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WO2015145577A1 - Appareil de serrage hydraulique ayant une fonction de rotation - Google Patents

Appareil de serrage hydraulique ayant une fonction de rotation Download PDF

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Publication number
WO2015145577A1
WO2015145577A1 PCT/JP2014/058302 JP2014058302W WO2015145577A1 WO 2015145577 A1 WO2015145577 A1 WO 2015145577A1 JP 2014058302 W JP2014058302 W JP 2014058302W WO 2015145577 A1 WO2015145577 A1 WO 2015145577A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotation
main body
actuator
hydraulic
apparatus main
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.)
Ceased
Application number
PCT/JP2014/058302
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English (en)
Japanese (ja)
Inventor
福岡大祐
長井修
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fuji Corp
Original Assignee
Fuji Machine Manufacturing Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fuji Machine Manufacturing Co Ltd filed Critical Fuji Machine Manufacturing Co Ltd
Priority to JP2016509673A priority Critical patent/JP6305521B2/ja
Priority to PCT/JP2014/058302 priority patent/WO2015145577A1/fr
Publication of WO2015145577A1 publication Critical patent/WO2015145577A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/20—Vices for clamping work of special profile, e.g. pipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/14—Clamps for work of special profile
    • B25B5/147—Clamps for work of special profile for pipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the present invention relates to a hydraulic clamping device with a rotation function provided with a check valve.
  • Such an automatic transfer robot includes a clamp device that opens and closes a plurality of chuck claws to hold a workpiece.
  • a clamping device is also disclosed in the conveyance device disclosed in Patent Document 1 proposed by the present applicant.
  • a pinion rack is used, and the chuck claw is operated by hydraulic oil pressure.
  • a check valve for maintaining the clamped state is provided so that the gripped workpiece is not dropped even when the hydraulic pressure supply by the hydraulic oil is interrupted.
  • a hydraulic clamping device with a rotation function has been required to stop at a correct angle quickly while increasing the rotation speed for drive control.
  • the hydraulic clamping device with a rotation function has a tendency that the check valve takes up space and the device main body becomes large.
  • an object of the present invention is to provide a hydraulic clamping device with a rotation function in which the influence of a check valve is suppressed in order to solve such a problem.
  • a hydraulic clamp device with a rotation mechanism rotatably attaches an actuator that operates with hydraulic oil, a plurality of chuck claws that operate in conjunction with the actuator, and an apparatus main body that includes the actuator and the chuck claws. And a check valve disposed on the rotation axis of the rotating device main body and on the flow path of the hydraulic oil for operating the actuator.
  • the check valve is disposed on the rotating shaft of the apparatus main body, the center of gravity of the check valve when the apparatus main body is rotating is close to the rotating shaft and is generated by the check valve. Centrifugal force can be kept small. Therefore, the inertial force generated when the rotation of the apparatus main body is stopped can be suppressed, so that the apparatus can be quickly stopped at the correct angle.
  • the hydraulic clamping device with a rotation function is used for an automatic transfer robot or the like as described above.
  • a description will be given by taking as an example one incorporated in an autoloader (automatic transfer robot) of a processing machine line including a plurality of machine tools.
  • FIG. 1 is a perspective view showing a processing machine line composed of a plurality of machine tools.
  • this processing machine line 1
  • four machine tools 10 (10A, 10B, 10C, 10D) are mounted on a base 2.
  • the four machine tools 10 are all NC lathes of the same type, and have the same internal structure and overall shape and dimensions.
  • an autoloader for delivering a workpiece to each machine tool 10 is provided.
  • the “machining machine line” refers to a group of machine tools in which a plurality of machine tools having a certain relationship transfer workpieces by an autoloader.
  • FIG. 2 is a perspective view showing a processing module 20 that is an internal structure of the machine tool 10.
  • the machine tool 10 is a turret lathe provided with a turret holding a rotary tool such as an end mill or a drill or a cutting tool such as a cutting tool. Therefore, the machining module 20 includes a headstock 12 having a chuck 11 for gripping a workpiece (workpiece), a turret device 13 to which a tool is attached, and a Z that moves the turret device 13 along the Z axis or the X axis.
  • a shaft drive device, an X-axis drive device, a control device 15 for controlling the drive unit, and the like are provided.
  • the Z-axis is a horizontal axis parallel to the rotation axis (main axis) of the headstock 12 for rotating the gripped work.
  • the X axis is perpendicular to the Z axis, and is a movement axis that moves the tool of the turret device 13 forward and backward with respect to the Z axis, and is a vertical direction.
  • the X-axis direction is the vertical direction for both the machine tool 10 and the processing machine line 1 shown in FIG.
  • the spindle stock 12 is configured such that a chuck 11 is provided on a spindle that is rotatably supported, and the chuck 11 is rotated by a spindle servo motor 18.
  • the turret device 13 is mounted on a Z-axis slide 22, and the Z-axis slide 22 is further mounted on an X-axis slide 26.
  • the rotary motion of the Z-axis servomotor 23 is converted into the linear motion of the ball nut, and the Z-axis slide 22 is configured to move in a direction parallel to the Z-axis.
  • An X-axis slide 26 is slidably attached to the column 25, and the rotational movement of the X-axis servomotor 28 is converted into the linear movement of the ball nut, so that the X-axis slide 26 moves up and down.
  • FIG. 3 is a perspective view showing the autoloader 30.
  • the autoloader 30 is arranged on the front side of the processing machine line 1 and is configured as a moving range between the four machine tools 10A to 10D.
  • FIG. 3 is a diagram showing the range of the two vehicles.
  • the autoloader 30 includes a reversing device 45 for reversing a workpiece, a delivery device 40 for delivering a workpiece between the reversing device 45 and a machine tool, and the reversing device 45 and the delivery device 40.
  • a traveling device 35 that moves between the machines 10 is provided.
  • a support plate 31 is fixed to the front surface portion of the base 2 on which the machine tool 10 is mounted, and the rack 32 extending in the Y-axis direction that is the direction from the machine tool 10A to 10D is supported on the support plate 31.
  • Two rails 33 are fixed.
  • a traveling slide that slides while gripping the rail 33 is provided on the traveling table 34, and a pinion 36 that meshes with the rack 32 and a traveling motor 37 that rotates the pinion 36 are provided.
  • a turning motor 39 is fixed to the traveling base 34, and the turning table 38 is configured to turn 180 ° on a horizontal plane.
  • a delivery device 40 and a reversing device 45 are mounted on the turning table 38.
  • the delivery device 40 is provided with a robot hand 42 at the tip of a robot arm 41.
  • a pair of support plates 411 arranged on the turning table 38 at a predetermined interval rises in the vertical direction, and an upper arm portion 412 is connected to an upper end portion of the robot arm 41 via a first joint mechanism 413.
  • a forearm portion 415 is connected to the portion 412 via a second joint mechanism 416.
  • the robot hand 42 has a clamp mechanism that operates a plurality of chucks, and is configured to be able to grip and release a workpiece.
  • Such a delivery device 40 can deliver workpieces to and from the reversing device 45 mounted on the turning table 38 in addition to delivering workpieces to and from the chuck 11 of the machine tool 10.
  • the reversing device 45 is disposed between a pair of support plates 411 disposed at a predetermined interval when viewed in the Z-axis direction. Therefore, the workpiece is transferred to and from the reversing device 45 so as to pass through the crotch of the transferring device 40.
  • the reversing device 45 includes a cylinder 452 in which a pair of gripping claws 451 are opened and closed, and a rotary actuator 453 that rotates the gripping mechanism 180 ° on a horizontal plane.
  • FIG. 4 is a partial sectional view showing a robot hand which is a hydraulic clamping device with a rotation function.
  • FIG. 5 is a view showing the robot hand as seen from above in FIG.
  • the robot hand 42 is configured with a gripping portion for gripping a workpiece on both surfaces of the first clamp surface and the second clamp surface on the back side shown in FIG.
  • the gripping portion is composed of three chuck claws for gripping a workpiece, the first clamp surface is configured with a first clamp mechanism 501, and the second clamp surface is configured with a second clamp mechanism 502. .
  • the first clamp mechanism 501 and the second clamp mechanism 502 are configured in the same manner.
  • three chuck claws 51 are arranged on the circumference centered at the point P at equal intervals of 120 °.
  • a chuck slide 52 is slidably attached to the apparatus main body 50, and a chuck claw 51 is fixed to the chuck slide 52.
  • the chuck claw 51 is configured to reciprocate linearly in the radial direction of a circle around the point P, and the workpiece can be gripped and released by operating the three chuck claws 51 simultaneously.
  • the first clamping mechanism 501 and the second clamping mechanism 502 are provided with a clamping gear 53 and a rack piston 54 in the apparatus main body 50.
  • the point P that is the center of the clamp is the rotational axis of the clamp gear 53.
  • the rack piston 54 meshes with the clamping gear 53, and the clamping gear 53 is rotated in a predetermined direction by linear movement along the axial direction of the rack piston 54.
  • the guide groove 531 has a curved shape inclined with respect to the radial direction.
  • the chuck slide 52 is restricted from moving in the circumferential direction. Accordingly, when the clamping gear 53 rotates and the position of the guide groove 531 changes in the radial direction, the chuck slide 52 and the chuck pawl 51 move in the radial direction via the slide protrusion 521 constrained by the guide groove 531. Will be. Since the shape, size, and arrangement of the three guide grooves 531 are the same, the movements of the three chuck claws 51 coincide with each other, and the workpiece is gripped and released by this operation.
  • the apparatus main body 50 is rotatably attached to the robot arm 41. This is because it is necessary to adjust the angle of the first clamp surface of the first clamp mechanism 501 and the second clamp surface of the second clamp mechanism 502 in accordance with the mating chuck surface when transferring the workpiece. At this time, it is desired to increase the rotation speed of the apparatus main body 50. This is because a processing machine such as a machine tool is required to shorten the cycle time until the processing is completed, and it is necessary to increase the operating speed of each drive mechanism for the autoloader.
  • the inventor of the present application reviews the structure of the robot hand 42 and proposes a robot hand 42 having a new structure in which the inertial force due to rotation is reduced, that is, a hydraulic clamping device with a rotation mechanism.
  • the robot hand 42 of this embodiment uses a rack piston 54 by hydraulic pressure, and a check valve is incorporated on the hydraulic circuit. The inventor of the present application has examined the check valve and the like.
  • the rotation support portions 56 are formed on both the left and right sides of the apparatus main body 50, and are rotatably supported by the forearm portion 415.
  • the rotation axes 510 of the left and right rotation support portions 56 are on the same straight line, and the rotation center P of the clamping gear 53 is located on the rotation axis 510.
  • the rack piston 54 has a stroke direction orthogonal to the rotation axis 510, and the center of the stroke area is located on the rotation axis 510.
  • the cubic device body 50 has a symmetrical shape with respect to the rotation axis 510.
  • a cylindrical shaft main body 58 is fixed to the forearm portion 415, and a shaft member 59 is inserted in a rotatable state through a bearing.
  • the flange portion of the shaft member 59 is fixed to the apparatus main body 50 with screws.
  • the shaft member 59 on the right side of the drawing has a pulley 61 fixed to a portion that penetrates the shaft main body 58.
  • a robot hand motor is attached to the robot arm 41, and a belt 62 is stretched between the pulley 61. Therefore, the angle of the robot hand 42 is adjusted by driving control of the robot hand motor.
  • a cylinder bore 65 is loaded in the apparatus main body 50, and a rack piston 54 is inserted so as to slide in the cylinder bore 65.
  • the rack piston 54 has piston portions 541 and 542 at both ends, and pressurizing chambers 651 and 652 whose volumes are changed by the movement of the piston portions 541 and 542 are formed in the cylinder bore 65.
  • the chuck pawl 51 is clamped by the hydraulic oil supplied to the pressurizing chamber 651, and the chuck pawl 51 is unclamped by the hydraulic oil supplied to the opposite pressurizing chamber 652.
  • the pressurizing chambers 651 and 652 are sealed by O-rings provided in the piston portions 541 and 542, and are kept airtight.
  • the cylindrical cylinder bore 65 has a central portion that does not overlap the movable range of the piston portions 541 and 542, and a part of the clamping gear 53 enters from the notched portion.
  • the rack-shaped rack piston 54 has a rack gear portion 543 formed at the center portion excluding the piston portions 541 and 542 at both ends. Then, the clamping gear 53 is engaged with the rack gear portion 543. Accordingly, when the rack piston 54 moves in the linear direction in the cylinder bore 65, rotation is given to the clamping gear 53, and linear movement is given to the chuck slide 52 and the chuck pawl 51 by the rotation.
  • the rack piston 54 is formed at the end of the apparatus main body 50 close to the rotation support part 56, and a hydraulic circuit is connected through the rotation support part 56.
  • the first clamp surface (the same as the second clamp surface) of the apparatus main body 50 is a rectangular shape close to a square, and there is a rotation center P of the clamping gear 53 near the center, and the rotation on the right side of the drawing.
  • a rack piston 54 is disposed on the support portion 56 side.
  • the clamp gear 53 is centered on the clamp gear 53 of the first clamp mechanism 501. And coaxial.
  • the rack piston 54 of the second clamp mechanism 502 is on the rotation support portion 56 side on the left side of the drawing, and a hydraulic circuit is connected via the rotation support portion 56. That is, both the first clamp mechanism 501 and the second clamp mechanism 502 are configured substantially symmetrically with the rotation axis 510 interposed therebetween. Further, when the first and second clamp mechanisms 501 and 502 are viewed together, the configurations on the left and right sides of the drawing are substantially symmetrical with respect to an orthogonal line 520 passing through the center of the clamp gear 53.
  • FIG. 6 is an enlarged sectional view showing the rotation support portion 56 of the robot hand 42.
  • a clamp side joint 65 and an unclamp side joint 66 are attached to the rotation support part 56, and a pipe is connected between the hydraulic pump and the tank side.
  • the clamp side joint 65 and the unclamp side joint 66 are connected to the clamp side flow path 581 and the unclamp side flow path 582 in the shaft main body 58.
  • the clamp-side channel 581 and the unclamp-side channel 582 are separate channels although they overlap in the drawing.
  • a swivel joint is configured between the shaft body 58 and the shaft member 59 so that hydraulic oil flows through the rotating portion. That is, the shaft main body 58 is formed with a clamp-side annular groove 67 and an unclamp-side annular groove 68 on the inner wall side, and a clamp-side flow path and an unclamp-side flow path described below formed in the shaft member 59. An opening is provided at the position of the annular grooves 67 and 68.
  • the clamp-side annular groove 67 and the unclamp-side annular groove 68 are sealed by two O-rings arranged so as to sandwich both of them in the axial direction.
  • a check valve 70 is provided in the clamp-side flow path formed in the shaft member 59.
  • This check valve 70 prevents the hydraulic pressure in the pressurizing chamber 651 on the clamp side from being released even if the hydraulic oil is released upstream of the clamp-side flow path for some reason, and the workpiece is clamped by the chuck pawl 51. It is for maintaining.
  • a check valve 70 is provided inside the shaft member 59.
  • the shaft member 59 is formed with an assembly hole opened on the apparatus main body 50 side, and a check valve 70 is incorporated therein. The center of the assembly hole having a circular cross section overlaps the axis of the shaft member 59 (the rotation axis 510 of the rotation support portion 56).
  • a cylindrical valve body 71 is inserted into a shaft member 59, and the valve body 71 is positioned by a lid member 72 fitted into the opening of the assembly hole.
  • a first through hole 711 and a second through hole 712 are formed in the valve body 71, a cylindrical space 715 is formed in the first through hole 711, and an annular groove is formed in the second through hole 712. 716 is formed.
  • a valve seat 718 protruding in an annular shape between the first through hole 711 and the second through hole 712 is formed inside the valve body 71.
  • a pilot piston 73 is inserted into the valve body 71 on the first through hole 711 side, and a spherical valve body 75 is inserted into the second through hole 712 side.
  • the valve body 75 is urged toward the valve seat 718 by a spring 76 disposed between the valve body 72 and the valve body 75 is normally pressed against the valve seat 718 in a closed state.
  • the spring 76 contracts due to the hydraulic pressure, and the valve body 75 is separated from the valve seat 718 and is opened.
  • the flow of hydraulic oil from the first through hole 711 side to the second through hole 712 side is allowed, but the reverse flow is restricted.
  • a pilot piston 73 is provided to open the valve when hydraulic oil flows in the same direction.
  • the pilot piston 73 is formed with a piston portion 731 that slides inside the valve body 71 under the hydraulic pressure of the hydraulic oil, and a projection 732 smaller than the inner peripheral diameter of the valve seat 718.
  • the protrusion 732 pushes the valve body 75 through the hole (valve hole) of the valve seat 718, whereby the valve body 75 is separated from the valve seat 718 (the state shown in FIG. 6).
  • the pilot piston 73 is urged away from the valve seat 718 by the spring 77, the check valve 70 in the normal state is closed when the valve body 75 is pressed against the valve seat 718 as described above. It is a valve state.
  • the pilot piston 73 has a surface on the opposite side of the spring 77 in the piston portion 731 in the unclamp side flow path 83, and receives the pressure of hydraulic oil supplied to the unclamp side flow path 83 to the valve seat 718 side. It is supposed to move.
  • the unclamping flow path 83 is branched from a pilot flow path 831 that communicates with the assembly hole of the shaft member 59. .
  • hydraulic oil is supplied to and discharged from the pressurizing chambers 651 and 652 of the rack piston 54 through the flow passages formed in the shaft member 59 and the apparatus main body 50.
  • the apparatus body 50 is provided with a detachable cylinder lid 85 as shown in FIG. 4 in order to load the rack piston 54 in the cylinder bore 65.
  • a detachable cylinder lid 85 as shown in FIG. 4 in order to load the rack piston 54 in the cylinder bore 65.
  • an opening is formed on both sides of the apparatus main body 50 by a cylindrical cylinder bore 65, and a pair of cylinder lids 85 are provided so as to close the opening on both sides.
  • the pair of cylinder lids 85 are also symmetric with respect to the rotation axis 510 of the apparatus main body 50.
  • the flow path formed in the cylinder lid 85 the flow path formed in the apparatus main body 50 is a simple straight flow path. This flow path is also symmetric with respect to the rotation axis 510.
  • the workpiece is taken out from the supply pallet by the autoloader 30, and is sequentially transferred from the machine tool 10A to the machine tool 10D.
  • the pinion 36 that rotates by driving of the traveling motor 37 rolls on the rack 32 and moves in the Y-axis direction.
  • the traveling slide grabs and slides on the rail 33 to move while maintaining the posture of the robot arm 41 and the like.
  • the robot arm 41 When the workpiece is taken out from the supply pallet or delivered to the machine tool 10, the robot arm 41 is extended and contracted. That is, the first joint mechanism 413 and the second joint mechanism 416 adjust the angles of the upper arm portion 412 and the forearm portion 415 by controlling the rotation of the joint motor, and an extended state as shown in FIG. 3 is formed. Further, the forearm portion 415 is folded so that the forearm portion 415 can be accommodated in the standing upper arm portion 412 by reverse rotation of the joint motor.
  • the robot hand 42 grips or releases the workpiece, and delivers the workpiece to and from each unit.
  • WORK may be processed on both front and back sides. In that case, it is necessary to reverse the processing surface between the pre-process and the post-process.
  • the workpiece is delivered from the delivery device 40 to the reversing device 45, and the delivered workpiece 40 is delivered to the next machine tool 10 by the delivery device 40.
  • the delivery device 40 and the reversing device 45 are mounted on the same platform 34, the reversing operation is performed while moving between the machine tools 10.
  • the apparatus main body 50 is rotated by driving the motor for the robot hand, and the angle adjustment of the first clamp mechanism 501 and the second clamp mechanism 502 is performed.
  • the rotation of the robot hand motor is transmitted to the pulley 61 via the belt 62, and the apparatus main body 50 rotates via the shaft member 59.
  • hydraulic oil is fed from the clamp side joint 65.
  • the hydraulic fluid flows from the clamp-side channel 581 of the shaft body 58 to the clamp-side annular groove 67 and is sent to the first channel 81 of the rotating shaft member 59.
  • the hydraulic oil passes through the valve body 71 and is sent to the second flow path 82.
  • the valve main body 71 the hydraulic oil flows from the first through hole 711 through the valve hole to the second through hole 712, and the valve body 75 resists the urging force of the spring by the hydraulic pressure.
  • the check valve 70 is open.
  • the hydraulic oil when releasing the gripped work, the hydraulic oil must be discharged from the pressurizing chamber 651 on the clamp side.
  • the check valve is driven by the hydraulic oil fed from the unclamp side joint 66. 70 is opened.
  • the hydraulic oil supplied to the unclamp side flow path 582 of the shaft body 58 is sent from the unclamp side annular groove 68 to the unclamp side flow path 83.
  • hydraulic oil is supplied to the unclamping pressure chamber 652 and the piston portion 542 of the rack piston 54 is pressurized.
  • the hydraulic oil supplied to the unclamp side flow path 83 also flows to the pilot flow path 831 side, and the pilot piston 73 is pressurized by the hydraulic oil.
  • the pressurized pilot piston 73 moves toward the valve seat 718 against the urging force of the spring 77. Therefore, as shown in FIG. 6, the valve body 75 is pushed by the protrusion 732 and is separated from the valve seat 718, and the check valve 70 is opened.
  • the rack piston 54 is pressurized and moved, the hydraulic oil filled in the pressure chamber 651 on the clamp side can be discharged.
  • the movement of the rack piston 54 causes the clamping gear 53 shown in FIG. 4 to rotate counterclockwise. Along with the movement of the guide groove 531, a radial linear motion is given to the chuck slide 52 through the slide protrusion 521 entering the guide groove 531. At this time, since the three chuck claws 51 simultaneously move in a direction away from the rotation center P of the clamping gear 53, the chuck claws 51 are separated from the gripped workpiece and unclamping is performed.
  • the centrifugal force when rotating is generally the target. Distribution. That is, since the gravity center position of each component member is close to the rotation axis 510, the inertial force accompanying the start and stop of rotation can be suppressed.
  • the check valve 70 has been arranged at a distance from the rotation axis 510 until now, but in the present embodiment, the check valve 70 is arranged on the rotation axis 510, so that the check valve 70 starts and stops rotation.
  • the inertial force associated with is extremely small.
  • the load on the robot hand motor is reduced, and accurate rotation stop control can be performed in a short time.
  • the rotation speed of the robot hand 42 can be increased, and still a fine adjustment is not necessary or only a small amount is required for stopping at a predetermined angle.
  • the robot hand motor can be reduced in size, which contributes to the reduction in the size of the robot arm 41 on which the robot hand 41 is mounted.
  • the position of the pilot piston 73 is away from the rotation axis 510 of the robot hand 42, or the center axis of the pilot piston 73 is orthogonal to the rotation axis 510. 73 could move. If the pilot piston 73 moves, the valve body 75 may be displaced during clamping and the hydraulic oil may leak. In this regard, the check valve 70 of the present embodiment is hardly affected by the centrifugal force because the central axis of the pilot piston 73 is superimposed on the rotation axis 510 of the robot hand 42. Therefore, it is possible to prevent the pilot piston 73 from moving during the rotation of the robot hand 42 and to secure a stable clamped state.
  • the check valve 70 is configured in the rotation support portion 56 of the robot hand 42. Specifically, it is assembled inside the shaft member 59 of the robot hand 42. Therefore, the apparatus main body 50 does not need to provide a space for the check valve 70, so that the size can be reduced and the robot hand 42 can be downsized.
  • the rack piston 54 cylinder bore 65
  • the size of the device main body 50 can be reduced in this respect to reduce the size of the robot hand 42. it can.
  • the rack piston is used as the actuator of the robot hand 42, but a clamping mechanism using a hydraulic cylinder or the like may be configured.
  • the three chuck claws 51 are arranged at intervals of 120 °. However, when only the three chuck claws 51 are captured and the center of gravity at the time of rotation is viewed, the rotation axis 510 is closer. It is preferable to arrange in. In other words, it does not necessarily have to be equally spaced by 120 ° as long as it does not affect the clamp.
  • Machine tool line 10 Machine tool 40: Delivery device 41: Robot arm 42: Robot hand 50: Device main body 51: Chuck claw 53: Clamping gear 54: Rack piston 56: Rotation support 58: Shaft main body 59: Shaft Member 70: Check valve 73: Pilot piston 75: Valve body

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Jigs For Machine Tools (AREA)

Abstract

　L'invention porte sur un appareil de serrage hydraulique (42) qui possède une fonction de rotation et qui permet de réduire à un minimum les effets produits par un clapet anti-retour. L'appareil possède : un actionneur (54) actionné par une huile d'actionnement ; une pluralité de mâchoires de mandrin (51) pour un fonctionnement de verrouillage en association avec l'actionneur (54) ; un support de rotation (56) sur lequel un corps de dispositif (50), pourvu de l'actionneur (54) et des mâchoires de mandrin (51), est attaché de façon à pouvoir tourner ; un clapet anti-retour (70) situé sur l'axe de rotation (70) du corps de dispositif de rotation (50), sur le canal d'écoulement pour le fluide d'actionnement qui actionne l'actionneur (54).
PCT/JP2014/058302 2014-03-25 2014-03-25 Appareil de serrage hydraulique ayant une fonction de rotation Ceased WO2015145577A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2016509673A JP6305521B2 (ja) 2014-03-25 2014-03-25 回転機能付き油圧クランプ装置
PCT/JP2014/058302 WO2015145577A1 (fr) 2014-03-25 2014-03-25 Appareil de serrage hydraulique ayant une fonction de rotation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/058302 WO2015145577A1 (fr) 2014-03-25 2014-03-25 Appareil de serrage hydraulique ayant une fonction de rotation

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WO2015145577A1 true WO2015145577A1 (fr) 2015-10-01

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PCT/JP2014/058302 Ceased WO2015145577A1 (fr) 2014-03-25 2014-03-25 Appareil de serrage hydraulique ayant une fonction de rotation

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JP (1) JP6305521B2 (fr)
WO (1) WO2015145577A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2017068644A1 (ja) * 2015-10-20 2018-08-09 株式会社Ｆｕｊｉ ワーク搬送・着脱ロボット
CN115156921A (zh) * 2022-08-19 2022-10-11 浙江宏明水暖科技有限公司 一种阀芯加工工艺
CN116117529A (zh) * 2023-01-31 2023-05-16 南京自控仪表有限公司 自动化液压阀批量加工装置
CN120941084A (zh) * 2025-10-16 2025-11-14 泰州永林机械有限公司 一种小型发动机壳体的多工序复合加工装备

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JPWO2017068644A1 (ja) * 2015-10-20 2018-08-09 株式会社Ｆｕｊｉ ワーク搬送・着脱ロボット
CN115156921A (zh) * 2022-08-19 2022-10-11 浙江宏明水暖科技有限公司 一种阀芯加工工艺
CN116117529A (zh) * 2023-01-31 2023-05-16 南京自控仪表有限公司 自动化液压阀批量加工装置
CN120941084A (zh) * 2025-10-16 2025-11-14 泰州永林机械有限公司 一种小型发动机壳体的多工序复合加工装备

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