JP2001010720A - Many kinds of work transfer devices - Google Patents

Abstract

PROBLEM TO BE SOLVED: To unnecessitate an exchange for a work transfer jig when the same kind of works selected among many kinds of works are continuously transferred. SOLUTION: This carrier device 10 continuously delivers only the same kind of works selected among many kinds of works by a work delivery mechanism A, performs the positioning of the same kind of works at a first delivery and reception position P1, successively receives the works by a work transfer mechanism B, transfers the works to a second delivery and reception position P2 and transfers the works to each downstream process position by a work transfer jig mechanism C. The transfer jig mechanism C is provided with many kinds of transfer jigs 42a, 42b capable of seating works classified by each kind on a jig moving disc and works are sorted by a nondefective/defective sorting mechanism F via a first inspection process D and a second inspection process E by driving a servo motor. By selecting either one of the transfer jigs 42a, 42b, many kinds of works can be transferred.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to an apparatus for selectively transferring various kinds of workpieces with one transfer apparatus.
More specifically, the present invention relates to a multi-kind work transfer apparatus for continuously sending out only works of the same type selected from among a variety of works, and sequentially transferring the works to a downstream process position for positioning.

[0002]

2. Description of the Related Art As a conventional technique relating to a device for selectively transferring a variety of works by one transfer device, for example, a required number of unique transfer jigs which can be seated for each type of work are stored. In addition, these unique transfer jigs are attached to a turntable (jig moving disk) or the like to transfer the work, and each time the type of the work to be transferred is changed, the next work-specific transfer jig is used. Had been replaced.

In addition, when the number of types of workpiece changes is large, the number of man-hours for replacing the transfer jig increases, and the work is transferred by a plurality of transfer devices in order to improve productivity. In other words, the transfer device is properly used depending on the type of the work, and the man-hour for replacing the transfer jig is reduced to improve the productivity.

[0004]

However, in the above-mentioned prior art, the transfer jig is replaced and used for each type of work. Therefore, there is a problem in that productivity is low, and in addition, multi-unit operation or unmanned operation cannot be performed, so that labor costs cannot be reduced.

[0005] Further, in the case where a plurality of the latter transfer devices are provided, and the devices are selectively used according to the type of the work and transferred,
Since the equipment cost increases and a large installation space is required, there is a problem that the manufacturing cost cannot be reduced.

An object of the present invention is to make it possible to transfer many kinds of works by one apparatus, and to continuously transfer works of the same kind selected from many kinds of works by one apparatus. When transferring and transferring the workpiece, it is not necessary to replace the transfer jig on which the workpiece is seated, or by reducing the frequency of changing the transfer jig, thereby improving productivity, reducing labor costs, and reducing manufacturing costs. An object of the present invention is to provide a multi-type work transfer device capable of reducing the number of workpieces.

[0007]

According to a first aspect of the present invention, there is provided a work transfer apparatus for continuously sending out only a work of the same type selected from a variety of works. A delivery mechanism that can be positioned at the first delivery position, a transfer mechanism that can sequentially receive the workpieces positioned at the first delivery position and transfer the work to the second delivery position, and a transfer mechanism that can be moved to the second delivery position. A transfer jig mechanism that can transfer the placed work to a downstream process position,
An apparatus for transferring the work to each process position and positioning the work, wherein the transfer jig mechanism includes a plurality of required transfer jigs each capable of seating a variety of works by type, and a type of transfer jig. And a movable jig moving plate which is capable of attaching and moving the required number of the transferring jigs at each process interval position including the second transfer position set for each of the workpieces. A jig moving plate driving mechanism for intermittently moving the jig from the second delivery position to the downstream process position, and positioning the transfer jig at the second delivery position and intermittently moving to the downstream process position for positioning. The gist of the invention is to provide a control means for controlling the jig moving board driving mechanism.

[0008] According to the work transfer apparatus of the first aspect of the present invention having the above-described structure, the work of the same kind selected from the various kinds of works is continuously sent out by the sending mechanism and the first work is sent out. The workpiece is sequentially received by the transfer mechanism, is sequentially transferred to the second delivery position, and is further transferred to the downstream process position by the transfer jig mechanism, where the workpiece is positioned. The work seated on the transfer jig attached to the jig moving plate of the transfer jig mechanism is intermittently moved from the second delivery position to the downstream process position by the intermittent movement control of the jig moving plate, thereby performing positioning control. Is done.

The jig moving plate of the transfer jig mechanism is provided with various types of transfer jigs so that various types of workpieces can be seated for each type. By using this, it is possible to selectively and continuously transfer many kinds of works by one work transfer apparatus.

The work transfer device according to a second aspect of the present invention is a jig moving disk in which the jig moving disk of the transfer jig mechanism is formed in a rotatable disk shape. On the circumference of the moving disk, it is configured to attach a required number of the transfer jig corresponding to each process interval position,
The jig moving disk drive mechanism includes a servomotor capable of rotational positioning control, and a rotational power transmitting member that transmits the rotational power to the jig moving disk, and the control unit controls the servomotor by numerical control. The gist of the invention is to provide a numerical control means capable of rotational positioning control.

According to the second aspect of the present invention, the jig moving disk of the transfer jig mechanism is driven to rotate by the servo motor of the jig moving disk drive mechanism, and the servo motor is drive-controlled by numerical control. Therefore, the rotation positioning control of the work is reliably performed, and the mounting positions of the transfer jigs for each type attached to the jig moving disk are equally divided from each other. It is not necessary to set it to any interval. Further, each process position can be provided at a free position near the periphery of the jig moving disk.

According to a third aspect of the present invention, in the work transfer apparatus, the transfer jig mechanism divides various kinds of works into groups in which the transfer jig can be shared. The transfer jigs that can be shared by each group are provided, and the jig moving board attaches a required number of transfer jigs for each group to each process interval position including the second delivery position set for each group. The gist is that it is done.

According to the work transfer device of the third aspect, the work transfer jig provided in the transfer jig mechanism can be used for the jig moving board by sharing various kinds of works for each group. The number of transfer jigs to be attached can be reduced, and conversely, more types of works can be transferred by one work transfer device.

According to a fourth aspect of the present invention, in the work transfer device, the feeding mechanism feeds out the workpieces of the same kind selected from the various kinds of works by continuously aligning them. And, a variety of work for each type,
Alternatively, the required number of positioning units that can be received by the sharable group and that can position the work individually received from the feeding unit at the delivery standby position, and the required number of positioning units are arranged at equal intervals. A rotating disk that can be worn and orbitally move each of the delivery standby positions to the first delivery position; and a rotating disk driving unit that orbits the rotating disk together with the positioning unit. The rotary disk drive is controlled to selectively position the positioning unit to the first delivery position, and the rotary disk drive, the transfer mechanism, and the jig moving disk drive are controlled in association with each other. The gist is that it is done.

According to the work transfer device of the fourth aspect, the work sent out by the feeding unit in the sending mechanism is received by a predetermined positioning unit among required positioning units provided on the rotating disk. As described above, the rotating disk is rotated in the circumferential direction by the rotating disk driving means, and the predetermined positioning unit is selectively positioned at the first delivery position. The work is smoothly moved by controlling the rotating disk driving means and the transfer mechanism and the jig moving disk driving mechanism in relation to each other.

Further, in the work transfer apparatus according to a fifth aspect of the present invention, the transfer jig mechanism is provided with at least one inspection step provided with inspection means near an edge of the jig moving board. The gist of the present invention is that only the work of the same kind selected from the various kinds of works is transferred and positioned at the inspection process position.

According to the work transfer device of the fifth aspect, the work seated on the transfer jig is sequentially moved to each inspection step and positioned with the intermittent movement of the jig moving plate in the transfer jig mechanism. Then, various inspections of various kinds of works are performed.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of the present invention will be described below in detail with reference to the drawings. First, FIG. 1 is a plan view showing a schematic configuration of a work transfer device according to an embodiment of the present invention, and FIG. 2 is a sectional view taken along line AA in FIG. The workpiece transfer device 10 (in this example, 8 varieties) wide variety workpiece delivery mechanism is positioned at the first delivery position P ₁ to the workpiece W of the same kind selected continuously feeding out of the work a and its a workpiece transfer mechanism B for transferring the second transfer position P ₂ first transfer sequentially receives the positioning has been the workpiece to the position P _1, the which is transferred to the second transfer position P ₂ A work transfer jig mechanism C for transferring the work to a downstream inspection process position.

Further, in front of the transfer of the work W transferred by the work transfer jig mechanism C, a first inspection step D for inspecting the work optically from directly above, the work is also optically inspected from the side. A second inspection process E and a non-defective / defective product selection mechanism F for separating the workpiece W into non-defective products and non-defective products based on the inspections in these inspection processes are sequentially provided.

First, the work delivery mechanism A will be described. On the table 12, there is provided a rotating disk 16 which is rotated and positioned in a horizontal plane by a servomotor 14 of a direct drive. The unit 18 (18a to 18h) is
Are radially arranged at equal intervals from the center of rotation of the roller in the radial direction. Each of the positioning units 18a to 18h is designed to transfer eight types of workpieces by the workpiece transfer device 10. An air cylinder 20 is arranged on the center side of the rotating disk 16 and a workpiece is provided at the tip of the piston shaft. The receiving stand 22 is provided to be able to move forward and backward.

On both sides of the rotating disk 16, there are provided feeding units 24a for continuously feeding the work W,
24b are provided, each feeding unit 24a, a parts feeder 26a provided in 24b, the tip of 26b is, when the workpiece receiving base 22 of the positioning unit 18 disposed opposite to the first delivery position _{P 1} has retraction It is located just above. Although it is not always necessary to provide two feeding units 24a and 24b, eight types of works can be used by dividing them into two groups.

Next, the work transfer mechanism B will be described. A finger moving disk 28 is provided on the table 12 to be rotated and positioned in a horizontal plane by a servo motor 30 of a direct drive. The rotation support shaft 32 is provided so as to be integrally rotatable and vertically movable. At the top end of the rotation support shaft 32, horizontal arms 34 (34a to 34f) extending radially at regular intervals in six directions in a horizontal plane are provided, and the tip thereof is provided by a built-in actuator (air cylinder operation). The supply finger 36 (36
a to 36f) are attached, and these are positioned at the rising end and the falling end by the operation of the air cylinder 33.

The horizontal arms 34a to 34f
Each of the supply fingers 36a to 36f has the same form as that of the fingers at 180 ° opposite positions, and the workpiece transfer device 10 can transfer eight types of workpieces to be transported by 34a = 34d and 34b = 34e and 34c =
34f, and can be gripped and transferred by any of the supply fingers 36a to 36f.

Next, the work transfer jig mechanism C will be described. A jig moving disk 40 is provided on the table 12 and is driven to rotate in a horizontal plane by a servo motor 38 of a direct drive. along the periphery of 40, the through work transfer mechanism B, to seat the workpiece W that has been transferred to the second transfer position P ₂ 3
The transfer jigs 42 (42a to 42c) of the types are repeatedly arranged at regular intervals in the circumferential direction, and a total of 15
(See FIGS. 4A to 4C).

FIG. 3 shows the mounting structure of the transfer jig 42 (42a). As shown in the figure, the transfer jig 42a is provided with a bearing member 44 on the jig moving disk 40.
A vertical shaft 46 is rotatably mounted via a vertical axis, and is detachably mounted on the upper end surface of the vertical shaft 46. Since the other two types of transfer jigs 42b and 42c have the same configuration,
A detailed configuration diagram is omitted.

However, as described above, the eight kinds of works Wa to W shown in FIGS.
h, the workpieces are divided into three groups to supply three kinds of supply fingers 36 (36a to 36f).
It is to be transferred to the second transfer position P ₂ by a proper use. Accordingly, the three types of transfer jigs 42a to 42c are repeatedly mounted in the circumferential direction of the jig moving disk 40 in order.

Here, eight types of works W (Wa to Wh)
First, the first group, as shown in FIG. 4A, is composed of three types of parts Wa, Wb, and Wc machined into a cylindrical shape with a bipolar opening having a flange portion, and particularly has different inner diameter dimensions (c>). a> b).

Next, as shown in FIG. 4B, the second group is composed of two types of cylindrical parts Wd and We having the same inner diameter (d = e) but different only at one end. Further, the third group has the same inner diameter or different inner diameters (f = g>, as shown in FIG. 4C).
h) is composed of three types of cylindrical parts Wf, Wg, Wh that can be inspected with the same transfer jig in consideration of the form of the inspection jig.

The transfer jigs 42 (42a to 42c) for mounting the works W (Wa to Wh) will be described below. The transfer jigs 42a shown in FIGS. 3 and 4A belong to the first group. The large-diameter shaft portion 50a on which the work Wc is mounted, the medium-diameter shaft portion 50b on which the work Wa is mounted, and the work so that the three types of works (parts) Wa, Wb, and Wc can be mounted with compatibility. The small diameter shaft portion 50c to which Wb is mounted has three stages coaxially.

The two types of works W of the second group
As shown in FIG. 4B, the transfer jig 42b to which d and We are mounted has the shaft portion 52 to which both the works Wd and We are mounted in common. The transfer jig 42c to which the types of works Wf, Wg, and Wh are mounted is, as shown in FIG.
A large-diameter shaft portion 54a to which g is mounted and a small-diameter shaft portion 54b to which the small-diameter portion of the work Wh is mounted are coaxially formed in two stages.

A driven pulley 56 shown in FIG. 3 is provided on the base shaft portion of the vertical shaft 46 of all the transfer jigs 42a, and the driven pulleys 5 are also provided on the other transfer jigs 42b and 42c.
These driven pulleys 56 are used to transfer jigs 42 when inspecting the outer peripheral surface of the work W for external flaws such as dents in a second inspection step described later in detail. In addition, this is for rotating the work W to be inspected.

[0032] Figure 5, in a position downstream of the second transfer position P ₂ the workpiece W which has been transferred is seated at a predetermined transfer jig 42 either on jig moving disc 40 in the first
As an inspection process D, a schematic configuration of a first optical inspection device 58 that optically inspects the work W for the presence of a flange crack is shown. This first optical inspection device 58
A stand 60 provided on the table 12 is provided with a CCD camera 62 and a ring light 64 for irradiating the work W on the transfer jig 42 with light, and these are just above the work W seated on the transfer jig 42. Is located.

The CCD camera 62 includes a ring light 6
4 irradiates laser light or infrared light onto the work W seated on the transfer jig 42 from directly above, and reflects the reflected light to a CCD.
Light is received by a charge-coupled device (CCD) of the camera 62, and image processing is performed based on the received light signal, thereby detecting the occurrence of cracks, particularly the presence or absence of a flange crack, when the work is observed from directly above.

FIG. 6 shows the work W transferred by the transfer jig 42 at a position downstream of the first inspection step.
As a second inspection step E, a second optical inspection device 6 that also optically inspects the peripheral surface of the work W for the presence or absence of a streak.
6 shows a schematic configuration of FIG. The second optical inspection device 66 includes a stand 68 provided on the table 12.
In addition, a CCD camera 70 is also provided.
The camera 70 is located just beside the work W transferred by the transfer jig 42.

Similarly to the CCD camera 62, the CCD camera 70 irradiates the work W seated on the transfer jig 42 with laser light or infrared light by the light 78 shown in FIG. Light is received by a coupling element (CCD), and image processing is performed based on the received light signal, thereby detecting the presence or absence of a dent when the work is observed from the side.

In this case, in FIG. 3, the driven pulley 5 is driven by the vertical shaft 46 of each of the transfer jigs 42 (42a to 42c).
1 has been described, but a configuration related to this is shown in FIG. 1. This configuration will be described. In the second inspection step, the drive pulley 72 is attached to the motor shaft of a drive motor (not shown). And the driven pulleys 74a, 7a are located on the table 12 near the drive pulley 72 at the upstream and downstream positions in the rotational direction of the jig moving disk 40.
4b, a transmission belt 76 is stretched between the driving pulley 72 and the driven pulleys 74a and 74b, and a part of the transmission belt 76 is moved to the second inspection step. Of the driven pulley 56.

For this purpose, the work W moved to the second inspection step is rotated once by the drive of the transmission belt 76, during which the work W is entirely rotated by the CCD camera 70 of the second optical inspection device 66. Is to be inspected.

Finally, the non-defective / defective product selection mechanism F will be described. In the non-defective / defective product selection mechanism F, the non-defective product receiving box 80 into which the non-defective work determined to be “non-defective” by the inspection pass / fail determination means is input and the “defective” judgment is performed by the inspection pass / fail determination means. A defective product receiving box 82 into which a defective product work is put is disposed, and a good product chute 84 for putting a good product work into the good product receiving box 80 is directed upward, and a defective product is put into the defective product receiving box 82. A chute 86 is arranged on the lower side, and a sorting shutter 88 is provided which can be opened and closed on the same plane as the non-defective chute or at an upper position.

As shown in FIG. 2, a jig moving disk 4 is mounted on a stand 90 provided on the table 12.
A discharge finger 92 for gripping the work W transferred by the transfer jig 42 on the top 0 is provided so as to be vertically movable. The discharge fingers 92 are also driven to open and close by an actuator (air cylinder operation). Further, an air cylinder 94 for moving the work W gripped by the discharge fingers 92 to the position of the sorting shutter 88 is provided.

FIG. 7 is a control block diagram of the work transfer device 10. As shown in FIG. As shown in the figure, a servo motor 14 for driving a rotating disk 16 of the work delivery mechanism A, an air cylinder 20 provided in each of the positioning units 18a to 18h, a drive source for a parts feeder, and a work transfer mechanism B Servo motor 30 for turning supply fingers 36a to 36f, actuator for opening and closing each supply finger, air cylinder 33 for raising and lowering supply fingers 36a to 36f, and servo for driving jig moving disk 40 of work transfer jig mechanism C a motor 38, and other work sensor 96 for detecting whether the workpiece W is in the first delivery position P ₁ is electrically to the central processing unit (CPU) 77 provided in the control panel of the device (controller) It is connected.

Further, CC in the first inspection process D of the work
D camera 62, CCD camera 7 in second inspection step E
The CPU also includes an actuator for opening and closing the discharge finger 92 in the non-defective / defective product selection mechanism F, an opening / closing cylinder for the selection shutter 88, and an air cylinder 94 for moving the work W to the opening / closing portion of the selection shutter 88.
77 is electrically connected.

The servo motor 14 of the work delivery mechanism A, the servo motor 30 of the work transfer mechanism B, and the servo motor 38 of the work transfer jig mechanism C are all controlled by numerical control (NC). Positioning is possible.

According to the work transfer device configured as described above,
Then, specify the type of work W to be inspected in the future.
Input to the controller, the specified work
In response to a command from the controller to be transferred,
In the transmission mechanism A, the servo motor 14 is driven.
The more predetermined positioning unit 18 is at the first transfer position P ₁
The rotating disk 16 rotates so as to face the
It stops when it comes to the place.

[0044] In the work transfer mechanism B, so that the supply finger 36 that is used to transfer of the workpiece W is positioned in the first transfer position P ₁ and the second transfer position P _2,
By driving the servo motor 30, the horizontal arm 34 (34a
With ～34F) is positioned by rotating, it receives the workpiece at a first transfer position P ₁ second transfer position P
₂ to be moved up and down by the air cylinder 33.

[0045] Furthermore, even the workpiece transfer jig mechanism C, and is positioned at the second transfer position P ₂ (any of the same fixture there are five) transferring jig 42 used for the transport of the workpiece W As described above, the jig moving disk 40 is rotated by the drive of the servo motor 38, and stops when it reaches the position.

In this state, when the preparation for transporting the work W of a predetermined type is completed, when the operation button (not shown) for starting the quality inspection is operated, the feeding unit 2 is started.
The workpieces W of the same type specified by the parts feeder 26a or 26b of 4a or 24b are continuously sent out. And the tip end position of the parts feeder 26a or 26b, 1 single workpiece on the workpiece receiving base 22 of the positioning unit 18, which faces the first delivery position P ₁ is supplied, the air cylinder 20 of the positioning unit 18 By driving, the work receiving table 22 moves forward, and FIG.
The thereby positioning the workpiece W to the first transfer position P ₁ as shown in.

[0047] and the first delivery position _{P 1} to the workpiece W
Is detected by the work sensor 96, the supply finger 36 is lowered by the air cylinder 33, the actuator of the supply finger 36 is driven, and after gripping the work W, the supply finger 36 is raised and the servo motor 30 is moved. driving turning 180 ° with the, the workpiece W is positioned in the second transfer position P ₂ on the jig moving disk 40,
And it is lowered.

[0048] Then the second transfer position P ₂ at a predetermined transfer jig 42 (e.g., 42a) are on standby, the workpiece W is seated on the transfer jig 42 by releasing the workpiece. And this work W is a jig moving disk 40
Is intermittently rotated to the position of the first inspection step D by the rotational drive of the servo motor 38 and stopped. In the first inspection step D, when the first optical inspection device 58 inspects the work W for the presence of a flange crack, the measurement data is transmitted to the CPU 77.

When the work W is transferred to the position of the first inspection step D, the next transfer jig 42 (42a)
Located in the delivery position P _2, also supplied fingers 36
Transfer Osamu even waiting the workpiece W at the second delivery position P second ₂ of the same form as feed finger 36 which is transferred to the receiving the next workpiece W at the first transfer position P ₁ delivery position P ₂ The work W is seated on the tool 42a.

Next the workpiece W having been subjected to the first inspection step is further transported by the rotation of the servo motor to a position of the second inspection step E, the workpiece W which has been transferred to the second transfer position P ₂ when the Is transferred to the position of the first inspection step D. Therefore, in the second inspection process E, the second optical inspection device 66 inspects the peripheral surface of the work W for the presence or absence of a streak and the like, and at the same time, in the first inspection process D, the subsequent inspection W is performed. An inspection for the presence or absence of a flange crack in the work W is performed. The measurement data of the presence or absence of a dent or the like performed in the second inspection process E is also transmitted to the CPU 77.

The work W that has passed through the first inspection step D and the second inspection step E is successively transferred to the position of the non-defective / defective product selection mechanism F by intermittent driving of the servo motor 38. At this time, the workpiece W which was in the first examination step D is transferred to a second inspection step E, the workpiece W that has been in the second transfer position P ₂ becomes to be transferred to the first inspection step D, the workpiece W is continuously from the first transfer position P ₁ to the second delivery position P _2, and the first inspection step D, and thus to be transferred into non-defective selecting mechanism F through the second inspection step E.

When the non-defective / defective product selection mechanism F determines that the inspection result is acceptable, the sorting shutter 88 is not operated to shut off the upper position of the defective product chute 86 and the discharge is performed. Non-defective work released from the finger 92 is selected.
And dropped into the good product receiving box 80. When the inspection pass / fail determination means determines that the defective product is defective, the sorting shutter 88 is opened (retracted) to operate the defective product shoot 86.
A defective work released from the discharge fingers 92 is introduced into the defective product chute 86 from the space and dropped into the defective product receiving box 82.

FIG. 8 is a control flowchart of the work transfer device 10. First, in this control flowchart, it is determined whether or not the rotating disk 16 of the work delivery mechanism A is at the set position, that is, the positioning unit 18 of the specified work W among the eight kinds of works is in the first position.
It is in a position facing the delivery position P ₁ servomotor 14
Is determined based on the detection signal from the rotational position sensor (S1).

[0054] Then if a predetermined positioning unit 18 on the rotating disc 16 is first transfer position _{P 1} and its opposite position (S1 [YES ") and is determined, the workpieces then fed fingers 36, transport whether a given thing is in the first delivery position P ₁ is determined (S2). For example,
If the quality inspection of the work of the first group shown in FIG. 4A is performed, the supply finger 36a or 3
6d is whether or not it is arranged to be positioned in the first transfer position P ₁ and the second transfer position P ₂ is determined, which is a signal from the detection sensor of the rotational position of the servo motor 30 of the horizontal arm 34 Is determined based on

Next, when it is determined that the supply finger 36 is at the predetermined position (S2 "Yes"), it is determined whether the jig moving disk 40 is at the set position, that is, the predetermined transfer jig 42 is transferred to the second delivery. it is determined whether the position P ₂ is (S3), the jig moves the disk 40 is determined to be in the set position (S3
"YES"), then whether or not the first transfer position P ₁ is workpiece, is determined by the detection signal from the work sensor 96 (S4), it is determined that the first transfer position P ₁ is workpiece that the (S4 "YES"), the workpiece W at the first transfer position P ₁ by the supply finger 36 is grasped by the supply finger 36, the open after being transferred by pivoting in the horizontal plane 180 ° to a second transfer position P ₂ to, to seat the workpiece W to the transfer jig 42 waiting in the second transfer position P ₂ (S5).

The work W seated on the transfer jig 42 waiting at the _second transfer position P2 is moved to the jig moving disk 4
It is transported to the position of the first optical inspection device 58 by the intermittent feeding of 0 (S6). The first optical inspection device 58 performs measurement in the vertical direction, and the CCD camera 62 measures the presence or absence of a flange crack in the work W (S).
7). The measurement result is transmitted to the inspection pass / fail determination unit of the CPU 77.

Next, the workpiece W is transferred to the position of the second optical inspection device 66 by intermittent feeding of the jig moving disk 40 (S8). This time, the measurement in the horizontal direction is performed by the second optical inspection device 66, and the measurement of the presence or absence of the work in the work is performed by the CCD camera 70 (S9). The measurement result is also transmitted to the CPU 77.

Further, the workpiece W is transferred to the position of the non-defective / defective product selection mechanism F by the intermittent feeding of the jig moving disk 40 (S10). At this time, whether the inspection is acceptable or not is determined based on the measurement data by the first optical inspection device 58 and the measurement data by the second optical inspection device 66 (S11), and the work W at the determination position is a non-defective product (S12 "YES"). ), The sorting shutter 88 is not operated, the discharge finger 92 is opened (S14), and the work W is put into the good product receiving box 80 via the good product chute 84.

Further, based on the measurement data of the first optical inspection device 58 and the measurement data of the second optical inspection device 66, it is determined that the workpiece is defective due to either a flange crack or the presence of a strip (S12 "NO"). If it is determined, the sorting shutter 88 is operated (S13), and after the upper position of the defective chute 86 is opened, the ejection finger 92 is opened (S1).
4), the work is put into the defective product receiving box 82.

Then, the jig moving disk 40 is further intermittently fed (S15), and although not shown, a work sensor detects whether or not the work remains on the transfer jig 42 (S16), and does not remain (S16). if YES ") and is determined, the transfer jig 42 by further intermittent feed will come back to the second transfer position of the original _{P 2} (S17).

Then, it is determined whether or not to end the inspection (S
If it is determined in step 18) that the inspection is to be continued (S18 "NO"), the flow returns to step S2 to repeat the sequence of this control flow, and if a signal is output to end the inspection (S1).
8 "YES"), the various driving devices are stopped, and this flow ends.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention. For example, in the above-described embodiment, the inspection of the presence / absence of flange cracks and dents has been described as an example of the inspection of the quality of the work. Needless to say, it can also be applied to. Further, it is apparent that the type and form of the work are not limited at all, and it is clear that various constituent elements are not limited to the above-described embodiment. Further, the transfer jigs for each type attached to the jig moving disk are not necessarily required to be set at equal intervals as in the above embodiment, and the intervals between the jigs may be changed as appropriate. Not something.

[0063]

According to the work transfer apparatus of the first aspect of the present invention, the jig moving plate at each process interval position including the second delivery position set for each type of work,
When a required number of transfer jigs for each type are attached and the type of work to be transferred is changed, the jig is moved so that the transfer jig on which the work is seated is positioned at the second delivery position of the work. In addition to controlling the movement of the board, it is intermittently moved to the downstream process position for positioning, eliminating the need for unnecessary transfer jig replacement man-hours, and
This eliminates the need for transfer by a plurality of transfer devices, and has the effect that productivity can be improved, labor costs can be reduced, manufacturing costs can be reduced, and the like.

Further, according to the work transfer device of the second aspect, the transfer jig mechanism makes the jig moving disk a rotatable jig moving disk, and the jig moving disk is arranged on the circumference of the jig moving disk. The required number of transfer jigs is attached to the process interval position at a time, and the rotational positioning is controlled by the servo motor of the jig moving disk drive mechanism. The transfer jig for each type can be set at any interval without having to equally divide each type, and each process position is provided at a free position near the periphery of the jig moving disk. In addition, it is possible to more easily improve the workability, reduce the manufacturing cost by simplifying the apparatus, and the like.

According to the work transfer apparatus of the third aspect, the transfer jig of the transfer jig mechanism is a transfer jig for each group that can be shared among various kinds of works. In addition, there is no limitation on the number of types of workpieces, and the configuration of the apparatus can be simplified, thereby improving the productivity and reducing the manufacturing cost.

According to a fourth aspect of the present invention, the delivery mechanism includes a feeding unit, a required number of positioning units capable of positioning the workpiece at a delivery standby position, and a positioning unit for the required number of positions. A rotary disk capable of orbiting the unit to the first delivery position and rotary disk drive means for orbiting the rotary disk are provided, and a single sending mechanism is used to align and send multiple types of workpieces for each type. Since the device can be positioned at the first delivery position, the structure of the device can be simplified, and the production cost can be reduced more easily.

Further, according to the work transfer device of the fifth aspect, the transfer jig mechanism performs the multi-kind work in at least one inspection step including the inspection means near the edge of the jig moving plate. Since it is configured to transfer and position the work of the same type selected from among them, it is possible to inspect many types of work with a device with a simple configuration, reducing labor costs and manufacturing costs. This has the effect that it can be easily achieved.

[Brief description of the drawings]

FIG. 1 is a plan view showing a schematic configuration of a work transfer device according to an embodiment of the present invention.

FIG. 2 is a sectional view taken along the line AA in FIG.

FIG. 3 is a sectional view showing a mounting structure of a transfer jig according to the embodiment.

FIG. 4A is a view for explaining the relationship between the work used in the present invention and the appearance of a transfer jig.

FIG. 4B is a view for explaining the relationship between the work used in the present invention and the appearance of the transfer jig.

FIG. 4C is a view for explaining the relationship between the workpiece used in the present invention and the appearance of the transfer jig.

FIG. 5 is a diagram showing a schematic configuration of a first inspection step in the present embodiment.

FIG. 6 is a diagram showing a schematic configuration of a second inspection step in the present embodiment.

FIG. 7 is a control block diagram of the work transfer device of the present embodiment.

FIG. 8 is a control flowchart for executing the work transfer device of the present embodiment.

[Explanation of symbols]

Reference Signs List 10 Work transfer device A Work delivery mechanism B Work transfer mechanism C Work transfer jig mechanism D First inspection process E Second inspection process F Non-defective / defective product selection mechanism P ₁ First delivery position P ₂ Second delivery position W (Wa-Wh) Work (parts) 14 Servo motor 16 Rotating disk 18 (18a-18h) Positioning unit 30 Servo motor 36 (36a-36f) Supply finger 38 Servo motor 40 Jig moving disk 42 (42a-42c) Transfer jig Tool 58 First optical inspection device 66 Second optical inspection device 77 Central processing unit (CPU) 80 Good product receiving box 82 Defective product receiving box 92 Discharge finger

Continued on the front page F-term (reference) 2F065 AA54 AA61 BB08 BB15 BB24 DD06 FF04 GG04 GG17 HH13 JJ03 JJ16 JJ26 QQ31 TT03 2G051 AA00 AB03 AC01 BA01 BA10 BA20 CA03 CA04 CA07 CB01 DA02 DA06 DA08 GB07GE03 GE03 GB03 GG12 KC01 KC05 KC06 KC10 KC12 KC17 KC18 KD01 KD27 KE12 KE13

Claims (5)

[Claims] 1. A delivery mechanism capable of continuously sending out only one work of the same type selected from a variety of works and positioning the work at a first delivery position, and the work positioned at the first delivery position. And a transfer jig mechanism that can transfer the work transferred to the second delivery position to a downstream process position, and transfer the work to the second delivery position. An apparatus for transferring and positioning to a process position, wherein the transfer jig mechanism includes a plurality of required types of transfer jigs each capable of seating various types of workpieces for each type, and a type of workpiece for each type. A jig moving plate which can be attached and moved by a required number of the transfer jigs at each process interval position including the set second transfer position, and the jig moving plate is provided together with the transfer jig. From the second delivery position A jig moving plate drive mechanism for intermittently moving to the flow process position, and controlling the jig moving plate drive mechanism for positioning the transfer jig at the second delivery position and intermittently moving to the downstream process position. A multi-type work transfer device comprising a control means. 2. The transfer jig mechanism, wherein the jig moving disk is a jig moving disk formed in a rotatable disk shape,
On the circumference of the jig moving disk, a required number of the transfer jigs are attached in accordance with respective process interval positions, and the jig moving disk drive mechanism is capable of rotational positioning control. A servo motor, and a rotary power transmitting member for transmitting the rotary power to the jig moving disk, wherein the control means is a numerical control means capable of performing rotational positioning control of the servo motor by numerical control. The multi-type work transfer device according to claim 1, wherein: 3. The transfer jig mechanism divides the work of various kinds into groups that can share the transfer jig, provides a transfer jig that can be shared among the works of each group, and moves the jig. 3. The board according to claim 1, wherein a required number of transfer jigs for each group are attached to each process interval position including the second transfer position set for each group. Multi-type work transfer device described. A feed unit for continuously aligning and feeding only the same type of workpiece selected from the various types of workpieces, and a multi-type workpiece for each type, or A required number of positioning units that can be received by the sharable group and that can position the work individually received from the feeding unit at the delivery standby position, and the required number of positioning units are attached at equal intervals. A rotary disk capable of orbiting each transfer standby position to the first transfer position, and rotary disk drive means for orbiting the rotary disk together with the positioning unit, wherein the control means includes a positioning unit for the work. The first
Controlling the rotary disk drive means to selectively position the transfer position, and controlling the rotary disk drive means, the transfer mechanism, and the jig moving disk drive mechanism in a related manner. The multi-type work transfer device according to any one of claims 1 to 3, wherein: 5. The transfer jig mechanism is provided with at least one inspection step provided with an inspection means near an edge of the jig moving platen. The multi-type work transfer apparatus according to any one of claims 1 to 4, wherein only the selected work of the same type selected is transferred and positioned.