• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A robot hand provided for an industrial robot used in association with a machine tool for carrying out a manipulat-ing operation of attaching a workpiece to and detaching a workpiece from a workpiece chucking means of the machine tool, said robot hand being characterized by including means for removing chips and other foreign materials attached to the workpiece holding means during the manipulating operation.
    公开号:SU1087060A3
    申请号:SU813363951
    申请日:1981-08-05
    公开日:1984-04-15
    发明作者:Инаба Хадзиму；Нихеи Рио
    申请人:Фудзицу Фанук Лимитед (Фирма)；
    IPC主号:
    专利说明:

    1 The invention relates to mechanical engineering and can be used as a robot manipulator, operating in conjunction with machines and devices of various types for the automatic transfer of products to and from these machines. A well-known controlled hand of an industrial robot, mainly designed for working with a cutting machine, contains a set of two parallel grippers, each gripper having fingers 1J. The disadvantage of fine devices. performance is low, this is due to the fact that for a precise and rigid holding of the workpiece with a clamping device or conductor, it is necessary to clean the clamping device or conductor of the metal-cutting machine, as well as to clean the part and the hands of the robot. For this reason, conventional metalworking machines are supplied with a cleaning device that uses compressed air or cooling liquid as a cleaning agent to remove chips and other foreign materials adhering to the clamping device or jig. When cleaning, the robot arm must be moved away from the jig or conductor, since the cleaning jig is blowing the cleaning agent in the direction of the jig or jig so that the chips can be pulled out of the jig or jig. Otherwise, these chips may stick to the robot's hand. After cleaning the metal cutting machine, the robot arm can be brought back against the jig or conductor. The aim of the invention is to increase productivity by combining the operations of removing chips or other foreign materials from the parts or the machine cartridge and trapping the parts. The goal is achieved by the fact that, in a controlled arm, an industrial robot designed primarily for working with a metal cutting machine containing a set of two parallel tongs, each tong has fingers, each tong is equipped with a device for removing chips and other foreign materials. , made in the form of a pipeline, a source of compressed fluid agent, an electromagnetic valve or valves and nozzles, with the nozzles arranged in pairs, one pair on the body of one gripper, and the nozzles Goy pairs are located on the side of the hulls of different tongs and directed to. one side. 1a of FIG. 1 is a partial perspective view of a robot arm equipped with a chip remover according to the invention; in fig. 2 is a diagram of the pneumatic circuit of the chip removal device when compressed air is used as a cleaning agent in FIG. 3 illustrates an exemplary control circuit of the operation of the robot chip remover of the present invention; FIG. 4 is a schematic representation of the operation of a robot arm according to the invention. The arm 1 of the robot is connected to the crosshead with the finger 2 of an industrial robot and is equipped with two sets of tongs 3 and 4, which are mounted in a row parallel to each other. The grip 3 contains a finger device 5, which includes two fingers moving towards each other, and from each other, in the direction of the arrow A. The grip 4 contains (similar finger device 6. The tongs 3 and 4 are designed so that each of the grips 3 and 4 can perform the gripper operation independently of the other, h. Moreover, since both grippers 3 and 4 are located next to each other, if you need to insert or output a part 7 from the fingers of the gripper 3 of the pyKagl robot together with the crosshead finger 2, the robot moves in the direction indicated arrow B, whereas when n Requirements for insertion or withdrawal of part 7 from the fingers of the gripper 4 robot arm 1 together with the crosshead finger 2 of the robot move in the direction indicated by arrow B. The tongs 3 and 4 can simultaneously rotate about the z axis in both directions relative to the robot's crosshead finger 2 The net end connected to the arm of the robot 1, the crosshead pin 2 is connected to the robot arm (not shown). In addition, the robot arm has the ability to telescopic upward and retraction in the direction corresponding to. in. G-axis, so that both grips 3 and 4 can also move back and forth in the same direction as the robot arm. In addition, the robot arm is designed so that it can not only rotate around the body of the robot (not shown), but also move up and down relative to the body of the robot. The springs 8 of the conventional pressure mechanism are installed between both tongs 3 and 4. Both tongs 3 and 4 of the robot arm 1 are provided with air nozzles 9-12, which are supplied with compressed air from a source of compressed fluid 13, for example air, through piping 14 embedded in both grips 3 and 4. Compressed air ejected from nozzles 9-12 is used to remove chips. The position of the ejecting nozzles 9-12, which is equipped with the robot arm 1, should be properly selected taking into account the action of both tongs 3 and 4, which serve to secure and remove the part 7 from the metal cutting machine (not shown). For example, in some cases, ejector nozzles 9-12 can be provided with tongs, 3 and 4, and in other cases, fingertips 5 and 6 can be equipped with nozzles 9-12. In the embodiment of FIG. 1, nozzles 9-12 are located on two side surfaces of the bodies of both tongs 3 and 4, each of which is located at a right angle to the surface perpendicular to the axis parallel to that shown in FIG. 1 arrow B. Both the air ejecting nozzles 9 and 10 are positioned so that as soon as the part 7 held by the clamping device of the cutting machine is removed from the clamping device by the operation of the tong 3, the clamping device is cleaned with compressed air ejected from both air nozzles 9 and 10 gripper 3. On the other hand, the air nozzles 11 and 12 are positioned so that immediately before fixing in the fixture of the cutting machine by the action of the arm 1 of the workpiece 7, gripped by the finger node 6 cx Atma 4, the fixture is cleaned with compressed air ejected from both nozzles 11 and 12 of the gripper 4. Compressed air ejected from a pair of nozzles 9 and 10, as well as other compressed air ejected from a pair of nozzles 11 and 12, is felt outward in the general lateral direction relative to the axis of rotation G of the arm 1 of the robot. In addition, both pairs of nozzles 9, 10 and 11, 12, respectively, are positioned so that the respective compressed air flows are designed in such a way that all chips and other foreign material adhering to the surfaces and corners of the cutting tool of the cutting machine are completely removed. tongs 3 and 4 are positioned adjacent to the clamping device. From a source of compressed air 13, air can be continuously supplied to air nozzles 9-12 so that air to remove chips and foreign materials is always e The nozzles 9–12 were attached when the part 7 was fixed or removed from the metal cutting machine with the hand of a robot. Moreover, it is preferable to use a single common source of compressed air for supplying both cleaning compressed air and compressed air to ensure the operation of finger nodes 5 and 6, since finger nodes 5 and 6 usually operate on compressed air. When using a single common source of compressed air between the compressed air source 13 and the air nozzles 9-12, an electromagnetic valve or valves regulating the air flow is installed to supply the compressed air from the compressed air source to the nozzles 9-12 only when a cleaning operation is performed. On ig. 2 shows a compressed air circuit in which between the compressed air source 13 and both pairs of air nozzles 10 and 11, 12 there are two electromagnetic valves 15 and 16 regulating the air flow. The flow control valve 15 is used to control the flow of compressed air from the source of compressed air 13 to the nozzles 9 and 10, while the flow control valve 16 is used to control the flow of compressed air from the source of compressed air 13 to the nozzles 11 and 12, both of which control The flow of valve 15 and 16 is shown in a position where compressed air from a source of compressed air .13 does not flow into a pair of air nozzles 9 and 10, nor into a pair of air nozzles 11 and 12. Switching the individual flow control valves 15 and 16 can control the path by giving electrical control signals, for example, from a robot controller. If necessary, a special control device can be used to generate electrical control signals. FIG. 3 shows the case where the switch 17 of the solenoid valves 15 and 16 controlling the air flow is controlled by the robot controller. FIG. 3, when the switch 17 is closed by a control signal from the robot controller, the solenoid 18 of the electromagnetic valve 15 regulating the air flow is switched from its closed position to the open position so that the compressed air comes from a source of compressed air 13 and nozzles 9 and 10 (FIG. 2). Therefore, the cleaning compressed air is ejected from the nozzles 9 and 10. When the switch 19 is closed by the control signal from the robot controller, the solenoid 20 of the solenoid valve 16, which regulates the air flow, switches from the closed position to the open position. There is a clamping fixture of the metal cutting machine 21. In FIG. Figure 4 shows an example of sequentially performed operations of the robot arm 1, starting with the step of extracting the finished workpiece, from the jig metal to the machining machine, prior to the step of securing the untreated workpiece in the jig. FIG. 4 (D) shows the stage in which the gripper 3 of the robot's arm 1 begins to remove the machined part 7 from the fixture 21 of the metal-cutting machine. At this stage, the other tong 4 grips the other raw part 7 and 06, the air nozzles 9 and 10 are ready to eject the cleaning compressed air in the direction of the inside of the fixture 21. The arrow in FIG. 4 (D) shows the direction in which the arm 1 of the robot moves to separate the machined part 7 from the jig 21. After the separation of the machined part 7, the arm 1 of the robot moves back to the position shown in FIG. 4 (P), whereby the robot arm 1, receiving the machined part 7 into its grip 3, is ready for rotation about the axis G (Fig. 1). In the position shown in FIG. 4 (I), when compressed air is ejected from the air nozzles 9 and 10 in the direction of the clamping device 21, all chips and foreign materials adhering to the inner surfaces and corners of the clamping device 21 during machining of the part 7 are blown out by the compressed air. Therefore, the clamping device 21 is cleaned and becomes ready to rigidly and accurately hold the next raw part 7 to be processed. Thereafter, the arm 1 of the robot is rotated 90 ° up to the position of the arm 1 of the robot shown in FIG. 4 (111). In the position of FIG. 4 - {111) air-ejecting nozzles 11 and 12 are ready for ejection of compressed air in the direction of the fixture 21, i.e. cleaning of the jig 21 with cleaning compressed air ejected from the air nozzles 11 and 12 is again achieved. After completing the cleaning operation performed by the robot’s arm 1, the robot rotates another 90 more until the gripper 4 gripping the raw 7 part is positioned against the jig 21. Then, the raw part 7 is fixed in the cleaned clamping device 21 by the action of the arm 1 of the robot. 4 (IV) shows the condition in which the fixing of the raw part 7 in the fixture 21 is completed, and the robot arm 1 is retracted from the fixture 21. It is clear that at this stage, since the fixture 21 is completely cleaned immediately before fixing the raw part 7 in the clamping fixture, holding or clamping the raw detail 7 by the clamping fixture 21 can be highly accurate, since there is no jet or other between the raw fixture 7 and the clamping fixture 21 e foreign materials. Accordingly, the metal cutting machine can accurately process the raw part 7, It is understood that if the robot arm 1 is provided with a separate device for cleaning the raw part 7, it is possible to achieve even higher accuracy of clamping the raw part 7. According to this invention, since the controlled arm was unpowered the robot is equipped with a device for removing any chips adhering to the clamping device or to the work holding machine jig of the cutting machine, the robot itself is do not automatically clean the fixture or jig for the workpiece, without the aid of the usual chip holding 0608 provided for machine tools. As a result, during the operation of securing or removing the workpiece from the machine tool, a cleaning operation can be carried out to remove the chip and foreign materials without moving the robot's arm to a considerable distance from the cutting machine. Consequently, it is possible to shorten the operation time of securing the workpiece on a cutting machine and removing the workpiece from a cutting machine in comparison with a conventional industrial robot. In the described embodiment, compressed air is used as an agent for removing chips and other foreign materials. However, a variant may be adopted where a liquid agent is used as a cleansing agent, for example, a conventional cooling oil supplied under pressure or a common cooling liquid supplied under pressure.
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    权利要求:
    Claims (1)
    [1]
    CONTROLLED HAND OF INDUSTRIAL ROBOT, designed primarily for working with a metal cutting machine, containing a set of two wives, paired, one pair on the body of one tong, and the nozzles of the other pair are located on the side surface of the bodies of different tongs and directed one way.
    类似技术:
    公开号 | 公开日 | 专利标题
    SU1087060A3|1984-04-15|Controlled arm of industrial robot
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    JP2019209454A|2019-12-12|Machining system and control method
    US10850387B2|2020-12-01|Automatic workpiece transfer machine
    WO2000012232A1|2000-03-09|Automatic washer for works before measurement and automatic production system equipped with the automatic washer
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    JPH09183066A|1997-07-15|Device for deburring medical forceps cup
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    KR890008892Y1|1989-12-09|Automatic chip removing device of nc lathe
    JPH0620673B2|1994-03-23|Automatic cutting device for wire cut EDM equipment
    CN112743380A|2021-05-04|Metal workpiece machining equipment and machining method
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    JP3955428B2|2007-08-08|Automatic tool cleaning device
    CN210938399U|2020-07-07|Automobile steering shell machining assembly line
    SU1553377A1|1990-03-30|Gripping device
    JPH10328965A|1998-12-15|Workpiece fitting device and machining system using this deivce
    JPH02106255A|1990-04-18|Device for detecting workpiece combinedly used for air blow of machine tool
    RU2070501C1|1996-12-20|Device for cleaning cams of turner chuck
    JPH0526246U|1993-04-06|Machine tool spindle tool clamp device
    同族专利:
    公开号 | 公开日
    JPS5733991A|1982-02-24|
    EP0045512A2|1982-02-10|
    US4416577A|1983-11-22|
    KR830005975A|1983-09-14|
    KR840001126B1|1984-08-09|
    EP0045512A3|1982-04-21|
    EP0045512B1|1984-08-01|
    DE3165227D1|1984-09-06|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    JP10707780A|JPS5733991A|1980-08-06|1980-08-06|Robot hand with chip removing device|
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