CN106994683B

CN106994683B - Automatic clamp assembling device

Info

Publication number: CN106994683B
Application number: CN201610187566.9A
Authority: CN
Inventors: 许南辰; 奇显度
Original assignee: AFAS Ltd; Han Ya Machinery Co Ltd
Current assignee: AFAS Ltd; Han Ya Machinery Co Ltd
Priority date: 2016-01-22
Filing date: 2016-03-29
Publication date: 2020-01-07
Anticipated expiration: 2036-03-29
Also published as: KR101617240B1; CN106994683A

Abstract

In order to automatically assemble a plurality of jigs and improve productivity, the present invention provides an automatic jig assembling apparatus including: a base part connected to an end of the articulated robot hand so as to be sequentially conveyed to a plurality of predetermined assembly positions, and having a rod hole formed therein; a clip case including a loading portion connected to a lower portion of the base portion and including an elastic support portion to which a wing portion is catapultly hung, the wing portion being provided at an upper end of the clip along an edge of a discharge hole formed to communicate with a lower end of the rod hole, and a sliding portion formed to be inclined more and more upward from the loading portion and formed along an inside with a guide hole into which the plurality of clips are inserted so as to be conveyed by self weight; and a pressurizing rod part which is arranged in the rod hole and connected with the starting part, and when the base part is conveyed to each assembling position, the pressurizing rod part ascends to enable the clamp in the guide rail hole to be conveyed to be hung on the elastic supporting part, and descends to enable the clamp hung on the elastic supporting part to be pressurized and discharged.

Description

Automatic clamp assembling device

Technical Field

The present invention relates to an automatic clip assembling apparatus (automatic clip assembling), and more particularly, to an automatic clip assembling apparatus which automatically assembles a plurality of clips to improve productivity.

Background

Generally, an instrument panel as an exterior member is attached to a portion where an instrument panel of an automobile is mounted. In this case, the instrument panel is fixed to the vehicle body by an elastic jig, and a plurality of jig mounting portions are formed on the instrument panel.

Here, the clip is formed by folding both end portions of a rectangular strip member so that elastic fitting portions having opposite shapes are formed at both end portions. At this time, the central portion of the elastic fitting portion is formed to have a convex shape bulging in the opposite direction.

The instrument panel can be fixed to the vehicle by pressing the jig and inserting the jig mounting portion and a part of the vehicle body between the elastic attachment portions. In this case, about 30 to 40 jig mounting portions are formed on one instrument panel, and when the jig is accurately mounted on all the jig mounting portions, the jig can be firmly fixed.

Conventionally, each jig is manually attached to a plurality of jig attachment portions one by one, but recently, a jig mounter has been proposed which supplies a plurality of jigs in series and individually attaches the supplied jigs to the jig attachment portions. Specifically, a conventional jig mounter mounts a jig, which is temporarily fixed by a magnet, to a jig mounting portion by a pressing force of an air cylinder.

Here, the jig mounter receives individual jigs by the jet force of compressed air from a supply machine that aligns a plurality of jigs in a row through a flexible hose having a square cross section.

However, the inside of the hose is easily worn by the sharp end of the metal jig. Further, a situation occurs in which the jig is hooked at a worn portion inside the flexible hose or the jig conveyed to the insertion portion is clamped to the magnet in a state of being out of the assembling direction, and thus, a defect in the work is caused, the work is delayed, and the productivity of the product is lowered. Therefore, the flexible hose needs to be frequently replaced, thereby increasing the production cost of the product.

Disclosure of Invention

In order to solve the above problems, the present invention provides an automatic jig assembling apparatus, comprising: a base part connected to an end of the articulated robot hand so as to be sequentially conveyed to a plurality of predetermined assembly positions, and having a rod hole formed therein; a clip case including a loading portion connected to a lower portion of the base portion and including an elastic support portion to which a wing portion is catapultly hung, the wing portion being provided at an upper end of the clip to protrude along an edge of a discharge hole formed to communicate with a lower end of the rod hole, and a sliding portion formed to be inclined upward from the loading portion toward the rear, and formed along an inside with a guide rail hole into which the plurality of clips are inserted so as to be conveyed by gravity; and a pressurizing rod part disposed in the rod hole and connected to the actuating member, wherein the pressurizing rod part is lifted to transfer the jig in the rail hole to be engaged with the elastic support part and is lowered to pressurize and discharge the jig engaged with the elastic support part, whenever the base part is transferred to each of the mounting positions.

Drawings

FIG. 1 is an exemplary diagram illustrating an automatic jig assembling apparatus according to an embodiment of the present invention;

FIG. 2 is a sectional view showing a jig of an automatic jig setting apparatus according to an embodiment of the present invention;

FIG. 3 is a side sectional view showing an automatic jig assembling apparatus according to an embodiment of the present invention;

FIG. 4 is a sectional view showing the section A-B of FIG. 3;

FIG. 5 is a front sectional view showing an automatic jig assembling apparatus according to an embodiment of the present invention;

FIGS. 6a and 6b are partial views illustrating a loading part of an automatic jig assembling apparatus according to an embodiment of the present invention;

FIG. 7 is a view illustrating an example of a jig replenishing process of an automatic jig setting apparatus according to an embodiment of the present invention;

FIG. 8 is a side view illustrating a jig supplementing apparatus of an automatic jig setting apparatus according to an embodiment of the present invention;

fig. 9 is a block diagram illustrating a jig binding part of an automatic jig assembling apparatus according to an embodiment of the present invention.

Detailed Description

Hereinafter, an automatic jig assembling apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is an exemplary diagram illustrating an automatic jig assembling apparatus according to an embodiment of the present invention; FIG. 2 is a sectional view showing a jig of an automatic jig setting apparatus according to an embodiment of the present invention; FIG. 3 is a side sectional view showing an automatic jig assembling apparatus according to an embodiment of the present invention; fig. 4 is a cross-sectional view of section a-B of fig. 3.

FIG. 5 is a front sectional view showing an automatic jig assembling apparatus according to an embodiment of the present invention; fig. 6a and 6b are partial views illustrating a loading part of an automatic jig assembling apparatus according to an embodiment of the present invention.

FIG. 7 is a view illustrating an example of a jig replenishing process of an automatic jig setting apparatus according to an embodiment of the present invention; FIG. 8 is a side view illustrating a jig supplementing apparatus of an automatic jig setting apparatus according to an embodiment of the present invention; fig. 9 is a block diagram illustrating a jig binding part of an automatic jig assembling apparatus according to an embodiment of the present invention.

As shown in fig. 1 to 9, the automatic jig assembling apparatus 100 includes: a base part 10, a jig box 20, and a pressing rod part 30. Here, the automatic jig mounting apparatus 100 is an apparatus that automatically mounts a plurality of jigs accommodated in the jig magazine 20 while sequentially moving the jigs to a plurality of mounting positions defined by 3-dimensional coordinates or the like.

Referring to fig. 1, the base portion 10 is connected to an end portion of the articulated robot hand 1 so as to be sequentially moved to a plurality of predetermined mounting positions. Here, the mounting position refers to a jig mounting portion (not shown) formed in a mounting member (not shown) such as an instrument panel of a vehicle. More specifically, in a state where the mounting member is disposed on a mounting object (not shown) such as a vehicle body, the mounting member and the mounting object can be coupled to each other by attaching the mounting member to the jig attaching portion with a jig.

Referring to fig. 2, the clip 3 is formed of an elastic metal material, and may be formed by folding both end portions of a rectangular strap member so as to form elastic fitting portions 3a having opposite shapes at both end portions. Here, the elastic fitting portion 3a of the clip 3 may be formed in a shape in which a central portion thereof is bulged in opposite directions. At this time, the jig mounting portion of the mounting member and a part of the object to be mounted are inserted between the elastic mounting portions 3a of the jig 3, whereby the mounting member and the object to be mounted can be coupled to each other. The wing portions 3b of the jig 3 are arranged in a protruding manner at the upper end edge of the jig 3 so that the elastic fitting portion 3a can be press-fitted in the fitting direction to the jig mounting portion.

The automatic jig assembling apparatus 100 may be applied to the assembly of a locknut (push-nut) to an expansion nut (expansion-nut) having a structure corresponding to the wing portion by changing the size of the locknut.

Here, the fitting position may be set to 3-dimensional coordinates of each jig mounting portion with reference to the position of the articulated robot 1, and the fitting position may be input to a control unit of the articulated robot 1.

A plurality of

rotation axes

1a, 1b, 1c, 1d, 1e, and 1f are formed inside the articulated robot hand 1, and the control unit calculates the rotation angles of the

rotation axes

1a, 1b, 1c, 1d, 1e, and 1f based on the input 3-dimensional coordinates. The control unit may rotate the

respective rotation shafts

1a, 1b, 1c, 1d, 1e, and 1f independently based on the calculated values so that the end portions of the articulated robot hand 1 sequentially move to the respective mounting positions. When the movement of the end of the articulated robot hand 1 is completed, the control unit controls the elevation of the pressing rod 30.

That is, when the end portion of the articulated robot 1 is moved to each of the mounting positions, the jig 3 loaded in the jig box 20 is pressurized by the vertical movement of the pressurizing rod 30 and can be mounted at the mounting position. At this time, the pressing rod 30 is repeatedly lifted and lowered every time the end of the articulated robot 1 is moved to each of the fitting positions, so that the plurality of jigs 3 can be automatically fitted to the plurality of fitting positions in sequence.

Here, the control unit preferably controls the rotation direction of each of the

rotation shafts

1a, 1b, 1c, 1d, 1e, and 1f so that the base portion 10 is disposed in the vertical direction and moves to each of the mounting positions in a state where the pressing/mounting direction of the jig 3 and the gravity direction coincide with each other.

An end portion of the articulated robot hand 1 may be coupled to a coupling plate 12 extending in a horizontal direction from an outer surface of the base portion 10.

Referring to fig. 3, the base portion 10 is a member having a polygonal pillar or cylindrical shape formed of a high-strength and wear-resistant material such as a chromium-plated metal or a reinforced plastic, and has a rod hole 11 formed therein so as to penetrate in the vertical direction. At this time, the pressurizing rod 30 formed inside the rod hole 11 can be raised and lowered by being connected to a starting member such as a pneumatic cylinder 32 formed at an upper portion of the base portion 10. Here, the stroke direction of the actuating member is formed in the same direction as the forming direction of the rod hole 11, and the pressurizing rod 30 connected to the actuating member is vertically movable along the rod hole 11.

Also, the gripper box 20 includes a loading portion 20a and a sliding portion 20b, and preferably, the loading portion 20a and the sliding portion 20b should be understood to distinguish the respective portions of the gripper box 20 according to their functions. That is, the loading portion 20a and the sliding portion 20b may be integrally formed, and may be assembled as separate parts for convenience of manufacture.

The loading portion 20a is a portion in which a discharge hole 21 communicating with the rod hole 11 and allowing the jig 3 to pass therethrough is formed, and an elastic support portion 23 for loading the jig 3 is formed in the discharge hole 21. In this case, the loading portion 20a may be integrally formed at the lower portion of the base portion 10, but hereinafter, for convenience of manufacture, an example of manufacturing the loading portion 20a separately from the base portion 10 will be described.

Here, the loading portion 20a is connected to a lower portion of the base portion 10. More specifically, the loading portion 20a is formed of the same material as the base portion 10, extends rearward from a lower portion of the base portion 10, and has a rear end portion connected to the sliding portion 20b bent upward. At this time, a discharge hole 21 penetrating in the vertical direction and communicating with the lower end of the rod hole 11 is formed in the front portion of the filling portion 20a connected to the base portion 10.

Here, the discharge holes 21 are formed in a quadrangular cross-sectional shape having a size that allows the wing portions 3b protruding from the upper end of the jig 3 to pass therethrough, so that the jig 3 can pass therethrough in the vertical direction. A rail hole 22 branched toward the rear end of the filling portion 20a is formed on one side of the discharge hole 21. Here, the rail hole 22 is connected to the inside of the sliding portion 20b, and is formed in a size that allows the jig 3 to pass in the front-rear direction.

The slide portion 20b is connected to the rear end portion of the loading portion 20a, is formed to be inclined from the loading portion 20a toward the rear, and is formed along the inside with a rail hole 22 to be conveyed by its own weight by inserting the plurality of jigs 3. Here, it is preferable that the sliding portion 20b be formed of the same material as the filling portion 20a, and the rail hole of the sliding portion 20b and the rail hole of the filling portion 20a be formed continuously with each other to have the same cross section. That is, the rail hole 22 is branched from the discharge hole 21 of the loading portion 20a and penetrates the rear end surface of the loading portion 20 a.

At this time, the rail hole 22 is connected to the rear end surface of the loading portion 20a and the front end surface of the sliding portion 20b, and is formed to penetrate the rear end surface of the sliding portion 20b from the front end surface of the sliding portion 20 b. Here, the meaning that the sliding portion 20b is formed to be inclined upward and downward should be understood as meaning that the sliding portion 20b is arranged to be inclined upward in a state where the base portion 10 is arranged to be inclined upward and downward in the direction of gravity. In this case, the sliding portion 20b may be formed as a rectangular member that expands in the front-rear direction.

The rail hole 22 is formed along the inside of the sliding portion 20b, and may be disposed to be inclined upward as the sliding portion 20b is arranged to be inclined upward. At this time, the plurality of jigs 3 are inserted through the openings of the rail holes 22 formed in the rear end surface of the slide portion 20b, and the jigs 3 inserted into the rail holes 22 are conveyed by their own weight and are movable to the discharge hole 21 through the loading portion 20 a.

As described above, the plurality of jigs 3 are filled along the inside of the jig box 20 integrally formed at the lower portion of the base portion 10 and inclined upward, and can be loaded by gently moving toward the end portion side of the pressing rod portion 30 by their own weight. Therefore, an additional power source for movement of the jig 3 is not required, so that the economy of the product can be improved.

Here, the length of the rail hole 22 in the front-rear direction may be formed corresponding to the number of the jigs 3 used in one process. For example, when the jig is applied to the assembly of the vehicle instrument panel, the number of the jigs 3 inserted into the rail holes of the loading portion 20a and the rail holes of the slide portion 20b is preferably 30 or more.

Referring to fig. 4, a guide groove portion 22a is formed in an upper portion of the rail hole 22 to be expanded to guide the wing portion 3 b. That is, the rail hole 22 is formed to have a wide width such that the elastic fitting portion 3a of the clip 3 can pass therethrough at the lower portion thereof, and is formed to have a wide T-shaped cross section such that the wing portion 3b of the clip 3 can pass therethrough at the upper portion thereof.

At this time, the lower surface portion of the wing portion 3b can be attached along the upper surface portion of the stepped ridge connected to the lower portion and the upper portion of the rail hole 22 and conveyed. Accordingly, the jigs 3 maintain the fitting direction so that they can be accurately moved to the discharge holes 21 in a state where the elastic fitting portions 3a of the jigs 3 are directed downward.

Referring to fig. 5, an elastic support 23 for catapulting and hooking a wing portion 3b protruding from the upper end of the jig 3 is formed at the edge of the discharge hole 21. Here, the elastic support portion 23 is formed along the edge of the discharge hole 21 corresponding to the lower portion of the guide groove portion 22a where the wing portion 3b moves.

At this time, the jigs 3 may be moved to the upper portion of the elastic support 23 when being conveyed along the rail holes 22 and reaching the discharge holes 21. The wing portion 3b is hung on the elastic support portion 23, and the jig 3 is loaded. Here, it is preferable that the loading of the jig 3 should be understood that the jig 3 is disposed at the discharge hole 21 movable in the up-down direction and discharged to the lower portion along the discharge hole 21 to be pressurized when being pressurized by the pressurizing rod part 30.

The pressing rod 30 is disposed in the rod hole 11 and is lifted and lowered by a starting member so that the jig 3 engaged with the elastic support portion 23 is pressed and discharged downward. That is, the pressing rod portion 30 is raised every time the base portion 10 is transferred to the respective mounting positions by the articulated robot 1, and the jig 3 that has conveyed the rail hole 22 is hung on the elastic support portion 23.

Then, the raised pressing rod portion 30 is lowered to press and discharge the jig 3 engaged with the elastic support portion 23. Here, it is preferable that the cross-sectional area of the pressurizing rod part 30 is formed smaller than that of the discharge hole 21 so as to pass through the discharge hole 21. For example, the activation component may be formed as a pneumatic cylinder 32. At this time, the pressurizing rod 30 is coupled to an end of an actuating rod 31 that is extended and contracted by an air cylinder 32 attached to an upper portion of the base 10, and is movable up and down.

It goes without saying that the activating means may be formed of a hydraulic cylinder, a solenoid, a motor, or the like, and may be a tool capable of controlling the elevation of the pressing rod 30 in accordance with the movement of the articulated robot 1.

However, since the activation member is easily connected to the air spring portion 24 described later when the activation member is formed as the air pressure cylinder 32, the present embodiment will be described by taking the example in which the activation member is formed as the air pressure cylinder 32.

Here, the lengths of the pressing rod portion 30 and the rod hole 11, the stroke interval of the activating member, and the like are set such that the lower end portion 30a of the pressing rod portion which is maximally raised is disposed at the upper portion of the elastic support portion, and the lower end portion 30a of the pressing rod portion which is lowered is disposed at the lower portion of the elastic support portion.

More specifically, the base portion 10 moves in a state where the lower end portion 30a of the pressing rod portion 30 is held to the side surface portion of the pressing rod portion 30 by the elastic support portion 23 in order to lock the connection portion between the discharge hole 21 and the rail hole 22. When the base portion 10 reaches a predetermined mounting position, the pressurizing rod portion 30 is raised by the actuating member.

Accordingly, the connection portion between the rail hole 22 and the discharge hole 21 is opened, and the foremost one of the jigs 3 moved by its own weight can be moved to the upper portion of the elastic support portion 23. As described above, the wing portion 3b is hooked to the elastic support portion 23, and the clip 3 can be mounted to the mounting position by being pressurized and discharged through the elastic support portion 23 by the pressurization of the pressurization lever portion 30 while maintaining the loaded state without being separated to the lower portion of the discharge hole.

Here, it is preferable that the elastic support portion 23 is formed between upper and lower ends of the rail hole 22 adjacent to the discharge hole 21. Therefore, when one of the jigs 3 is hooked to the elastic support portion 23, the front end portion of the other jig of the rail hole 22 is hooked by the rear end portion of the hooked jig 3, and thus, the elastic support portion 23 can be prevented from being repeatedly moved.

At this time, the pressing rod 30 is formed smaller than the cross-sectional area of the jig 3 so as to press only one jig 3 loaded on the elastic support portion 23 at the time of lowering, and is disposed along the cross-sectional center portion of the discharge hole 21.

Here, it is preferable that a guide pipe portion 50 extended along an edge of the discharge hole 21 is formed at a lower portion of the discharge hole 21 so as to guide a discharge direction of the jig 3. As described above, when the respective mounting positions of the base portion 10 are moved, one jig 3 is loaded and pressurized and discharged according to the rise of the pressurizing rod portion 30, and a plurality of jigs can be automatically mounted at a plurality of mounting positions, so that the productivity of products can be remarkably improved.

Further, the jig box 20 having a fixed shape and formed of an abrasion resistant material moves together with the base portion 10 to sequentially supply the jigs accommodated therein, thereby improving productivity and economical efficiency of products. That is, unlike the conventional metal jig which is supplied along the flexible hose by air pressure, it is possible to minimize work delay and maintenance cost caused by the repeated alternation of the hooking of the jig and the hose due to the abrasion and deformation of the hose.

Further, the jigs can be conveyed in a row in a correct direction along the guide groove portions 22a formed in the upper portion of the rail holes 22, so that erroneous assembly due to rotation of the jigs 3 or the like can be minimized, the defective fraction can be reduced, and the productivity of products can be improved. That is, the wing part 3b of the clip 3 is caught to the guide groove part 22a, so that the elastic fitting part 3a of the clip 3 can be aligned in a correct direction of the clip mounting part formed at the fitting part.

Referring to fig. 6a to 6b, the elastic support 23 preferably includes a hooking groove portion 23c and a support rod 23 a.

Here, the elastic support 23 may be formed at a side edge of the discharge hole 21. At this time, preferably, the side edge of the discharge hole 21 should be understood to mean the left or right side edge of the discharge hole 21 facing the wing part 3b of the jig 3 conveyed along the rail hole 22.

It goes without saying that the wing portions 3b are preferably formed as a pair at the left and right upper ends of the jigs 3 for the purpose of accurate conveyance of the jigs 3, and the elastic support portions 23 are preferably formed at both side edges of the discharge holes 21. In this case, the hooking groove portion 23c and the support rod 23a are formed as a pair at both side edges of the discharge hole 21.

More specifically, the discharge holes 21 are formed in a size that allows the wing portions 3b of the jigs 3 to pass therethrough in the vertical direction. At this time, the interval from the left side edge to the right side edge of the discharge hole 21 is formed to exceed the interval from the left side wing end to the right side wing end of the clip 3.

Here, it is preferable that the hooking groove portion 23c is formed at a side edge of the discharge hole 21 corresponding to a lower portion of the guide groove portion 22 a. That is, the catching groove portion 23c is preferably formed at a height lower than the guide groove portion 22a of the rail hole 22 connected to the discharge hole 21, so that the clip 3 moved from the rail hole 22 to the discharge hole 21 can be prevented from retreating toward the rail hole 22.

In this case, it is preferable that the hooking groove portion 23c is formed higher than the lower end portion of the jig 3 moving along the guide groove portion 22a, so that the plurality of jigs 3 can be prevented from being repeatedly arranged on the elastic support portion 23. More specifically, the hooking groove portion 23c is formed by expanding the side edge of the discharge hole 21 outward, and the inner center portion of the hooking groove portion 23c is formed to overlap and communicate with the side edge of the discharge hole 21.

Here, it should be preferably understood that the inner side means a portion adjacent to the discharge hole 21, and the outer side means a direction gradually distant from the discharge hole 21. That is, the hooking groove portion 23c is formed to be recessed from the side edge of the discharge hole 21 toward the outer surface of the filling portion 20a, and the front end and the rear end of the hooking groove portion 23c are formed to be extended more than the longitudinal length of the discharge hole 21. At this time, an elastic member 23b having a plate spring shape is formed at an outer end of the hooking groove portion 23 c.

Preferably, both ends of the elastic member 23b are in contact with the outer ends of the hooking groove portion 23c, and are formed to have a shape protruding arcuately toward the discharge hole 21 such that the central portion is spaced apart from the outer ends of the hooking groove portion 23 c. The support rod 23a is inserted into the hooking groove portion 23c and is supported by the elastic member 23b so as to be ejected from the outer end of the hooking groove portion 23c into the discharge hole 21.

Here, the length of the support rod 23a in the front-rear direction is formed to be greater than the length of the discharge hole 21 in the front-rear direction and smaller than the length of the hooking groove portion 23c in the front-rear direction. Therefore, the front and rear ends of the support rod 23a are hooked to the inner edges of the front and rear ends of the hooking groove portion 23c, and can be ejected and supported without being separated from the hooking groove portion 23 c.

The lateral length of the support rod 23a is formed to be smaller than the depth of the recess of the hooking groove portion 23c, and is able to move in the inward and outward directions of the hooking groove portion 23 c. Here, the support rod 23a protrudes inward of the side edge of the discharge hole 21 in a state of being ejected and supported inward of the hooking groove portion 23 c. At this time, in a state where the respective support rods 23a are maximally moved to the inside of the hooking groove portions 23c, the interval between the inner ends of the opposing support rods 23a is formed smaller than the interval between the ends of the right and left wing portions 3b of the jig 3.

And, the interval between the inner ends of the opposite support rods 23a is formed to be larger than the width of the elastic fitting portion 3a of the jig 3. Thus, the lower portion of the jig 3 can pass between the support rods 23a, and the upper portion of the jig 3 can be hooked to be loaded. It is needless to say that the distance between the inner ends of the support rods 23a facing each other is set so that the upper portion of the jig 3 can pass through and be discharged to the lower portion of the discharge hole 21 in a state where the support rods 23a are maximally moved to the outside of the hooking groove portion 23 c. That is, it is preferable that the interval between the inner ends of the opposite support rods 23a is greater than the interval between the ends of the right and left wing parts 3b of the jig 3.

When the upper surface portion of the jig 3 is pressed by the pressing lever portion 30, the support rods 23a are pushed toward the outer end sides of the respective hooking groove portions 23c, and the wing portions 3b can pass between the support rods 23 a. Thus, the jig 3 is pressure-discharged along the discharge hole 21 and can be assembled at the assembling position. At this time, it is preferable that the upper inner edge of the support bar 23a is formed to have an arc shape, and it is more preferable that the support bar 23a is formed as a bar-shaped member having a circular section.

In more detail, when the clamp 3 is pressed, the wing portion 3b slides along the upper inner edge of the support rod 23a and guides the catapult movement of the support rod 23a in the outer direction. As described above, the jigs 3 moved to the discharge holes 21 can be hung by the wing portions 3b thereof to the elastic support portions 23 formed at the edges of the discharge holes 21, and the elastic fitting portions 3a can be aligned and loaded in the correct direction of the jig mounting portions formed at the fitting parts.

Accordingly, the jig discharged by pressure can be correctly assembled by the pressure rod 30, and thus the fraction defective due to erroneous assembly can be minimized, and the productivity of the product can be improved.

Referring to fig. 3 to 4, the activating member is preferably formed as an air cylinder 32, and the jig box 20 preferably further includes an air spring portion 24 formed of an inflow port 24a and

air flow paths

24b and 24 c. Here, the inflow port 24a flows in compressed air so as to inject the compressed air discharged when the pressurizing rod 30 is raised.

The

air flow paths

24b and 24c are connected from the inlet port 24a to the rail hole 22 so that the compressed air is injected to the front of the rail hole 22. The

air flow paths

24b and 24c may be formed as a single flow path 24c connected from the inlet port 24a to the rear end of the rail hole 22.

Hereinafter, a pair of

channels

24b and 24c branched from the inlet 24a will be described as an example.

In this case, the

air flow paths

24b and 24c may include a first flow path 24c and a second flow path 24b that are branched from the inlet 24a into a pair. Here, the first flow path 24c is connected to the rear end of the rail hole 22. Further, the second flow path 24b is preferably formed to be inclined downward toward the front, and connected to a front slope portion 22b of the rail hole 22 connected to the loading portion 20a and the slide portion 20 b.

More specifically, the tool magazine 20 preferably further includes a cover frame 20c covering an upper portion of the rail holes 22 formed in the loading portion 20a and the slide portion 20b and connecting the loading portion 20a and the slide portion 20 b. At this time, the cover frame 20c is formed of a flat front portion, an upwardly inclined rear portion, and a slope portion connecting the front portion and the rear portion in an arc shape. Here, the cover frame 20c is coupled to the loading portion 20a along the rear of the portion connected to the base portion 10, and can cover the upper portion of the rail hole 22.

Preferably, the inflow port 24a is formed at an upper side of the cover frame 20c, and an elastic hinge door 25 is formed at a rear side of the cover frame 20 c. Here, the elastic hinge door 25 is connected to the cover frame 20c by a hinge connection portion 25a formed with a torsion spring, and is formed to have a rear opening whose rear end portion covers the rail hole 22

A word shape. At this time, if the elastic hinge door 25 is rotated upward by an external force, the rear opening of the rail hole 22 is opened, and when the external force is released, the elastic force of the torsion spring restores the rotation downward to shield the rear opening of the rail hole 22.

More specifically, the first flow path 24c extends from the inflow port 24a along the rear of the cover frame 20 c.

The first flow path 24c is connected to the inside of the rear end portion of the elastic hinge door 25 at a portion where the cover frame 20c contacts the rear end portion of the elastic hinge door 25, and is formed to be bent to open rearward of the rail hole 22A word shape.

At this time, the compressed air flowing along the first flow path 24c is ejected toward the rear opening side of the rail hole 22 so as to flow forward of the rail hole 22 along the inside 24e of the elastic hinge door 25. The second channel 24b extends from the inlet 24a to the front of the cover frame 20 c.

The second flow path 24b is formed to be inclined downward at a portion 24d of the slope portion 22b of the rail hole 22 adjacent to the rail hole of the loading portion 20a and the rail hole of the slide portion 20b, and is connected to the rail hole 22. At this time, the compressed air flowing along the second flow path 24b flows forward along the upper portion of the rail hole 22, and can be injected toward the slope portion 22b of the rail hole 22.

Accordingly, even when the number of jigs arranged in the slide portion 20b is reduced due to consumption of the jigs 3 incorporated in the jig box 20, the last remaining jigs can be smoothly loaded into the discharge hole 21.

Further, the inlet port 24a is preferably connected to a discharge flow path 33 of the pneumatic cylinder 32. Here, an injection flow path 34 for injecting compressed air to raise the actuating rod 31 is formed at a lower portion of the pneumatic cylinder 32, and a discharge flow path 33 for discharging air inside when the actuating rod 31 is raised is formed at an upper portion of the pneumatic cylinder 32. That is, the compressed air discharged from the pneumatic cylinder 32 when the pressurizing rod 30 is raised can be injected into the inlet port 24 a.

More specifically, when the pressurized rod 30 is raised and the connection portion between the discharge hole 21 and the rail hole 22 is opened, the compressed air is injected through the inlet port and can be injected along the

flow paths

24b and 24 c. As described above, when the connecting portion between the discharge hole 21 and the rail hole 22 is opened during the contraction of the pneumatic cylinder 32, compressed air can be injected into the first flow path 24c and the second flow path 24 b. Accordingly, the compressed air generated during the contraction of the air cylinder 32 is reused without a separate power source or control device to promote the movement of the clamp 3 by its own weight, thereby improving the economical efficiency of the product by simplifying the apparatus.

Also, referring to fig. 7 to 8, the automatic jig mounting apparatus 100 further includes a jig aligning apparatus 2 for aligning a plurality of jigs, and a jig supplementing portion 40.

Here, the jig arraying device 2 has a container 2b for accommodating a plurality of jigs formed in an upper portion thereof, and a vibrating portion 2c for generating vibration formed in a lower portion of the container 2 b. At this time, a discharge pipe 2a extending in a spiral shape is formed on the storage container 2b, and a concave portion corresponding to the elastic fitting portion 3a of the jig 3 is formed on the discharge pipe 2 a.

In detail, when the container 2b is shaken, the jigs of the container 2b flow along the discharge pipe 2a, and the jigs can be aligned by inserting the elastic fitting portion 3a into the recess portion. At this time, the jig replenishment part 40 is connected to the jig aligning device 2 obliquely downward so that the aligned jigs are conveyed by the self-weight.

The jig replenishment section 40 is configured to replenish the conveyed jigs to the rear opening of the rail hole 22 by opening an elastic hinge door 25 formed at the rear of the jig box 20. Here, it is preferable that the jig replenishment part 40 includes a proximity sensor 41 sensing connection of the jig cassette 20 and a jig binding member controlling replenishment of the jig according to a sensing signal of the proximity sensor 41.

In detail, the jig supplement part 40 may further include a base main body part 40a and a combining guide 40 b. Here, the base body portion 40a is formed of a rectangular member connected to be inclined downward along the discharge pipe 2a, and is formed with a supplementary hole 42 connected to be inclined downward along the inside of the discharge pipe 2a of the jig aligning device 2.

The coupling guides 40b extend along the end of the base body 40a and are coupled to the cassette 20 in a row. Here, the coupling guide 40b is formed in a container shape in which a coupling space corresponding to the sliding portion 20b of the clip case 20 is formed so as to be coupled by wrapping the sliding portion 20 b.

In addition, a protrusion guide groove portion 44a for guiding the entire row of protrusions 26 protruding from the front of the clip case 20 is formed in front of the coupling guide 40 b. Also, it is preferable that an opening protrusion 44b for pressurizing a lower end portion of the elastic hinge door 25 is formed at the rear of the coupling guide 40 b.

At this time, it is preferable that an interval from the protrusion guide groove portion 44a to the opening protrusion 44b is formed to correspond to an interval from the entire row of protrusions 26 of the cassette 20 to the lower end portion of the elastic hinge door 25. Thus, the alignment projection 26 is inserted into the projection guide groove portion 44a, and when the inside of the coupling guide 40b is coupled to the clip case, the lower end portion of the elastic hinge door is pressed by the opening projection 44b to rotate upward, and the rear opening of the rail hole 22 can be opened.

At this time, the protrusion guide groove portion 44a is formed to have a shape inclined downward from the rear to the front, and the lower end portion of the elastic hinge door 25 can be accurately pressed by the alignment protrusion 26. Here, it is preferable that the supplementary hole 42 has the same cross section as the rail hole 22, and the rail hole 22 and the supplementary hole 42 may be configured to be continuous with each other when the clip cartridge 20 is coupled to the coupling guide 40 b.

The proximity sensor 41 is a sensor for sensing the approach of an object by ultraviolet light or laser light. That is, when the clip case 20 is coupled with the coupling guide 40b, the proximity sensor 41 may generate a sensing signal and transmit the same to the clip constraining part.

At this time, the clip restricting portion releases the restriction of the clip so that the clip stored in the supplementary hole 42 flows down to the rail hole 22 by its own weight when receiving the sensing signal. Accordingly, the elastic hinge door 25 can be automatically opened only by moving the gripper box 20 and the gripper supplement unit 40 in a linked manner by the articulated robot 1.

The aligned jigs can be discharged to the replenishment holes 42 and automatically replenished to the rear opening of the exposed rail hole 22, thereby improving the convenience of use of the product.

Referring to fig. 8 to 9, preferably, the jig binding part includes an opening and closing cylinder 43, an encoding type sensor 45, and a control part 46. Here, the opening/closing cylinder 43 opens and closes the refill hole 42 formed along the inside of the jig refill unit 40 so as to communicate with the rail hole 22 when the jig cartridge 20 and the jig refill unit 40 are coupled.

In this case, the opening/closing cylinder 43 is formed of a solenoid, a pneumatic cylinder, or the like, is disposed on the front end side of the refill hole 42, opens the refill hole 42 by contraction of the actuating lever, and can shield the refill hole 42 when the actuating lever is extended.

An encoder sensor 45 for sensing the movement of the jig is formed inside the supplementary hole 42. At this time, the encoder sensor 45 is formed of a sensor that detects reflected light by emitting ultraviolet rays or laser light. Here, the encoder sensor 45 senses the interval between the jigs 3 arranged in series, and generates a sensing signal corresponding to the movement of the jigs when the jigs move, and generates a sensing signal corresponding to the stop of the jigs when the jigs stop.

When receiving the sensing signal of the proximity sensor 41, the control unit 46 performs contraction control of the open/close cylinder 43 so that the replenishment hole 42 is opened after a predetermined waiting time has elapsed. That is, when the clip cartridge 20 is coupled to the clip replenishment portion 40, the control portion 46 opens the end of the replenishment hole 42, and the clip flowing along the inside of the replenishment hole 42 by its own weight can be replenished to the rail hole 22. In this case, it is preferable that the control unit 46 controls the opening/closing cylinder 43 to contract after a waiting time of about 1 to 3 seconds elapses after receiving the sensing signal of the proximity sensor 41.

When the opening/closing cylinder 43 contracts, the control unit 46 controls the encoder sensor 45 to be driven. At this time, the control unit 46 controls the open/close cylinder 43 to maintain the contracted state when receiving a sensing signal corresponding to the movement of the jig from the encoder sensor 45.

When receiving a sensing signal corresponding to the stop of the jig, the control unit 46 controls the opening/closing cylinder 43 to extend. That is, when the inside of the rail hole 22 is filled with the jigs, the jigs inside the refill hole 42 are stopped, and the control unit 46 determines that the filling of the jigs into the rail hole 22 is completed based on the sensing signal of the encoder sensor 45.

After the completion of the filling of the jig, the filling hole 42 is closed, and then a signal is transmitted to cause the articulated robot 1 to perform a subsequent assembly operation. As described above, it is possible to automate the processes of replenishing the jig to the jig magazine and assembling the replenished jig to the assembling position, and to accurately measure the completion timing of replenishing the jig by the sensing signal of the encoder sensor 45. Thus, the delay time for the clamp replenishment is minimized, and the productivity and the work efficiency of the product can be improved.

The automatic jig assembling apparatus of the present invention provides the following effects by the above-described solving means.

First, a fixed shape capable of accommodating a plurality of jigs is formed inside, and a jig box made of an abrasion resistant material is moved together with a base portion to sequentially supply the jigs, thereby preventing abrasion and deformation and minimizing the occurrence of jig hooking. Thus, the work delay caused by repeatedly replacing the hose in the past can be minimized, and the productivity and the economical efficiency of the product can be improved.

Second, the clip case is integrally formed at a lower portion of the base portion and formed in an upwardly inclined shape, so that a plurality of clips accommodated therein can be loaded by being gently moved by their own weight without a separate power source, thereby improving economical efficiency.

Thirdly, the wing part of the jig transferred to the discharge hole is hung on the elastic support part formed at the edge of the discharge hole, so that the jig can be aligned and loaded in the correct direction opposite to the elastic assembly part and the jig mounting part of the assembly member. Therefore, the fixture which is pressurized and discharged through the pressurizing rod part can be correctly assembled, the fraction defective caused by misassembly is minimized, and the product can be stably operated.

As described above, the present invention is not limited to the above-described embodiments, and those skilled in the art of the present invention can modify the embodiments within the scope of the claims of the present invention, and such modified embodiments fall within the scope of the present invention.

Claims

1. An automatic jig assembling apparatus, comprising:

a base part connected to an end of the articulated robot hand so as to be sequentially conveyed to a plurality of predetermined assembly positions, and having a rod hole formed therein;

a clip case including a loading portion connected to a lower portion of the base portion and including an elastic support portion to which a wing portion is catapultly hung, the wing portion being provided at an upper end of the clip to protrude along an edge of a discharge hole formed to communicate with a lower end of the rod hole, and a sliding portion formed to be inclined upward from the loading portion toward the rear, and formed along an inside with a guide rail hole into which the plurality of clips are inserted so as to be conveyed by gravity; and

a pressurizing rod part disposed in the rod hole and connected to an actuating member, wherein each time the base part is transferred to the respective mounting positions, the pressurizing rod part is lifted up to transfer the jig in the rail hole to be engaged with the elastic support part, and is lowered down to discharge the jig engaged with the elastic support part under pressure,

a guide groove portion expanded to guide the wing portion is formed at an upper portion of the guide rail hole, the discharge hole is formed in a size allowing the wing portion to pass therethrough,

the elastic support portion includes:

a hooking groove part formed by being expanded outward from a side edge of the discharge hole corresponding to a lower part of the guide groove part such that an inner center part is overlapped and communicated with the side edge of the discharge hole;

and a support rod which is supported by the elastic member formed at the outer side end of the hooking groove part in a manner of ejecting to the side edge of the discharge hole, and has an upper inner edge formed in an arc shape so as to slide the wing part of the pressurized jig.

2. The automatic jig assembling apparatus according to claim 1,

the activation means are formed by a pneumatic cylinder,

the clamp box further includes an inflow port and an air spring portion,

the inflow port is connected to a discharge flow path of the pneumatic cylinder so as to inject compressed air discharged when the pressurizing rod portion rises; the air spring portion includes an air flow path connected from the inflow port to the guide hole so that the compressed air is injected forward of the guide hole.

3. The automatic jig assembling apparatus according to claim 1,

also comprises a clamp arraying device and a clamp supplementing part,

the clamp arraying device is used for arraying a plurality of clamps; the clip replenishing section is connected to the clip aligning device so as to be inclined downward, so that the aligned clips are conveyed by their own weight, and the elastic hinge door formed at the rear of the clip box is opened to replenish the conveyed clips to the rear opening of the guide rail hole,

the clip supplement includes a proximity sensor and a clip restraining member,

the proximity sensor is used for sensing the connection of the clamp box;

the clamp binding part controls the supplement of the clamp according to the sensing signal of the proximity sensor.

4. The automatic jig assembling apparatus according to claim 3,

the clamp binding part comprises an opening and closing cylinder, an encoding type sensor and a control part,

the opening and closing cylinder is used for opening and closing a supplementing hole formed along the interior of the clamp supplementing part so as to be communicated with the guide rail hole when the clamp box is combined with the clamp supplementing part;

the coded sensor is arranged inside the supplementary hole and senses the movement of the clamp;

the control unit controls the contraction of the open/close cylinder so that the refill hole is opened after a predetermined waiting time when receiving the sensing signal of the proximity sensor, and controls the expansion of the open/close cylinder so that the refill hole is closed according to the sensing signal corresponding to the stop of the jig received from the encoder sensor after the contraction of the open/close cylinder.