JP2000176757A - Handling device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To lift up a work (E/C assy) different by every kind of a car with only one kind of a chuck equipped, thereby expand its general purpose properties, and sharply reduce the scale of equipment characterized by robotization. SOLUTION: A handling device lifts up a work equivalent to an engine compartment assembly provided with spring support holes at both the sides of it in this case, paired light and left chuck mechanisms 30 and 31 capable of holding the work by individually inserting the chuck mechanisms into both the spring support holes, are provided for a support body 10. Both the chuck mechanisms 30, 31 are supported in such a way that they can be moved as each axial line of the spring support holes is inclined toward the support body 10. At least one chuck mechanism is so devised that it can be moved to the direction for adjusting the distance between both the chuck mechanisms 30 and 31.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a handling apparatus for lifting up an engine compartment assembly having spring support holes on both sides.

[0002]

2. Description of the Related Art FIG. 7 is a perspective view showing one type of an engine compartment assembly (E / C assembly).
As shown in this drawing, the assembled E / C assembly (work 80) is used to assemble it with another assembly (front floor assembly).
May be lifted up and transferred to a process of assembling with another assembly.

[0003] Conventionally, the work 80 is conveyed by a transfer machine provided with a dedicated attachment corresponding to the work 80 for each vehicle type. The reason why the transporter is used is to provide a position where a dedicated attachment for each vehicle type is stocked in the movement path of the transporter, and to select an attachment according to the vehicle type before lifting up the work 80. As a general component handling apparatus, for example, a technique disclosed in Japanese Utility Model Laid-Open No. 63-13687 is known.

[0004]

As described above, the conventional E /
When lifting and transferring the C Assy, a transporter with poor versatility has to be used, and this operation has been prevented from being made into a robot. For this reason, the equipment scale becomes large, and the construction period and cost required for the construction cannot be ignored.

An object of the present invention is to solve the above-mentioned problem, and an object of the present invention is to expand versatility by making it possible to lift up a different work (E / C assembly) for each vehicle type by providing only one kind of chuck. At the same time, it is possible to greatly reduce the equipment scale by using a robot.

[0006]

According to the first aspect of the present invention,
An engine compartment assembly having spring support holes on both sides is used as a work, and a handling device for lifting up the work is provided. A pair of chuck mechanisms are provided on the support, respectively. The two chuck mechanisms are supported so that they can move along the axis of the spring support hole with respect to the support, and at least one of the chuck mechanisms can move in the direction to adjust the distance between the two chuck mechanisms. It has become.

As described above, the functions such as the movement of the two chuck mechanisms with respect to the support and the adjustment of the distance between the chucks can be performed irrespective of the inclination of the axis of the two support holes or the change in the distance between the two spring support holes due to the difference in vehicle type. The work can be lifted up by inserting both chuck mechanisms into these spring support holes. In other words, by using the spring support holes that are always provided in the work, the handling device can be adapted to each vehicle type by only having one type of chuck mechanism, and the versatility is expanded. Also, since one type of chuck mechanism can be used,
It is possible to lift and transfer a work by using a robot, and it is possible to greatly reduce the equipment scale as compared with a conventional transfer machine.

An actuator such as an air cylinder is used as a means for moving the chuck mechanism with respect to the support, and the distance between the two chuck mechanisms is adjusted by automatic control according to the type of vehicle. Ideal when used in robots. Note that it is also possible to move both chuck mechanisms together with respect to the support, in which case the amount of movement of each chuck mechanism required to adjust the distance between the two chuck mechanisms by a predetermined distance is a matter of course. However, only one half of the movement of one chuck mechanism is required, and the adjustment work can be speeded up.

According to a second aspect of the present invention, in the handling device of the first aspect, each of the chuck mechanisms includes an actuator and a pair of engagement claws, and the pair of engagement claws is driven by the respective actuators. Are reciprocated in opposite directions to open and close both engaging claws outward and inward, respectively. The two engaging claws can pass through the spring support hole of the work when closed inward, and can engage with the edge of the spring support hole on the lower surface of the work when opened outward.

According to the present invention, the function of gripping the work when the chuck mechanism is inserted into each of the spring support holes is achieved by the actuator and the pair of engagement claws provided in the both chuck mechanisms. The work is lifted up using the support holes. Note that an air cylinder is often used for this actuator from the viewpoint of commonality with other equipment and versatility. This also applies to the actuator for adjusting the distance between both chuck mechanisms as described above.

According to a third aspect of the present invention, in the handling device according to the second aspect, when the two chuck mechanisms are inserted into the spring support holes of the work, the respective engagement claws are guided into the spring support holes. Are provided at the tips of both chuck mechanisms. In this invention, even if the pair of engaging claws have a shape that is easily caught in the spring support hole even when they are closed inward, the chuck mechanism is smoothly inserted into the spring support hole by the guide.

[0012]

Embodiments of the present invention will be described below. FIG. 1 is a front view showing the entire handling device, and FIG. 2 is a plan view of FIG. As shown in these drawings,
A mounting plate 12 that can be connected to the robot arm is fixed to the upper surface of the support 10 in the handling device at a substantially middle portion in the left-right direction. That is, the handling device in the present embodiment is premised on use by robotization.

A fixed bracket 14 is attached to the right side of the support 10 by bolting, and a movable bracket 18 is provided on the left side so as to be movable in the left-right direction. As shown in FIG. 1, the movable bracket 18 includes a rail 1 fixed to the lower surface of the support 10.
6, a slider 20 fixed to the upper surface of the movable bracket 18 is slidably supported in the left-right direction. Further, an air cylinder 24 disposed laterally below the support 10 with respect to the movable bracket 18 is provided.
Are connected by a connection fitting 28. The base of the air cylinder 24 is supported by a cylinder bracket 22 fixed to the lower surface of the support 10.

Chuck mechanisms 30, 31 are mounted on the fixed bracket 14 and the movable bracket 18, respectively. The chuck mechanism 31 mounted on the movable bracket 18 moves in the left-right direction together with the movable bracket 18 by the drive control of the air cylinder 24, whereby the distance between the two chuck mechanisms 30, 31 can be adjusted. . The two chuck mechanisms 30, 31 are:
Although the left and right directions are arranged symmetrically, the structure is the same. Therefore, the structure of the arbitrarily selected right side (fixed side) chuck mechanism 30 will be mainly described.

FIG. 3 is an enlarged front view of the fixed side chuck mechanism 30, FIG. 4 is a plan view of FIG. 3, FIG. 5 is a right side view of FIG. 3, and FIG. 6 is a line VI-VI of FIG. It is sectional drawing of a direction. As is clear from these drawings, the chuck mechanism 30
An air cylinder 32 used as the actuator is provided. The air cylinder 32 has a piston rod 34 facing downward, and is rotatably supported by the support bracket 33 with respect to the fixed bracket 14 (FIG. 1, FIG. 1).
3). The air cylinder 32 of the left (movable) chuck mechanism 31 is rotatably supported by the movable bracket 18. Therefore, both chuck mechanisms 30 and 31 can move in the direction of tilting the axis of each air cylinder 32 around the support shaft 33 with respect to the support 10.

A rectangular frame-shaped retainer 38 is fixed to the lower end surface of the air cylinder 32 by bolting. As shown in FIG. 3, a spring 58 is hung between the retainer 38 and the fixed bracket 14 (or the movable bracket 18), and a retainer 38 is provided on the fixed bracket 14 (or the movable bracket 18) side. A stopper 60 is provided to adjust the receiving position. In other words, the two chuck mechanisms 30 and 31 are always held at the return position received by the stopper 60 by the force of the spring 58 with respect to the movement of the support shaft 33 around the axis.

Further, as is apparent from FIG. 3, the retainer 38 has a regulating pin 6 having a bush 64 at its tip.
2 is fixed. The bush 64 of the regulating pin 62
Is provided in the groove 68 of the regulating plate 66 fixed to the fixed bracket 14 (or the movable bracket 18).
Is in. The lower portion of the groove 68 is open, and the portion of the regulating pin 62 having the bush 64 can be displaced downward from the position shown in FIG. 3, but the movement in the direction orthogonal to this is restricted. Therefore, both chuck mechanisms 30, 3
When the movable member 1 moves about the axis of the support shaft 33, the chuck mechanisms 30, 31 are regulated so as not to swing in the front-rear direction (the vertical direction in FIG. 2).

The piston rod 3 of the air cylinder 32
Numeral 4 is located inside the retainer 38, and a connecting portion 36 is coupled to a tip portion thereof. In this connecting part 36,
The upper ends of the pair of engaging claws 44 are rotatably supported by a single shaft 46, respectively. The portion of the both engaging claws 44 near the lower end is located outside the retainer 38 (below the distal end plate 42) through the opening 43 of the distal end plate 42 in the retainer 38. The lower ends of the two engaging claws 44 form an engaging portion 50 projecting leftward or rightward in FIGS. Further, upper and lower long cam holes 48 are formed in both engagement claws 44 (FIG. 6), and one rod 40 is inserted in a state where these cam holes 48 are overlapped. Both ends of this rod 40 are the retainer 3
8 supported.

When the piston rod 34 of the air cylinder 32 is projected downward from the state shown in FIG.
4 is pushed down against the retainer 38. As a result, the cam hole 48 and the rod 40 are relatively displaced, and the two engaging claws 44 rotate in opposite directions about the shaft 46, so that the respective engaging portions 50 are indicated by phantom lines in FIG. So that it is closed inside. The piston rod 34
Is pulled upward, the two engaging claws 44 are pulled up to their original positions, and the respective engaging portions 50 are opened outward as shown by solid lines. Both engagement claws 44 can pass through the spring support holes 82 of the work (E / C Assy) 80 shown in FIG. 7 when the respective engagement portions 50 are closed inward, and the engagement portions 50 are opened outward. In the state, it can be engaged with the edge of the spring support hole 82.

A limit switch 54 that is switched by contacting a workpiece 80 is bolted to a tip plate 42 of the retainer 38 via a bracket 52. A rod-shaped guide 56 is fixed to the lower surface of the tip plate 42 on each side of the engaging claw 44. The tips (lower ends) of these guides 56
The engaging portions 50 are located below the distal end portions of the two engaging claws 44 in a state of being closed inward, and are connected to each other by a connecting member 57. The connecting member 57 has a shape in which an intermediate portion thereof is pointed downward (FIG. 1).
3).

The work 80 always has spring support holes 82 on both sides thereof regardless of the type of vehicle. However, the inclination of the axis of the spring support hole 82 or the distance (pitch) between the spring support holes 82 on both sides differs depending on the vehicle type. The procedure for lifting up the workpiece 80 under such conditions by the handling device configured as described above will be described below. In the handling device, it is assumed that the mounting plate 12 of the support 10 is connected to the robot arm.

First, the air cylinder 24 is driven and controlled based on data for each vehicle type, and the movable chuck mechanism 31 is moved in the left-right direction. Thereby, both chuck mechanisms 30 and 31 are adjusted in accordance with the pitch of both spring support holes 82 in the work 80 to be lifted up.
Adjust the distance between. At the same time, the air cylinders 32 of both chuck mechanisms 30, 31 are drive-controlled to hold the respective engaging claws 44 in a state where the engaging portions 50 are closed inward as described above.

Subsequently, the two chuck mechanisms 30 and 31 are connected to the respective spring support holes 8 by the control of the robot.
Insert individually into 2. At this time, the guide 56 is first inserted into both spring support holes 82, whereby the engaging claws 44 are moved to the respective spring support holes 8.
It is led to 2. The two chuck mechanisms 30 and 31 follow the support shaft 3 according to the inclination of the axis of the spring support hole 82.
3, the engaging claws 44 are smoothly inserted into the spring support holes 82.

Next, the air cylinder 32 is drive-controlled again to hold the engagement claws 44 of both chuck mechanisms 30, 31 with the engagement portions 50 opened outward. As a result, the engaging portions 50 of the engaging claws 44 in the chuck mechanisms 30 and 31 engage with the lower surface of the work 80, and the engaging portions 50
The edge of the spring support hole 82 is sandwiched between the spring support hole 82 and the end plate 42 of the retainer 38. At this time, the work 80 comes into contact with the limit switch 54, and it is detected from the electric signal from the limit switch 54 that the work 80 is properly held by the chuck mechanisms 30, 31. When this electric signal is not detected, the engaging claw 44 is closed inward, the chuck mechanisms 30 and 31 are pulled out from the spring support holes 82, and the work from insertion may be performed again.

When the work 80 is properly grasped by using the spring support holes 82 as described above, the work 80 is lifted up by the control of the robot and transferred to, for example, an assembling process with a front floor assembly (not shown). After the transfer, the engaging claws 44 of the chuck mechanisms 30 and 31 are closed inward, and the chuck mechanisms 30 and 31 are pulled out from the respective spring support holes 82 to complete a series of operations. The air cylinders 24 and 32 can be replaced with hydraulic cylinders or other actuators. However, as described above, air cylinders are used from the viewpoint of commonality with other equipment or versatility.

[Brief description of the drawings]

FIG. 1 is a front view showing an entire handling device.

FIG. 2 is a plan view of FIG. 1;

FIG. 3 is an enlarged front view of a fixed-side chuck mechanism.

FIG. 4 is a plan view of FIG. 3;

FIG. 5 is a right side view of FIG. 3;

FIG. 6 is a sectional view taken along the line VI-VI of FIG. 3;

FIG. 7 is a perspective view showing one type of an E / C assembly.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Support body 30 Chuck mechanism 32 Air cylinder 44 Engagement claw 80 Work 82 Spring support hole

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Tetsushi Hayashi 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation F-term (reference) 3C030 CC04 3D114 AA12 BA26 DA12

Claims (3)

[Claims] 1. A handling device for lifting up an engine compartment assembly having spring support holes on both sides as a work, wherein the work is lifted up by separately inserting the work into the both spring support holes. A pair of left and right chuck mechanisms capable of gripping the work are provided on the support, respectively, and both of these chuck mechanisms are supported with respect to the support so as to be movable in accordance with the inclination of the axis of the spring support hole, and at least, A handling device in which one chuck mechanism is movable in a direction for adjusting a distance between both chuck mechanisms. 2. The handling apparatus according to claim 1, wherein each of the chuck mechanisms includes an actuator and a pair of engagement claws, and the pair of engagement claws reciprocate in opposite directions by driving the respective actuators. The two engaging claws are configured to rotate and open outward or close inward, respectively.The two engaging claws can pass through a spring support hole of the work when closed inward, and open outward. A handling device that can be engaged with the edge of the spring support hole on the lower surface of the work in the state. 3. The handling device according to claim 2, wherein when the chuck mechanisms are inserted into the spring support holes of the work, guides for guiding the respective engagement claws into the spring support holes are provided. Handling device provided at the tip of the device.