Fixtures and mechanical systems

Abstract

The fixing device (16) includes: a connecting mechanism (34) having a pin member (38) extending in a direction orthogonal to the setting surface, which connects the first frame (12) and the second frame (14) using the pin member (38); and a rotation suppression part (56) that suppresses the second frame (14) from rotating about the pin relative to the first frame (12).

Description

Technical Field

[0001] This invention relates to fixed devices and mechanical systems. Background Technology

[0002] Japanese Patent Application Publication No. 2016-203484 discloses an injection molding system in which a robot-mounted platform (robot platform) is fixed to the platform (molding machine platform) of an injection molding machine. The robot platform surrounds the clamping device of the injection molding machine mounted on the molding machine platform. The robot removes the molded article from an opening provided above the clamping device. Summary of the Invention

[0003] However, in the case of an injection molding machine where the opening for removing the molded article is located on a cover covering the side of the mold clamping device, the molded article cannot be removed even if the robot stand is fixed to the molding machine stand. Therefore, a fixing device is required that can fix a second stand (robot stand (or molding machine stand)) located at a position away from the side of the first stand (molding machine stand (or robot stand)) to the first stand.

[0004] Therefore, the object of the present invention is to provide a fixing device and mechanical system capable of fixing a second stand disposed at a position away from the side of the first stand to the first stand.

[0005] A first aspect of the present invention is a fixing device for fixing a second platform to a first platform, comprising: a connecting mechanism having a pin member extending in a direction orthogonal to the mounting surface of the platform, the first platform and the second platform being connected by the pin member; and a rotation suppression part that suppresses the second platform from rotating relative to the first platform about the pin axis of the pin member.

[0006] A second aspect of the invention is a mechanical system comprising: the fixed device; industrial machinery having the first platform; and a robot mounted on the second platform.

[0007] According to the present invention, using a pin member extending in a direction orthogonal to the mounting surface, a second frame disposed at a position away from the side of the first frame can be connected without rotating relative to the first frame. Therefore, the second frame can be fixedly disposed at a position away from the side of the first frame relative to the first frame. Attached Figure Description

[0008] Figure 1 This is a side view of the mechanical system illustrating the implementation method.

[0009] Figure 2 This is a schematic diagram showing a configuration where casters are installed but feet are not.

[0010] Figure 3 This is a schematic diagram showing the state where feet are installed and casters are not installed.

[0011] Figure 4 It is a schematic diagram representing a fixed device.

[0012] Figure 5A This is a diagram showing the second platform of the fixed device. Figure 5B This is a diagram showing the first platform of the fixed device.

[0013] Figure 6 This diagram illustrates the situation where the pin component is guided by the guide component.

[0014] Figure 7 This diagram shows the situation where the pin component is located above the insertion hole of the pin bearing component.

[0015] Figure 8 This diagram shows the pin component being inserted into the insertion hole of the pin receiving component.

[0016] Figure 9 This diagram shows the state in which the pin component is inserted into the insertion hole of the pin bearing component from the direction of the pin axis of the pin component.

[0017] Figure 10 This diagram illustrates the raising and lowering of the casters and feet.

[0018] Figure 11A This is a partial view showing the first connecting element of modified Example 1. Figure 11B It is a XIB-XIB sectional view.

[0019] Figure 12 This is a partial view of the first connecting unit in modified example 2.

[0020] Figure 13 Therefore with Figure 9 A schematic diagram of a modified example of the rotation suppression part shown from the same viewpoint.

[0021] Figure 14 This is a schematic diagram representing a situation with multiple connecting mechanisms.

[0022] Figure 15 Therefore with Figure 6 The same viewpoint is used to show a variation of the fixing device.

[0023] Figure 16 The diagram shows other variations of the fixing device. Detailed Implementation

[0024] The present invention will now be described in detail with reference to the accompanying drawings, based on preferred embodiments.

[0025] Figure 1This is a side view showing the mechanical system 10 according to the embodiment. The mechanical system 10 includes a first platform 12, a second platform 14, and a fixing device 16 for fixing the second platform 14 to the first platform 12.

[0026] The first stand 12 is the machine base of industrial machinery. Industrial machinery can be an injection molding machine 18, which injects molding material into the cavity of a metal mold to form a molded product. Figure 1 Alternatively, industrial machinery can also be machine tools that use tools to process objects. In this embodiment, the first stand 12 is set as the machine base of the injection molding machine 18. Hereinafter, the first stand 12 will be referred to as the molding machine base 12.

[0027] A protective cover 20 is provided on the molding machine base 12 to protect the main body of the injection molding machine 18. The main body of the injection molding machine 18 has a mold closing device for opening and closing the metal mold and an injection device for injecting molding material into the cavity of the metal mold. The main body of the injection molding machine 18 is mounted on the mounting surface (upper surface) 12T of the molding machine base 12. An opening and closing door 22 is provided on the side of the protective cover 20, which is sandwiched between the upper surface of the protective cover 20 and the mounting surface 12T of the molding machine base 12. The opening and closing door 22 is opened and closed based on a signal output from the control device of the injection molding machine 18.

[0028] The second platform 14 is a platform for mounting associated devices that work in conjunction with industrial machinery. The associated device can also be a robot 24. Figure 1 Alternatively, the associated device can be a supply device that supplies fluids such as air to the industrial machinery. Alternatively, the associated device can be a high-voltage switch. The high-voltage switch houses a motor amplifier for the electric motor used in the industrial machinery, an electromagnetic switch for supplying power to the industrial machinery, and the like. In this embodiment, the second stand 14 is a stand for mounting the robot 24. Hereinafter, the second stand 14 will be referred to as the robot stand 14. Furthermore, the robot 24 can remove the molded product formed by the injection molding machine 18 to the outside via the opening and closing door 22 of the protective cover 20.

[0029] The lower surface 14B of the robot platform 14 has multiple legs 28. The multiple legs 28 support the robot platform 14. Each of the multiple legs 28 has a generally similar structure. Each of the multiple legs 28 is provided with a caster 26. The multiple casters 26 are capable of moving the robot platform 14. Each of the multiple casters 26 has a generally similar structure.

[0030] Figure 2 This is a schematic diagram showing a state where casters 26 are installed but feet 28 are not. Figure 3 This is a schematic diagram showing a state where feet 28 are installed but casters 26 are not installed.

[0031] An adjuster 30 is provided on the caster 26. The adjuster 30 adjusts the position of the caster 26 relative to the lower surface 14B of the robot platform 14. The structure of the adjuster 30 is not particularly limited. Figure 2 and Figure 3 The diagram shows an example of the structure of an adjuster 30 having a stop 30A, a spring 30B, and a lifting bolt 30C. The stop 30A is disposed at the end of the rod member of the caster 26, which passes through the base plate 14BP of the robot platform 14. The spring 30B is disposed between the base plate 14BP and the stop 30A. The lifting bolt 30C passes through the base plate 14BP of the robot platform 14 and abuts against the caster 26. When the lifting bolt 30C rotates to the right (or left), the caster 26 rises from the mounting surface on which the robot platform 14 is mounted. When the lifting bolt 30C rotates to the left (or right), the caster 26 descends toward the mounting surface.

[0032] An adjuster 32 is provided on the foot 28. The adjuster 32 adjusts the height of the foot 28 from the mounting surface on which the robot platform 14 is mounted. The structure of the adjuster 32 is not particularly limited. Figure 2 and Figure 3 An example of the structure of the adjuster 32 with nut 32A is shown. Nut 32A is screwed into a bolt formed on the outer peripheral surface of foot 28. If nut 32A is rotated to the right (or to the left), foot 28 rises from the mounting surface on which robot platform 14 is mounted, and if nut 32A is rotated to the left (or to the right), foot 28 descends to the mounting surface.

[0033] Figure 4 This is a schematic diagram showing the fixing device 16. The fixing device 16 includes a connecting mechanism 34 that connects the molding machine 12 to the robot frame 14. The connecting mechanism 34 has a first connecting unit 34A provided on the molding machine 12 and a second connecting unit 34B provided on the robot frame 14.

[0034] Figure 5A This is a diagram showing the robot platform 14 of the fixed device 16. Figure 5B This is a diagram showing the molding machine base 12 with the fixing device 16. The second connecting unit 34B is mounted on the mounting surface 14T of the robot platform 14. Figure 1 ) and the lower surface 14B of the robot platform 14 Figure 1 The side 14S of the robot platform 14 clamped in place (see reference) Figure 5A The lower surface 14B of the robot platform 14 is the side opposite to the mounting surface 14T of the robot platform 14. The second connecting unit 34B has a base plate 36, a pin component 38, a pin support component 40, a second pin component 42, and a second pin support component 44.

[0035] The base plate 36 is fixed to the robot platform 14. The base plate 36 has a portion that extends substantially parallel to the mounting surface on which the robot platform 14 is mounted.

[0036] The pin component 38 has a pin 38A and a pin head 38B. The pin 38A extends in a direction orthogonal to the mounting surface on which the robot platform 14 is mounted and passes through the base plate 36. The pin head 38B is provided at the end of the pin 38A opposite to the end of the pin 38A facing the mounting surface on which the robot platform 14 is mounted. Alternatively, the pin head 38B may not be provided.

[0037] The pin support member 40 is fixed to the base plate 36. The pin support member 40 supports the pin member 38 so that it can slide along the pin shaft (the shaft of pin 38A) of the pin member 38. When the pin member 38 has a pin head 38B, the end of the pin support member 40 on the opposite side to the end of the pin support member 40 facing the base plate 36 functions as a stop for the pin head 38B.

[0038] The second pin component 42 has a pin 42A and a pin head 42B. The pin 42A extends in a direction intersecting the pin axis of the pin component 38. In this embodiment, the pin 42A extends in a direction substantially orthogonal to both the side surface 14S of the robot platform 14 and the pin axis of the pin component 38. The pin head 42B is provided at the end of the pin 42A facing the side surface 14S of the robot platform 14. Alternatively, the pin head 42B may be omitted.

[0039] The second pin support member 44 is fixed to the base plate 36. The second pin support member 44 supports the second pin member 42 so that it can slide along the pin axis (axis of pin 42A) of the second pin member 42. When the second pin member 42 has a pin head 42B, the end of the second pin support member 44 facing the side 14S of the robot platform 14 functions as a stop for the pin head 42B.

[0040] The first connecting unit 34A is installed on the mounting surface 12T of the forming machine 12. Figure 1 ) and the lower surface 12B of the molding machine base 12 Figure 1 ) The side sandwiched 12S (refer to) Figure 5B The lower surface 12B of the molding machine 12 is the side opposite to the mounting surface 12T of the molding machine 12. The first connecting unit 34A has a pin bearing member 46, a guide member 48, and a second pin bearing member 50.

[0041] The pin receiving member 46 is a component that receives the pin member 38. The pin receiving member 46 has an insertion hole 46H into which the pin 38A of the pin member 38 is inserted. The insertion hole 46H extends in a direction orthogonal to the mounting surface on which the molding machine base 12 is mounted. The insertion hole 46H may also pass through the pin receiving member 46. Alternatively, the insertion hole 46H may be formed as a recess midway from the surface (upper surface) where the pin member 38 is inserted to the opposite surface (lower surface). The pin head 38B of the pin member 38 cannot be inserted into this insertion hole 46H. The pin receiving member 46 is fixed to the molding machine base 12 via a support member 52. Alternatively, the support member 52 may be omitted. In the absence of the support member 52, the pin receiving member 46 is directly fixed to the molding machine base 12.

[0042] The guide member 48 guides the pin 38A of the pin member 38 to the insertion hole 46H of the pin receiving member 46. The guide member 48 is fixed to the pin receiving member 46. The guide member 48 has a pair of first guide rails 48A and a pair of second guide rails 48B.

[0043] A pair of first guide rails 48A extend in one direction at intervals. An insertion hole 46H for a pin receiving member 46 is disposed between one and the other of the pair of first guide rails 48A. The insertion hole 46H is located near the ends of the pair of first guide rails 48A. A pair of second guide rails 48B are disposed at the ends of the pair of first guide rails 48A on the opposite side of the pair of first guide rails 48A facing the side 12S of the molding machine 12.

[0044] The pair of second guide rails 48B extend with increasing spacing the further away from the insertion hole 46H of the pin-bearing member 46. The ends of the pair of second guide rails 48B, which are connected to the ends of the pair of first guide rails 48A, are open on the opposite side. The pin-bearing member 46 may or may not be provided on the underside of the pair of second guide rails 48B. The underside of the pair of second guide rails 48B faces the mounting surface on which the molding machine base 12 is provided. Figure 5B The image shows an example where the pin bearing component 46 is not configured on the underside of a pair of second guide rails 48B.

[0045] Additionally, a stop 54 can be provided between the pair of first guide rails 48A, closer to the side 12S of the molding machine 12 than the insertion hole 46H of the pin bearing member 46. Figure 5B The diagram shows an example of a configuration with a stop 54. The stop 54 holds the pin 38A of the pin member 38, which is guided by the guide member 48, in a position where it can be inserted into the insertion hole 46H of the pin receiving member 46. The stop 54 is secured to at least one of the pin receiving member 46 and the guide member 48.

[0046] The second pin receiving member 50 is a member that supports the second pin member 42. The second pin receiving member 50 has an insertion hole 50H into which the pin 42A of the second pin member 42 is inserted. The insertion hole 50H extends in a direction orthogonal to the side surface 12S of the molding machine 12. The insertion hole 50H may also pass through the second pin receiving member 50. Alternatively, the insertion hole 50H may be formed as a recess midway from the surface (upper surface) into which the second pin member 42 is inserted to the opposite surface (lower surface). The pin head 42B of the second pin member 42 cannot be inserted into the insertion hole 50H. The second pin receiving member 50 is fixed to the side surface 12S of the molding machine 12 via a support member 52. The second pin receiving member 50 has a protruding portion that protrudes into a recess 12C formed on the side surface 12S of the molding machine 12, and the insertion hole 50H is formed in the protruding portion.

[0047] In addition to the connecting mechanism 34, the fixing device 16 also includes a rotation suppression part 56 (see reference). Figure 4 The rotation suppression unit 56 inhibits the robot platform 14 from rotating relative to the molding machine platform 12 about the pin axis of the pin member 38. The rotation suppression unit 56 has a contact member 58 (see reference). Figure 5B Contact component 58 is provided on molding machine 12. When molding machine 12 is connected to robot frame 14 by connecting mechanism 34, contact component 58 contacts the surface of robot frame 14 on both sides of the pin shaft separated by pin component 38.

[0048] The contact member 58 can also contact the side surface 14S of the robot platform 14. Additionally, the contact member 58 can also contact a partial surface of the second connecting unit 34B. Furthermore, in this embodiment, the contact member 58 contacts the base plate 36 surface of the second connecting unit 34B (see reference). Figure 4 In addition, in this embodiment, the contact member 58 is integrally formed with the second pin bearing member 50, but it may also be formed separately from the second pin bearing member 50.

[0049] Next, the method for fixing the robot stand 14 to the molding machine stand 12 will be described. In addition, the first connecting unit 34A of the fixing device 16 is installed on the side 12S of the molding machine stand 12, and the second connecting unit 34B of the fixing device 16 is installed on the side 14S of the robot stand 14.

[0050] First, the operator moves the robot platform 14 to place the pin component 38 of the second connecting unit 34B between a pair of second guide rails 48B of the first connecting unit 34A (see reference). Figure 6 In this case, the multiple casters 26 of the robot platform 14 are respectively disposed on the mounting surface, and the multiple feet 28 are not disposed on the mounting surface (see reference). Figure 2 ).

[0051] When the pin component 38 enters between a pair of second guide rails 48B, the operator moves the robot platform 14 to position the pin component 38 above the insertion hole 46H formed in the pin receiving component 46. In this case, the guide component 48 guides the pin component 38 into the insertion hole 46H. Thus, even if the operator does not observe the pin component 38 while moving the robot platform 14, the pin component 38 can be guided into the insertion hole 46H.

[0052] Furthermore, the guide member 48 has a pair of first guide rails 48A and a pair of second guide rails 48B. The pair of second guide rails 48B are located at the ends of the pair of first guide rails 48A opposite to the ends of the pair of first guide rails 48A near the insertion hole 46H of the pin receiving member 46. Moreover, the pair of second guide rails 48B are spaced further apart the further away from the insertion hole 46H of the pin receiving member 46. Thus, compared to the case without the pair of second guide rails 48B, it is easier for the operator to insert the pin member 38 between the pair of first guide rails 48A. That is, even if the operator does not observe the pin member 38 while moving the robot platform 14, the pin member 38 can be inserted between the pair of first guide rails 48A.

[0053] If the pin component 38 contacts the stop 54 of the first connecting unit 34A, the pin component 38 becomes unable to move the robot stand 14 toward the molding machine table 12. In this state, the pin component 38 is located above the insertion hole 46H of the pin receiving component 46 (see reference). Figure 7 That is, by providing a stop 54, the pin component 38 can be positioned above the insertion hole 46H even if the operator does not observe the pin component 38 while moving the robot platform 14.

[0054] When the pin component 38 is positioned above the insertion hole 46H, the pin component 38 is inserted into the insertion hole 46H (see reference). Figure 8 Alternatively, the insertion of the pin component 38 into the insertion hole 46H can also be performed by an operator. Alternatively, the pin component 38 can be inserted into the insertion hole 46H by a motor that drives the pin component 38 to slide.

[0055] When the pin component 38 is inserted into the insertion hole 46H, the molding machine platform 12 and the robot frame 14 are connected. In this state, the contact component 58 contacts the base plate 36 surface of the second connecting unit 34B on both sides of the pin shaft separated by the pin component 38 (see reference). Figure 9 Therefore, it is possible to suppress the rotation of the robot platform 14 relative to the molding machine platform 12 around the pin shaft of the pin component 38.

[0056] After inserting the pin component 38 into the insertion hole 46H, the operator adjusts the regulator 30 ( Figure 3 ) and regulator 32 ( Figure 3This allows the foot 28 to be positioned on the mounting surface, and the caster 26 to move away from the mounting surface (see reference). Figure 10 In this state, the operator adjusts the height above the mounting surface where the robot platform 14 is located.

[0057] Specifically, the center HC of the pin shaft of the second pin component 42 and the insertion hole 50H of the second pin bearing component 50 is... Figure 8 In a consistent manner, the height of the robot platform 14 from the setting surface is adjusted by the adjuster 32. That is, the second pin component 42 determines the position of the robot platform 14 with the target height being the height relative to the setting surface of the molding machine 12. As a result, the height of the robot platform 14 from the setting surface relative to the molding machine 12 can be accurately adjusted.

[0058] When the pin of the second pin member 42 is inserted into the insertion hole 50H of the second pin receiving member 50, the second pin member 42 can suppress the relative positional displacement of the molding stage 12 and the robot frame 14 in the height direction. In this case, the second pin member 42 also functions as a rotation suppression part 56 to suppress the rotation of the robot frame 14 about the pin of the pin member 38. That is, the rotation suppression part 56 includes the second pin member 42 and, together with the contact member 58, suppresses the rotation of the robot frame 14 relative to the molding stage 12. Thus, compared with the case where the rotation of the robot frame 14 relative to the molding stage 12 is suppressed only by the contact member 58, the rotation suppression force can be improved.

[0059] As described above, the fixing device 16 of this embodiment includes a connecting mechanism 34 and a rotation suppression part 56. The connecting mechanism 34 connects the molding machine table 12 and the robot frame 14 using a pin member 38. The rotation suppression part 56 suppresses the robot frame 14 from rotating relative to the molding machine table 12 about the pin axis of the pin member 38. Thus, the robot frame 14, which is disposed at a position away from the side of the molding machine table 12, can be connected without rotating relative to the molding machine table 12. Therefore, the robot frame 14, which is disposed at a position away from the side of the molding machine table 12, can be fixed relative to the molding machine table 12.

[0060] The implementation method described herein can also be modified as follows.

[0061] (Variation Example 1)

[0062] Figure 11A This is a partial view of the first connecting unit 34A in modified example 1. Figure 11B This is a XIB-XIB sectional view. Figure 11A as well as Figure 11B The second pin bearing component 50 of the first connecting unit 34A is omitted. Additionally, in... Figure 11A as well as Figure 11BIn this variation, structures identical to those described in the embodiments are labeled with the same reference numerals. In this variation, descriptions that are repeated in the embodiments are omitted.

[0063] In this variation, the shape of the pin-bearing member 46 differs from that in the previous embodiment, and it is formed in a disc shape. Alternatively, the shape of the pin-bearing member 46 may also be other than a disc shape. Furthermore, in this variation, the insertion hole 46H does not penetrate the pin-bearing member 46 (see reference). Figure 11B In this modified example, the insertion hole 46H is formed as a recess midway from the surface (upper surface) where the pin member 38 is inserted to the surface (lower surface) on the opposite side. Furthermore, in this modified example, the support member 52 is larger than in the previous embodiment.

[0064] In this variation, the first connecting unit 34A newly includes a motor 60. The motor 60 drives the pin-bearing component 46 to any rotational position. The motor 60 has a rotating shaft 60A. The rotating shaft 60A is aligned with the central axis AX of the insertion hole 46H. Figure 11B The motor 60 is mounted on the pin-bearing member 46 in a consistent manner. The motor 60 is fixed to the support member 52 via a fixing member (not shown), and is mounted on the molding machine base 12 via the support member 52. Furthermore, a through hole 52H is formed on the support member 52 in this modified example. Figure 11B The pin bearing component 46 is rotatably disposed within the through hole 52H.

[0065] In this modified example, the pin-bearing member 46 supports the guide member 48 and the stop member 54 so that they can rotate and be driven to any rotational position by the motor 60. Therefore, the guiding direction of the guide member 48 can be changed to any position. Thus, in this modified example, the guiding direction of the guide member 48 can be set in a way that avoids the peripheral equipment of the molding machine 12 and becomes a path for the robot platform 14 to move.

[0066] (Variation Example 2)

[0067] Figure 12 This is a partial view showing the first connecting element 34A in modified example 2. Figure 12 The second pin bearing member 50 and the support member 52 of the first connecting unit 34A are omitted. Additionally, in... Figure 12 In this variation, structures identical to those described in the embodiments are labeled with the same reference numerals. In this variation, descriptions that are repeated in the embodiments are omitted.

[0068] In this modified example, the pin-bearing member 46 is larger than that in the previous embodiment. Multiple threaded holes 46SH are formed on the pin-bearing member 46 at intervals in the rotational direction. Each of the multiple threaded holes 46SH has the same shape and size. Furthermore, the distance from the central axis AX of the insertion hole 46H of the pin-bearing member 46 to the center of each of the multiple threaded holes 46SH is the same.

[0069] In this modified example, the first connecting unit 34A newly has a fixing member 62. The fixing member 62 fixes the guide member 48 to the pin bearing member 46. The fixing member 62 is respectively provided on a pair of first guide rails 48A. The fixing member 62 is provided with a through hole 62H into which fasteners such as bolts that engage with the threaded hole 46SH are inserted.

[0070] The operator inserts a fastener through the through hole 62H and screws it into any one of the multiple threaded holes 46SH. Thus, in the fastener-engaged position, the guide member 48 is secured to the pin-bearing member 46.

[0071] Thus, in this modified example, a fixing member 62 is provided to fix the guide member 48 to the pin bearing member 46 using a fastener that engages with any one of the multiple threaded holes 46SH formed in the pin bearing member 46. This allows the operator to change the guiding direction of the guide member 48 to any position. Therefore, the guiding direction of the guide member 48 can be set in a way that avoids the peripheral equipment of the molding machine 12 and forms a path that allows the robot platform 14 to move.

[0072] (Variation Example 3)

[0073] Figure 13 Therefore with Figure 9 A schematic diagram of a modified example of the rotation suppression part 56 is shown from the same viewpoint. Figure 13 In this variation, structures identical to those described in the embodiments are labeled with the same reference numerals. Furthermore, in this variation, descriptions that are repeated in the embodiments are omitted.

[0074] The rotation suppression part 56 has a protruding part 64 instead of the contact part 58. Figure 5B A protruding component 64 is provided on the molding machine 12. The protruding component 64 has a pair of protrusions 64A. When the molding machine 12 is connected to the robot frame 14 by means of the connecting mechanism 34, the pair of protrusions 64A make point contact with the robot frame 14 through the pin of the pin component 38.

[0075] A pair of protrusions 64A can also contact the side 14S of the robot platform 14. Additionally, the pair of protrusions 64A can also make partial contact with the second connecting unit 34B. Furthermore, in Figure 13The image shows a pair of protrusions 64A in contact with the base plate 36 of the second connecting unit 34B. Alternatively, the protruding member 64 can be divided into a first protruding member having one pair of protrusions 64A and a second protruding member having the other pair of protrusions 64A.

[0076] Even such a protruding part 64, is related to the contact part 58 ( Figure 5B Similarly, it can suppress the rotation of the robot platform 14 relative to the molding machine platform 12 about the pin shaft of the pin component 38.

[0077] Alternatively, the rotation suppression part 56 may also have the contact member 58 of the embodiment. Figure 5B Both the protruding member 64 and the rotation suppression member 56 have contact member 58. Figure 5B Compared to the case of either the robot platform 14 or the protruding component 64, the resistance to rotation of the robot platform 14 relative to the molding platform 12 can be improved.

[0078] Alternatively, the protruding member 64 can also be provided on the robot platform 14. In this case, the protruding member 64 has a pair of protrusions that make contact with the forming machine platform 12 points, separated by a pin of the pin member 38. Similarly, the contact member 58 ( Figure 5B It can also be set on the robot stand 14. In this case, the contact component 58 contacts the surface of the forming machine table 12 on both sides of the pin shaft separated by the pin component 38.

[0079] (Variation Example 4)

[0080] Figure 14 This is a schematic diagram showing a case with multiple connecting mechanisms 34. Figure 14 View from above Figure 1 Mechanical system 10. In Figure 14 Robot 24 has been omitted. Additionally, in... Figure 14 In this variation, structures identical to those described in the embodiments are labeled with the same reference numerals. In this variation, descriptions that are repeated in the embodiments are omitted.

[0081] In this modified example, the fixing device 16 has a plurality of connecting mechanisms 34. The plurality of connecting mechanisms 34 respectively have a first connecting unit 34A of the modified example 1 and a second connecting unit 34B of the embodiment. Figure 14 The arrows in the diagram schematically indicate the guiding direction described in Modification 1 or Modification 2. Furthermore, in this modification, the first connecting unit 34A of Modification 1 can be changed to the first connecting unit 34A of Modification 2 or the first connecting unit 34A of the embodiment.

[0082] When the fixing device 16 has multiple connecting mechanisms 34, the pin component 38 of each connecting mechanism 34 becomes a rotation suppression part 56. That is, the rotation suppression part 56 includes the pin component 38 of each of the multiple connecting mechanisms 34. Thus, even without the contact component 58, the protruding component 64, and the second pin component 42, it is possible to suppress the rotation of the robot platform 14 relative to the molding machine table 12 about the pin axis of the pin component 38. Furthermore, when at least one of the contact component 58, the protruding component 64, and the second pin component 42 is provided, the suppression force for suppressing the rotation of the robot platform 14 relative to the molding machine table 12 can be improved.

[0083] (Variation Example 5)

[0084] Figure 15 Therefore with Figure 6 The diagram shows a modified example of the fixing device 16 from the same viewpoint. Figure 15 In this variation, structures identical to those described in the embodiments are labeled with the same reference numerals. In this variation, descriptions that are repeated in the embodiments are omitted.

[0085] In this modified example of the fixing device 16, a sensor 66 and a signal processing unit 68 connected to the sensor 66 are newly provided.

[0086] Sensor 66 detects the distance between the molding machine platform 12 and the robot platform 14. Sensor 66 can be installed in the first connecting unit 34A, the second connecting unit 34B, the molding machine platform 12, or the robot platform 14. Figure 15 The example shown is that a sensor 66 is installed on the contact member 58 of the first connecting unit 34A.

[0087] The signal processing unit 68 can be mounted on the sensor 66 or on the control device of industrial machinery (injection molding machine 18). When the molding machine stage 12 and the robot platform 14 are connected by the connecting mechanism 34, the signal processing unit 68 obtains the distance between the molding machine stage 12 and the robot platform 14 from the sensor 66. In addition, the signal processing unit 68 monitors the change in the distance between the molding machine stage 12 and the robot platform 14.

[0088] If the change in distance between the molding machine 12 and the robot platform 14 exceeds a threshold, the signal processing unit 68 outputs a signal to the control device of the industrial machine (injection molding machine 18) to stop the industrial machine. This prevents accidents caused by large changes in the distance between the robot platform 14 and the molding machine 12.

[0089] (Variation Example 6)

[0090] Figure 16This is a diagram showing other variations of the fixing device 16. Figure 16 In this variation, structures identical to those described in the embodiments are labeled with the same reference numerals. In this variation, descriptions that are repeated in the embodiments are omitted.

[0091] In this modified example, a sensor 70 and a display control unit 72 connected to the sensor 70 are newly provided.

[0092] Sensor 70 detects the height above the mounting surface where the robot platform 14 is located. Sensor 70 can be mounted on the second connecting unit 34B or on the robot platform 14. Figure 16 The image shows an example of a robot platform 14 with sensor 70 installed.

[0093] The display control unit 72 can be mounted on the sensor 70 or on the control device of industrial machinery (injection molding machine 18). The display control unit 72 obtains the height above the mounting surface on which the robot platform 14 is mounted from the sensor 70.

[0094] The display control unit 72 calculates the height of the pin shaft of the second pin member 42 relative to the height of the insertion hole 50H formed in the second pin bearing member 50 based on the height from the sensor 70 to the setting surface. Furthermore, the display control unit 72 displays the calculation result on the display unit. Therefore, even if the operator does not observe the position of the pin shaft relative to the insertion hole 50H while adjusting the adjuster 32, Figure 3 It can also accurately adjust the height of the robot platform 14 relative to the setting surface of the molding machine platform 12.

[0095] (Variation Example 7)

[0096] The guide member 48 of the embodiment or the guide member 48 of Modification 2 can also be directly disposed on the molding machine 12. However, the guide member 48 of Modification 1 rotates together with the pin bearing member 46, and therefore cannot be directly disposed on the molding machine 12. As described above, the guide member 48 of Modification 1 is disposed on the molding machine 12 via the motor 60 and the support member 52. In the embodiment, the first connecting unit 34A is disposed on the molding machine 12, and the second connecting unit 34B is disposed on the robot frame 14. However, it is also possible that the first connecting unit 34A is disposed on the robot frame 14, and the second connecting unit 34B is disposed on the molding machine 12.

[0097] (Variation Example 8)

[0098] The described implementation methods and variations can be combined arbitrarily without causing contradictions.

[0099] [invention]

[0100] As inventions that can be mastered according to the described embodiments and variations, the first invention and the second invention are described below.

[0101] (First Invention)

[0102] The first invention is a fixing device (16) that fixes a second stand (14) relative to a first stand (12). It includes: a connecting mechanism (34) having a pin member (38) extending in a direction orthogonal to the mounting surface of the stand, which connects the first stand and the second stand; and a rotation suppression part (56) that suppresses rotation of the second stand relative to the first stand about the pin axis of the pin member. Thus, by using the pin member extending in a direction orthogonal to the mounting surface, the second stand, positioned on a side away from the first stand, can be connected without rotation relative to the first stand. Therefore, the second stand, positioned on a side away from the first stand, can be fixed relative to the first stand.

[0103] The rotation suppression part may also have a contact member (58) disposed on at least one of the first and second stands, so as to suppress rotation by contacting both sides of the shaft separated by the pin member when the first and second stands are connected by a connecting mechanism. Thus, even without multiple connecting mechanisms, it is possible to suppress the rotation of the second stand relative to the first stand about the pin.

[0104] The rotation suppression part may also have a protruding member (64) provided on at least one of the first and second stands, and provided on at least one of the first and second stands in such a way that it contacts the axis of the pin member to suppress rotation when the first and second stands are connected by a connecting mechanism. Thus, even without multiple connecting mechanisms, it is possible to suppress the rotation of the second stand relative to the first stand about the pin axis.

[0105] The fixing device may also have multiple connecting mechanisms, and the rotation suppression part includes pin components for each of the multiple connecting mechanisms. Thus, even without the contact component or protruding component, rotation of the second platform relative to the first platform about the pin axis can be suppressed.

[0106] The connecting mechanism may also have a second pin member (42) extending in a direction intersecting the axis of the pin member, and the first platform and the second platform are connected using the pin member and the second pin member. This suppresses positional deviation of the second platform relative to the first platform in the height direction. Furthermore, it suppresses rotation of the second platform relative to the first platform about the pin axis.

[0107] Alternatively, the second platform may have multiple feet (28) equipped with an adjuster (32) for adjusting the height from the setting surface. When the second pin component adjusts the height from the setting surface via the adjuster, it positions the second platform relative to the setting surface of the first platform. Thus, the height of the second platform relative to the first platform can be accurately adjusted.

[0108] The connecting mechanism may also include: a pin support member (40) disposed on the second frame and supporting the pin member so as to be able to slide along the axial direction of the pin member; a pin bearing member (46) disposed on the first frame and having an insertion hole (46H) into which the pin member is inserted; and a guide member (48) disposed on the first frame and guiding the pin member to the insertion hole. Thus, the first frame and the second frame can be connected by inserting the pin member into the insertion hole.

[0109] The guide component may also have: a pair of first rails (48A) spaced apart and extending in one direction; and a pair of second rails (48B) located at the ends of the pair of first rails, extending with increasing spacing as they move further away from the insertion hole. Thus, the pin component can be inserted into the pair of first rails even if the operator does not observe the pin component while moving the second stand.

[0110] The connecting mechanism may also include: a motor (60) that mounts a rotating shaft (60A) to the pin-bearing member in a manner consistent with the central axis (AX) of the insertion hole, driving the pin-bearing member to any rotational position; and a support member (52) mounted on the first frame and fixing the motor thereto. Thus, the guiding direction of the guiding member can be changed to any position. Therefore, when the second frame is moved such that the pin member of the second frame enters between a pair of second tracks of the first frame, the guiding direction can be set in such a way that it becomes a path that avoids peripheral equipment of the first frame.

[0111] The first platform can also be the body of an industrial machine. Therefore, a robot or similar device that works in conjunction with the industrial machine can be mounted on a second platform positioned to the side of the machine, away from its body.

[0112] The fixed device may also include: a sensor (66) that detects the distance between the first and second platforms; and a signal processing unit (68) that outputs a signal to stop the industrial machinery when the change in distance between the first and second platforms connected by the connecting mechanism exceeds a threshold. Thus, it is possible to prevent accidents caused by a large change in the distance between the second platform and the first platform.

[0113] The industrial machinery can be an injection molding machine (18) or a machine tool. Thus, robots or the like that that work with the injection molding machine or machine tool can be mounted on a second stand.

[0114] (Second Invention)

[0115] The second invention is a mechanical system (10) comprising: the aforementioned fixing device; an industrial machine having a first platform; and a robot (24) mounted on a second platform. In this mechanical system (10), the fixing device is included. Therefore, by using a pin member extending in a direction orthogonal to the mounting surface, the second platform, positioned on a side away from the first platform, can be connected without rotation relative to the first platform. Thus, the second platform, positioned on a side away from the first platform, can be fixed relative to the first platform.

Claims

1. A fixing device (16) that fixes a second stand (14) with respect to a first stand (12), characterized by comprising: the fixing device (16) has: a coupling mechanism (34) that has a pin member (38) extending in a direction orthogonal to a setting surface on which the stands are set, and that couples the first stand and the second stand using the pin member; and a rotation suppression portion (56) that makes the second stand unable to rotate with respect to the first stand with the axis of the pin member as a center, the coupling mechanism has: a first coupling unit provided on one of the first stand and the second stand and having an insertion hole into which the pin member can be inserted; and a second coupling unit provided on the other of the first stand and the second stand and having the pin member, the first coupling unit and the second coupling unit are separable, the pin member is inserted into the insertion hole, and thereby the first stand and the second stand are coupled.

2. The fixing device according to claim 1, characterized in that: the rotation suppression portion has a contact member (58) provided on at least one of the first stand and the second stand to suppress the rotation by making surface contact on both sides across the axis of the pin member when the first stand and the second stand are coupled by the coupling mechanism.

3. The fixing device according to claim 1, characterized in that: the rotation suppression portion has a protrusion member (64) provided on at least one of the first stand and the second stand to suppress the rotation by making contact across the axis of the pin member when the first stand and the second stand are coupled by the coupling mechanism.

4. The fixing device according to claim 1, characterized in that: the fixing device has a plurality of the coupling mechanisms, the rotation suppression portion includes the pin member of each of the plurality of the coupling mechanisms.

5. The fixing device according to claim 1, characterized in that: the coupling mechanism has a second pin member (42) extending in a direction intersecting the axis of the pin member, and the first stand and the second stand are coupled using the pin member and the second pin member.

6. The fixing device according to claim 5, characterized in that: the second stand has a plurality of legs (28) provided with an adjuster (32) that adjusts the height from the setting surface, the second pin member positions the height of the second stand from the setting surface with respect to the first stand when the height from the setting surface is adjusted by the adjuster.

7. The fixing device according to claim 1, characterized in that: the coupling mechanism has: a pin support member (40) provided on the second coupling unit to support the pin member so as to be slidable along the axis of the pin member; a pin receiving member (46) provided on the first coupling unit and having the insertion hole (46H); and a guide member (48) provided on the first coupling unit and guiding the pin member toward the insertion hole. ​ ​ 8. The fixing device according to claim 7, characterized in that the guide member has a pair of first guide rails (48A) extending in one direction at a spaced interval, and a pair of second guide rails (48B) provided at end portions of the pair of first guide rails to expand in a manner that the interval is larger the farther from the insertion hole.

9. The fixing device according to claim 7, characterized in that the coupling mechanism is provided with: a motor (60) that installs a rotation shaft (60A) to the pin receiving member in a manner coinciding with a central axis (AX) of the insertion hole, and drives the pin receiving member to an arbitrary rotational position; and a support member (52) that is installed to the first stand and fixes the motor.

10. The fixing device according to claim 1, characterized in that the first stand is a body of an industrial machine.

11. The fixing device according to claim 10, characterized in that the fixing device is provided with: a sensor (66) that detects a distance between the first stand and the second stand; and a signal processing section (68) that outputs a signal to stop the industrial machine in a case where a change amount of the distance when the first stand and the second stand are coupled by the coupling mechanism exceeds a threshold value.

12. The fixing device according to claim 10, characterized in that the industrial machine is an injection molding machine (18) or a machine tool.

13. A mechanical system (10), characterized in that the mechanical system (10) is provided with the fixing device according to any one of claims 1 to 12, an industrial machine having the first stand, and a robot (24) placed on the second stand.

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