JP2000326278A - Part supply device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate work such as transfer to a supply magazine or the like easily clamped by a robot, in supplying an assembly section or the like with parts delivered on board trucks. SOLUTION: A chuck mechanism 8 is connected through a floating mechanism 7 provided with a slidable slide shaft 12 and a spring 14 to the downward of a connection plate 6 vertically movable by action of a cylinder unit 5, as a workpiece chuck part 2 for clamping directly a part W loaded in tiers on a truck by a robot type supply device. The part W is pressed by a pressing member 18 so as to make an attitude of the part W correctable also so as to close a chuck pawl 20 in the point of time contracting the spring 14 by a fixed amount, and an error of a height position is absorbed. A V-shaped recessed part is formed in a front face of the chuck pawl 20 in one side so that the right/left error can be absorbed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component feeder which picks up components mounted on a truck in a stacked manner, for example, by a work chuck portion of a robot type device and automatically supplies the components to an assembly portion.

[0002]

2. Description of the Related Art Conventionally, when a component such as a clutch outer is supplied to an assembling section in an assembly line of a motorcycle or the like, as shown in FIG. W is transferred by manually piercing the transfer pin Mp of the supply magazine M by the operator P in a skewered manner, and positioning the component W in the height direction and in the front, rear, left and right directions.
The robot R grips and supplies.

[0003]

However, the method of transferring the parts W to the supply magazine M as described above has a problem that the number of work steps is large and cumbersome, and the work space is increased. On the other hand, if the robot is to be taken out directly from the cart, the positioning accuracy of the part W is not sufficient.
Problems such as not being able to hold it correctly or damaging the component W may occur.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a supply device which reduces the number of work steps such as transfer work and does not require a work space when supplying parts mounted on a trolley and delivered to an assembling section or the like. I do.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a robot for supplying parts to a carriage, wherein the parts are picked up by a work chuck of the robot, taken out, and supplied to a predetermined location. The work chuck section has a floating mechanism that absorbs errors in the height position of components and corrects the inclination of the components, and at least one of the chuck claws has a front extension that absorbs errors in front, rear, left, and right positions of the components. Open recesses were formed.

As described above, the error of the height position of the component and the error of the front, rear, left and right positions are absorbed, and the inclination is corrected and gripped, so that the workpiece can be directly gripped by the work chuck, thereby reducing the number of work steps. Plan. Here, as the floating mechanism, for example, a mechanism in which a vertically movable pressing member is supported by a spring or the like can be applied. For example, after the pressing member is lowered from above and brought into contact with the upper surface of the component, the spring is moved. By pressing the part downward while bending it, etc., the part is corrected so that it is in a normal posture even if it is inclined, and even if there is an error in the height position of the part, a certain amount of spring etc. The error can be absorbed by bending.

Further, at least one of the chuck claws is provided with a front widening recess, and even if the positions of the components are slightly different in the front, rear, left and right directions, if the components are within the range of the front widening recess, they are introduced into the recess and gripped. Make it possible. Here, the front widening concave portion refers to a concave shape in which the front side opening region of the concave portion becomes wider toward the front, and corresponds to, for example, a V-shaped concave portion or an arc-shaped concave portion.

[0008]

Embodiments of the present invention will be described with reference to the accompanying drawings. Here, FIG. 1 is an overall view of the present component supply device, FIG. 2 is a plan view of a truck, FIG. 3 is a front view of a work chuck portion of a robot, FIG. 4 is a side view thereof, and FIG.
6 is an explanatory view of the chuck pawl, and FIG. 7 is an operation view.

A component supply device 1 according to the present invention is, as shown in FIG. 1, for example, a robot device which directly takes out a component W such as a clutch outer of a motorcycle or the like from a delivery truck D and supplies it to an assembly section. And this part W is
The delivery truck D is formed in a dish-like shape having a cylindrical boss portion Wb in a central concave portion, and the tubular boss portion Wb faces upward.
Are mounted in a stack.

The work chuck portion 2 of the component supply device 1 is designed to be able to hold and take out the cylindrical boss portion Wb of the component W. Therefore, the position of the delivery cart D is determined by the component supply device. 1, and the component W is mounted in the delivery truck D such that there is little variation in the front, rear, left and right positions.

That is, as shown in FIG. 2, a circular part W is provided inside a delivery cart D having a rectangular mounting space.
A gap sealing material 3 made of resin for sealing a gap generated due to packing is provided at a predetermined position to improve positioning accuracy in front, rear, left and right. For example, a conventional gap sealing material 3 is not provided. Where the positioning accuracy is about ± 30 mm, the precision is improved to about ± 2 mm.

The work chuck 2 is shown in FIGS.
As shown in the figure, the cylinder unit 5 is configured below a support plate 4 which is movable in the horizontal biaxial direction. A cylinder unit 5 is mounted on the support plate 4 and a cylinder rod 5a of the cylinder unit 5 is attached to the cylinder unit 5. Is coupled to a coupling plate 6, and a chuck mechanism 8 is attached to the coupling plate 6 via a floating mechanism 7. The lower ends of a pair of slide shafts 10 are coupled to the upper portion of the coupling plate 6 so as to slidably penetrate the guide cylinder 11 of the support plate 4.

The operation of the cylinder unit 5 allows the floating mechanism 7 and the chuck mechanism 8 to freely move up and down.

The floating mechanism 7 includes a pair of sliding shafts 12 slidably penetrating the coupling plate 6, a connecting member 13 coupled to a lower end of the sliding shaft 12,
The coupling plate 6 provided around the sliding shaft 12
A spring 14 interposed between the connecting plate 13 and the upper end of the sliding shaft 12 projecting upward through the connecting plate 6. An end stopper 15 (FIG. 3) for preventing the slipping out is fixed.

A proximity sensor 16 is provided at a fixed height above the coupling plate 6, and the proximity sensor 16 is connected to the end stopper 1 of the sliding shaft 12 on one side.
5 can be detected. That is, the coupling plate 6 is lowered by the operation of the cylinder unit 5. When the chuck mechanism 8 comes into contact with the component W, the spring 14 contracts and the proximity sensor 16 approaches the end stopper 15, and by detecting this, the operation of the cylinder unit 5 is controlled, so that the spring 14 always has a constant stroke. 14 can be contracted.

In order to keep the contraction amount of the spring 14 constant, the proximity sensor 16 is provided at a predetermined height from the upper surface of the connecting member 13 as shown in the operation diagram of FIG. A configuration that detects the proximity of the coupling plate 6 may be employed.

An air chuck cylinder 17 which is a part of the chuck mechanism 8 is attached to a lower end of the connecting member 13. A pair of pressing members 18 are attached to the air chuck cylinder 17. . The lower end of the pressing member 18 is bent inward as shown in FIG.

The air chuck cylinder 17 has a direction different from the direction in which the pressing member 18 is disposed.
A pair of chuck claws 20 that are a part of the chuck mechanism 8 are provided, and can be opened and closed by the operation of the air chuck cylinder 17.

The shape of the chuck claw 20 is shown in FIG.
As shown in (1), the front surface of the chuck claw 20 on one side is a substantially V-shaped concave portion d, and the front surface of the chuck claw 20 on the other side has a flat surface shape. In the embodiment, the cylindrical boss portion W is closed by closing the chuck claw 20 even when the angle of the V-shape is set to 120 degrees and the left and right positional deviation is about 15 mm.
b is guided to the center of the V-shape to enable chucking.

A method of taking out the component W by the component supply device 1 configured as described above will be described with reference to FIG. 7, the positional relationship between the pressing member 18 and the chuck claw 20 is shown differently from the actual configuration, and the position of the proximity sensor 16 is also different from the actual configuration.
It is displayed in an easy-to-understand position.

First, the work chuck unit 2 is lowered by the operation of the cylinder unit 5 as shown in FIG. 7A, and the pressing member 18 is inserted into the recess of the part W as shown in FIG. After contacting the upper surface of the component W, the coupling plate 6 is further lowered as shown in (c), and the component W is pressed downward while bending the spring 14. On this occasion,
Even when the posture of the component W is tilted, the component W is corrected to the normal posture by being pressed by the pressing member 18.

Then, as shown in FIG. 7D, when the proximity sensor 16 detects that the contraction amount of the spring 14 has become constant, the operation of the cylinder unit 5 is stopped, and as shown in FIG. The air chuck cylinder section 17 of the chuck mechanism 8 is operated to
0 grips the cylindrical boss Wb. When the amount of contraction of the spring 14 reaches a certain value, the chuck jaws 20
By actuating, there is no such a problem that the chucking operation is performed and no swing occurs even though the component W does not exist. Also, even if there is some height error, it can be absorbed.

Further, since the V-shaped concave portion d is formed in the chuck jaw 20 on one side, even if there is a positional error in the left-right direction of the component W, it is always guided to the center of the V-shape. It can be securely held.

In this state, the cylinder unit 5 is operated, and as shown in FIG.
Is raised to take out the part W and supply it to the assembling section. According to the above procedure, the parts W can be reliably taken out even when the parts W are taken out directly from the delivery trolley D, and it is not necessary to transfer the parts W to the supply magazine as in the conventional case, and the number of working steps can be reduced. In addition, the space occupied by the conventional magazine is eliminated, which is advantageous in terms of space.

The present invention is not limited to the above embodiment. Those having substantially the same configuration as those described in the claims of the present invention and exhibiting the same operation and effect belong to the technical scope of the present invention. For example, the component W may be a component other than the clutch outer.

[0026]

As described above, in the component supply device according to the present invention, the work chuck portion of the robot is provided with a floating mechanism for absorbing errors in the height position of the components and correcting the inclination of the components. By forming a front widening concave part on the chuck jaws on the side to absorb errors in the front-rear and left-right positions of the parts, the parts mounted on the bogie can be directly gripped by the work chuck part and taken out and supplied. As a result, the number of work steps can be reduced, and the space can be reduced.

[Brief description of the drawings]

FIG. 1 is an overall view of the present component supply device.

FIG. 2 is a plan view of a cart.

FIG. 3 is a front view of a work chuck portion of the robot.

FIG. 4 is a side view of a work chuck.

FIG. 5 is a sectional view taken along line AA of FIG. 3;

FIG. 6 is an explanatory view of a chuck claw.

FIG. 7 is an operation diagram

FIG. 8 is a conventional view.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Component supply apparatus, 2 ... Work chuck part, 7 ... Floating mechanism, 8 ... Chuck mechanism, 12 ... Sliding shaft, 14 ... Spring, 16 ... Proximity sensor, 20 ... Chuck claw, D ... Delivery cart, d ... Concave part , W ... parts.

Claims (1)

[Claims] 1. A component supply device in which a component mounted on a carriage is gripped and taken out by a work chuck portion of a robot and supplied to a predetermined location, wherein the work chuck portion of the robot has a component height. A floating mechanism that absorbs positional errors and corrects the inclination of the components is provided, and at least one of the chuck claws is formed with a front widening concave portion that absorbs errors in front, rear, left, and right positions of the components. Characteristic component supply device.