, in the state shown in FIG. 4, the arm 94 is connected to the rod 88, the spring 92,
The cable 74 is pulled in the direction of the reverse arrow F through the holder 85, and when the cam 114 rotates in the direction of the arrow R from this state, the arm 94 is pulled by the spring 122.
Due to the contraction force of the arm 94, the rod 88, the spring 92, and the holder 85 swing in the direction of arrow F about the common shaft 97 to the position 94'.
The tensile force in the reverse F direction that was applied to the cable 4 via the cable 4 is reduced. As the tension decreases, the action of spring 71 in FIG. 3 causes shaft 58 to move downward, and shaft 58 pulls cable 74 in the direction of arrow F in FIG. 4. As cam 114' rotates further, arm 94 swings further back to the position shown in solid lines, cable 74 is pulled in the direction of reverse arrow F, and shaft 58 of FIG. 3 returns to the position shown. Also, the slack in the cable 74 during the above operation is caused by the spring 71.
(FIG. 3) and spring 92 (FIG. 4), and the timing of movement of shaft 58 in FIG. 3 is adjusted by appropriately selecting the characteristics of both springs 71, 92. The operating portions of the plurality of working units connected to the rod 88 in FIG. 5 are all time-adjusted by corresponding springs. Arm 93 in Figure 5
b and unit B operate in the same way, driving the corresponding working unit via wires and springs.

As explained above, according to the present invention, the work unit 17 is driven by the Bowden wires 42, 73 and the springs 51, 71. Therefore, the work unit 17 can be driven by a cam mechanism as in the conventional case, or by an air cylinder. Compared to the case where the working unit is driven, the structure of the working unit 17 can be simplified and the cost of the device can be reduced. Furthermore, since the work unit 17 can be made smaller, it becomes possible to attach a large number of work units 17 (for example, 13 or more) to one work device, and the work capacity (number of processes) of each work device can be increased. can. The mounting position of the work unit 17 is free, and the work unit 17 can be placed at an optimal position taking into consideration the flow of the work W.

Furthermore, in the present invention, since the spring 91 is provided between the wire pulling part of the pulling mechanism 13 (for example, the rod 87 in FIG. 4) and the wire (inner cable 44), simply replacing the spring 91 with a spring having different characteristics can The operating characteristics of the operating portion of the working unit 17 can be changed, specifically, for example, the arm 93
After the movable base 30 starts moving in the direction of the reverse arrow F from the position indicated by the two-dot chain line 93' in the figure, the movable base 30
You can adjust the time it takes for the robot to actually start moving after being pulled. Therefore, when changing the operating characteristics of the operating portion, there is no need for large-scale remodeling or specification changes to the traction mechanism, and the above characteristics can be easily changed.

The illustrated embodiment also has the following advantages:
That is, the structure of the traction mechanism 13 is simplified because a large number of wires connected to the operating parts of the working units that operate synchronously or approximately synchronously are pulled together by one or a small number of rods.
In this respect as well, device costs can be reduced.

By appropriately selecting the characteristics of the springs at both ends of the cable (for example, spring 51 on the movable base 30 side and spring 91 on the holder 84 side), the operating timing of each operating part can be adjusted individually, so multiple cables can be combined into one cable. Even though I tried to pull it with a rod,
All operating parts can be driven at optimal timing.

In addition, when embodying the present invention, the wire 42 and movable base 30 etc. in FIG. 2 can be eliminated and the shaft 58 in FIG. It is also possible to eliminate the shaft 53 and the like and move the shaft 58 only in the horizontal direction. The present invention can also be applied to rotary or chuck type working units as shown in FIGS. 6 to 8.

In FIG. 6, a cylindrical member 130 extending vertically
is provided with an outward flange 131 at its lower end for fixing to the table 16 in FIG.
33, and a disk 135 is fitted into the inner surface corresponding to the slits 132, 133. Disk 135
is fixed to the member 130 by a bolt 136 inserted from the outside into a slit 132 on the right side of the figure, and a bracket extending outward (to the left) through the slit 133 is provided on the opposite side of the bolt 136 of the disc 135. 137 is fastened with a bolt 138. A cylindrical spring holder 140 is fastened to the upper surface of the outer end of the bracket 137 by a bolt 141, and the lower end of a cylindrical spring guide 142 extending vertically is fitted into the outer peripheral surface of the holder 140 to form a screw hole 143. A tension coil spring 1 is attached to the upper end of the holder 140 to prevent it from coming out.
The lower end of 45 (return spring) is latched. The upper end of the spring 145 is hooked to a holder 146, and the lower end of a wire 147 is fixed to the holder 146 with a screw. wire 1
47 extends upward from the holder 146 and connects the roller 1
It becomes horizontal at a portion 48, and the tip of the horizontal portion is wrapped around and fixed to the outer peripheral surface of the drum 150.
The upper and lower ends of the drum 150 are supported by the outer peripheral surface of a vertical shaft 153 via bearings 151 and 152. The vertical shaft 153 largely protrudes downward from the drum 150, and the lower half of the shaft 153 is threaded into the inner surface of a cylindrical member 155 fitted to the upper inner surface of the member 130.
They are screwed together at 56. The member 155 is fixed to the member 130 by bolts and nuts 158 (only one set is shown) that are screwed into a plurality of screw holes 157 from the outside, and the tips of the bolts 158 are attached to the top and bottom holes provided on the outer peripheral surface of the shaft 153. It enters the groove 160 and the shaft 1
53 has a rotation stopper. 161 is a lock nut. 162 is a cover that covers the outer peripheral surface and lower end surface of the drum 150, and the boss at the lower end is connected to the screw hole 163.
It is fixed to the shaft 153 by a bolt screwed into the shaft 153. The roller 14 is located at the lower left end of the cover 162 in the figure.
A bracket 165 supporting the holder 8 is bolted, and a stopper pin 166 protruding outward in the radial direction is press-fitted into a hole at the upper right end. The drum 150 has an outwardly directed flange 168 at its upper end;
A holder 170 is fastened to the upper surface of the flange 168 with bolts 169, the base end of an arm 171 extending horizontally (to the right in the figure) is fixed to the holder 170 with a bolt 172, and a holder 173 is attached to the tip of the arm 171. A further working unit 17a is attached via. 58a is a shaft that moves up and down, and an air chuck or the like is attached to the tip thereof. The holder 173 is connected to the arm 171 by a screw-type support mechanism 175 so as to be tiltable about the longitudinal direction of the arm 171, and the holder 173 and the unit 17a
can be fixed in a desired tilted position. 17
6 is a scale indicating the tilt angle.

As shown in FIG. 7, which is a view taken in the direction of the arrows in FIG.
1' has been inserted. As shown in FIG. 6, the pin 181 protrudes to a position where the lower end abuts the pin 166, and the nut 18 is screwed into the intermediate flange and the upper end.
A flange 168 is held between 1a and 1a. A return wire 1 is attached to the drum 150 as shown in FIG.
A traction wire 182 (inner cable of Bowden wire) is wound and fixed in the opposite direction to that of 47, and an outer tube (not shown) is fixed to the cover 162. Note that the other end of the wire 182 is connected to the traction mechanism 13 shown in FIGS. 4 and 5.

In the unit 17b shown in FIGS. 6 and 7, when the wire 182 is pulled in the direction of the arrow G, the arm 171 and the working unit 17a swing in the direction of the arrow H (FIG. 7) due to the rotation of the drum 150. When the tensile force of the wire 182 decreases, the drum 150 is rotated in the direction of the reverse arrow H via the wire 147 due to the repulsive force of the spring 145 in FIG. move. During the above rocking, pin 181 and pin 1
The amount of swinging of the arm 171 in the direction of the reverse arrow H is restricted by the contact between the pin 181' and the corresponding horizontal pin (not shown) on the side of the cover 162. The amount of rocking is regulated.

Figure 8 shows a wire-driven chuck 17c.
A vertical section of the (working unit) is shown. The chuck 17c includes a flat cylindrical frame 200 that is open at the top and bottom, and the right end wall 2 of the frame 200 in the figure.
A holder 203 screwed into a screw hole 202 is fixed to the upper part of 01 with a nut 205, an outer tube 207 of a Bowden wire 206 is fixed to the holder 203 with a fixing fitting 208,
The upper end of a lever 211 is fixed to the tip of an inner cable 210 that protrudes into the frame 200 through a hole (not shown) in the holder 203, and a compression coil spring 212 is connected between the lever 211 and the right end wall 201. It has been reduced. The upper end of the lever 215 is connected to the lower end of the lever 211 via a pin 213 extending perpendicular to the plane of the figure, and the middle part of the lever 215 is connected to both side walls 217 of the frame 200 (only one is shown) by a pin 216 parallel to the pin 213. ). The lever 211 includes a plate-shaped portion 218 that protrudes to the right in the figure, and the upper end of a lever 221 extending downward to the right is connected to the vertically intermediate portion of the portion 218 via a pin 220 parallel to the pin 216. The upper end of the lever 223 is connected to the lower end of the lever 223 via a pin 222 parallel to the pin 213, and the intermediate portion of the lever 223 is supported by both side walls 217 via a pin 225. Furthermore, frame 2
A connecting portion 226 for connecting to another working unit is formed at the upper end of 00.

In the chuck 17c of FIG. 8, when the cable 210 is pulled in the direction of arrow G and the lever 211 is moved in the same direction, the distance between the pins 220 and 225 is shortened, and the connecting portion of the pin 220 of the lever 221 is moved downward. As the pin 222 connecting portion moves to the right, the lower end of the lever 223 moves to the left, and the pin 2 of the lever 215 moves to the left via the lever 211.
The connecting portion 13 moves to the left, the lower end of the lever 215 moves to the right, and the lower ends of both levers 215 and 223 hold the part P. When the tensile force on the cable 210 is reduced, each part returns to the illustrated state due to the action of the spring 212, and the levers 215, 22
Step 3: Release part P.

Furthermore, in the present invention, the cam 113 in FIG.
114 or the like, the wire group may be pulled by a solenoid air cylinder or the like. The present invention can also be applied to a working device in which a moving table carrying a workpiece moves linearly while stopping intermittently, and a working device in which a moving table moves continuously. For example, the work unit 17 can be installed radially outward of the movable table 6 in FIG. 1 via another frame.

[Brief explanation of the drawing]

FIG. 1 is a schematic vertical cross-sectional view of a working device employing a working unit according to the present invention, and FIG.
3 is a cross-sectional view of FIG. 2, FIG. 4 is a partially cutaway enlarged partial view of FIG. 1, FIG. 5 is a view taken in the direction of the arrow in FIG. The figures are vertical sectional views of working units according to different embodiments, and FIG. 7 is a view taken in the direction of the arrows in FIG. 6. 6... Moving table, 13... Traction mechanism, 17... Working unit, 18, 53... Frame and cylinder (fixed part), 30, 58... Movable table and shaft (operating part),
40, 52...stopper, 42,73...Bowden wire, 51,71...spring, W...work.

Claims (1)

[Claims] 1. In a plurality of work units installed near a movable table to perform work on workpieces on the movable table, the work unit has a fixed part forming the frame of the unit, and a fixed part that can be used in both forward and reverse directions. An operating part that is movably supported, a stopper that restricts the amount of movement of the operating part in both forward and reverse directions, and a spring that biases the operating part in the forward or reverse direction are provided. A traction mechanism to which the other end of the Bowden wire is connected is provided at a position away from the working unit, a spring is provided between the wire traction part of the traction mechanism and the wire, and the traction mechanism reverses the operating part. A working unit characterized in that it is biased in the direction or in the positive direction.