JPH05212704A - Stapling or nailing device by robot - Google Patents

Abstract

PURPOSE:To drive automatically by a robot even a work deformed or inclined, absorb impact by driving and prevent the effect of impact to the robot by interposing an expansion and contraction means between the robot and a stapling machine or a nail driving machine. CONSTITUTION:A wrist section 2 and a stapling machine 4 are connected together by an air cylinder 9 through planes 7 and 8. A guide cylinder 10 is mounted on the plate 7 on the periphery of the air cylinder 9, and a pin 11 is installed slidably on the plate 8 on the side of the stapling machine 4. A ring 13 is fitted on the outer periphery of the guide cylinder 10, and a coil spring 12 in the compressed state is interposed between said ring and the plate 8, and the stapling machine 4 is energized in the usual driving direction. The end of a yoke of the stapling machine 4 is stopped close to the stapling position, and the contraction of the air cylinder 9 is released, and the yoke is brought into contact with the work by a coil spring 12 and stapling is carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stapling or nailing device by a robot, which is used for operations such as packing in packaging and assembling of wooden frames.

[0002]

2. Description of the Related Art A conventional device for automatically performing stapling and nailing is one in which a stapler and a nailer are fixed at a fixed position, and a work is carried to a driving position to perform driving. there were. In the case of stapling or nailing at multiple points on the side or upper surface of the box as in the case of packaging, it has been done manually by hand using a hand-held stapler (commonly called tucker) or nailer. It was

As in the case of the above-mentioned packaging, the work of using a hand-held tool by a person when stapling or nailing a large number of points on one surface or a plurality of surfaces is inefficient.
In times of labor shortage, it was difficult to secure the number of workers, and there were also the drawbacks that the finish position was inferior due to uneven driving positions.

When an industrial robot is introduced in place of human power in order to solve these difficulties, there are problems that the shape of the work is deformed or tilted, and the reaction of the impact due to the impact adversely affects the robot. Therefore, it didn't happen until today.

[0005]

SUMMARY OF THE INVENTION The problem to be solved by the present invention is to eliminate the above-mentioned problems in the case of replacing the work by human power with a robot.

[0006]

SUMMARY OF THE INVENTION The present invention provides an air cylinder or a spring which is in a shortened state in a normal state and extends during driving between a wrist portion of a robot and a staple driving machine or a nail driving machine attached to the wrist portion. Alternatively, it is a stapler or nailing device by a robot with an expansion / contraction means such as a combination thereof interposed.

[0007]

In the stapler or the nailer, the tip of the yoke of the stapler or the nailer is stopped by the computer programmed so that the yoke ends in the vicinity of the driving positions at a plurality of positions of the workpiece in order. Stop the tip of the yoke of the nail driver near the driving position. Subsequently, the expansion and contraction means locked in the shortened state is unlocked, the expansion and contraction means is extended, the tip of the yoke comes into contact with the driving position of the workpiece, and the driving is simultaneously performed.

When the driving of one place is completed in this way,
The expanding / contracting means is again locked in the shortened state, the robot moves the staple driving machine or the nail driving machine to the next driving position, and the same operation is repeated in order to complete the work.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the embodiments of the staple driving device shown in the drawings. FIG. 1 is a side view showing a state in which a stapler is attached to a robot. (1) is a 6-axis type industrial robot, in which a wrist (2) is stapled through a stretching means (3). The machine (4) is installed. This stapler (4) is a partially improved handheld one that is widely used and attached to the robot. It has a yoke (5) for hitting the work piece at the tip, usually about 6 kg / cm ² It is operated by air pressure.

The expansion / contraction means (3) is shown in FIGS. 2 and 2B-B.
Details are shown in FIG. 3, which is a cross section, of the robot wrist (2).
If the end face of the product is subjected to excessive impact from the stapler (4), such as ceramic or thermosetting resin, it will be destroyed.
A safety plate (6) for attaching the impact to the robot (1) is attached to the safety plate (6).
Robot side plate (7)
And a stapler side plate (8) attached to the head of the stapler (4) are connected by an air cylinder (9).

A cylindrical guide cylinder (10) having one end attached to the robot side plate (7) at three locations around the air cylinder (9) and a slidable fitting in a hole of the guide cylinder (10). A guide pin (11) is attached to the stapler-side plate (8) at one end, and a coil spring (1) is fitted around the outer periphery of the guide tube (10).
2) is interposed in a compressed state between the ring (13) fitted to the outer periphery of the guide cylinder (10) and the staple-stitcher-side plate (8) to constantly drive the staple-stripper (4) in the driving direction. Is urged to.

Further, stoppers (14) are provided at two symmetrical positions around the air cylinder (9) by penetrating the staple-stitcher side plate (8) and attaching one end to the robot side plate (7). , The upper and lower limits of the expansion and contraction of the expansion and contraction means (3) by the action of the air cylinder (9) and the coil spring (12) are restricted.

Reference numeral (15) is a safety chain, which connects the bracket (16) attached to the robot (1) and the robot side plate (7), and the safety plate (6) is destroyed by excessive impact. In case stapler (4)
It is for suspending and preventing falling.

FIG. 4 shows an example of use of the stapling apparatus having the above-mentioned structure. That is, the staple striking device of the present invention is symmetrically installed on both sides of the conveyor (17) of the packing line, and the articles are housed in a box surrounded by a cardboard (19) on the outside of the wooden frame (18) shown in FIG. Then, a piece of cardboard placed on the upper surface and closed is sent to the conveyor (17) and stopped at this location, and clamp means (2
3), fixed by.

Subsequently, in response to a command from a computer (not shown), an ear edge bending device (not shown) bends and holds the four edges (22) of the cardboard (19) on the upper surface, After the robot (1) is activated to staple and temporarily fix the folded edge at several points, the edge folding device withdraws, and as shown in FIG. A work (21), which is a package, is sealed by sequentially performing stapling, as shown in FIG.

When this packaging is performed, since the work (21) has a shape error due to being swollen or twisted due to the contents, when the staple driving by the robot (1) is performed, the staple driving machine ( When the position at which 4) is in the driving posture is fixed, the yoke (5) that must properly abut the work (21) becomes the work (21).
It may happen that the workpiece is forcibly pierced or the workpiece (21) cannot be reached. The stapler yoke (5) is
Although it is configured to come in contact with the work (21) and be able to retreat by about 10 mm, the deformation error of the work (21) cannot be absorbed at this level.

For this reason, the robot (1) includes a staple driving machine (4) in a normal state in which the expansion / contraction means (3) is in a shortened state.
As shown in FIG. 5, the yoke (5) is stopped at a position a little distance (S) away from the work (21), and after the stop, the air cylinder (9) is released from the shortened holding and the coil spring (12) is released. As a result, the expansion and contraction means (3) is extended as shown in FIG. 6 to advance the staple driving machine (4) to the work side, and the yoke (5) is comfortably moved to the work (21) by the elasticity of the coil spring (12). It is to be brought into contact.

In this way, when the yoke (5) contacts the work (21), the staple driving (24) is performed immediately, and subsequently the robot (1) operates to move the staple driving machine (4) to the next driving position. Then, the driving is sequentially repeated to complete the sealing of the work (21).

The coil spring (12) absorbs the impact generated when the staples are driven, and the robot (1)
Has the effect of not affecting the
Is one of the important purposes of

The expansion / contraction width of the expansion / contraction means (3) is determined according to the degree of deformation of the work, but in this embodiment it is set to 30 mm at maximum. Therefore, the distance (S) shown in FIG. 5 can be arbitrarily set up to 30 mm depending on the situation.

In the present invention, the staple driving machine (4) is used.
A device for automatically supplying staples is also installed in the device, but since it is not directly related to the present invention, illustration and description thereof are omitted.

In the above embodiment, stapling was explained, but if a nailing machine is attached to the robot (1) instead of the stapler, automatic nailing becomes possible. For example, a wooden frame (18) shown in FIG. The nail driving (25) can be automatically performed.

[0023]

According to the above-described robot stapling or nailing apparatus according to the present invention, the expansion and contraction means is interposed between the robot and the stapler or nailer attached to the robot, so that the stapler can be stapled. After temporarily stopping the tip of the yoke of the hammer or nailer just before the driving position of the work, extend the expansion and contraction means and hit the tip of the yoke against the work to drive it, and the work is deformed or tilted. Even if there is such a situation, it is possible to automatically drive by the robot corresponding to it, achieve accurate construction and labor saving, and prevent the impact on the robot by absorbing the impact of the driving by the expansion and contraction means,
It can protect the robot.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a staple driving device using a robot.

FIG. 2 is a detailed view of a portion A of FIG.

FIG. 3 is a sectional view taken along line BB of FIG.

FIG. 4 is a diagram showing an example of a usage state of the staple driving device of FIG.

FIG. 5 is a diagram showing a state in which a staple driving machine has stopped approaching a work before driving.

FIG. 6 is a view showing a state at the time of driving in which the expanding and contracting means of the staple driving machine is extended.

FIG. 7 is a perspective view showing a package sealed by stapling.

FIG. 8 is a perspective view showing the packing box of FIG. 7 in an opened state.

[Explanation of symbols]

 1 Robot 2 Wrist Part 3 Stretching Means 4 Stapling Machine 5 Yoke 6 Safety Plate 7 Robot Side Plate 8 Staple Driving Machine Side Plate 9 Air Cylinder 10 Guide Tube 11 Guide Pin 12 Coil Spring 13 Ring 14 Stopper

Claims (1)

[Claims] 1. A stretchable means, which is in a shortened state in normal times and extends at the time of driving, is interposed between a wrist of a robot and a stapler or a nailer attached to the wrist. Robotic stapler or nailer