JP2001293681A - Work conveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance position accuracy in setting a work. SOLUTION: A shaft 22 is vertically movably provided on a cylinder-mounting plate 21 of a hand device 17 provided on a continuously provided beam of a robot hand and a rectangular plate 24 is provided on the shaft 22. A spring 26 is attached to the shaft 22 and downwardly urges the rectangular plate 24. A vacuum pad 33 is provided on the rectangular plate 24 through a block 31 and a pad-mounting plate 32 and an air cylinder 41 is provided on the cylinder-mounting plate 21. A fixing plate 42 is provided on an extension rod of the air cylinder 41 and a receiving block 46 having a locate aperture into which a locate pin 25 is inserted is provided on the fixing plate 42. Thereby, a rigid state 53 that the locate pin 25 is inserted into the locate aperture 45 and a floating state 54 that the locate pin 25 is removed from the locate aperture 45 can be formed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer device for transferring a work such as a steel plate or a formed panel.

[0002]

2. Description of the Related Art Conventionally, when a work piled on a pallet is taken out, as shown in FIG.
Was used.

The work transfer apparatus 101 includes a hand 112 attached to an arm 111 of an articulated robot. The hand 112 is provided on a base member 113 attached to the arm 111 and provided on the base member 113. Shafts 114, 114 and the shaft 11
4 is provided with a vacuum pad 115 for work suction provided at the lower end of the work 4. The shaft 114
Is supported by the base member 113 so as to be movable up and down, and is urged downward by an externally fitted spring 116 to reduce the reaction force and displacement when the vacuum pad 115 is pressed by the work W. This spring 1
It is configured to be able to absorb at 16.

[0004]

However, in the above-described work transfer device 101, the hand 112
Due to the above structure, there is a problem that play is apt to occur and the setting accuracy of the work W varies.

In order to solve this problem, a method has been devised in which a guide post for positioning the work W is erected at the set position of the work W (utility model registration No. 25010).
In this case, it is necessary to change the arrangement of the guide posts for each work to be set, and this hinders the work of another robot during welding or the like.

SUMMARY OF THE INVENTION The present invention has been made in view of such conventional problems, and provides a work transfer device capable of improving the positional accuracy when setting a work without using a positioning guide post. It is intended for.

[0007]

In order to solve the above-mentioned problems, in a work transfer device according to the present invention, a hand device is mounted on a driving device, and a shaft is supported on a base member of the hand device so as to be vertically movable. A suction pad is provided at the lower end of the shaft, and an elastic member that absorbs a reaction force and a displacement when the suction pad is pressed by the work is provided on the shaft, and the work is suctioned by the suction pad. In the work transfer device for transferring, the base member is provided with one of a locating pin and a fitting portion having a locating hole into which the locating pin is fitted, and the other is provided at a lower end portion of the shaft that moves up and down together with the suction pad. The location of the fitting portion with respect to the locate pin is changed so that the location pin is fitted into the location hole. The actuator forming the Tsu preparative state and leaving the floating state is provided in the hand unit.

That is, when positioning accuracy is required when moving the work and setting it on the jig, the actuator of the hand device is driven to change the relative position of the fitting portion with respect to the locate pin. To form a rigid state fitted into the locate hole. Then, the horizontal displacement of the lower end of the shaft supported by the base member of the hand device is prevented, and the horizontal displacement of the work suction pad provided at the lower end is also prevented. Further, by using the actuator to separate the locating pin from the locating hole to form a floating state, it is possible to take a transport mode similar to the conventional one.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below. Panels 2 to 4 having different thicknesses are joined by seam welding and press-formed to increase the thickness of a portion requiring strength.
This allows the reinforcement plate (rainforce) to be used as before
This is to reduce the weight without the need for reinforcement.
This will be described as an example. FIG. 1 is a view showing a work transfer device 1 according to the present embodiment, and transfers first to third panels 2 to 4 as works having different thicknesses, which are previously positioned and arranged, to a set jig 5. The process of holding by the clamp 6 is shown.

That is, the work transfer device 1 includes an articulated robot 11 as a driving device,
And a robot hand 14 attached to an attachment portion 13 of the arm 12 of the robot hand 1.
4 is provided with a pair of forked frames 15,15. The ends of the frames 15, 15 are continuously connected by connecting bars 16, 16, and hand devices 17,... Are provided at both ends of the connecting bars 16. An elevating mechanism 18 is provided at the center of the bifurcated frame 15, and rods 19 extending from the elevating mechanism 18 are provided.
A hand device 17 is also provided at the lower end of.

As shown in FIG. 2, the hand device 17 includes a rod 19 of the connecting bar 16 or the lift 18,
, A cylinder mounting plate 21 as a base member (only the side of the connecting bar 16 is shown) is provided. The cylinder mounting plate 21 has four shafts 22,
Are supported so as to be movable up and down. The shaft 22
Has a stopper 23 provided at the upper end thereof. Also,
A rectangular plate 24 is fixed to the lower end of each shaft 22.
5 are erected. Further, the shafts 22, 22 arranged at the symmetric positions have springs 26, 26 as elastic members.
The rectangular plate 24 is urged downward by the springs 26, 26.

A horizontally long block 31 is fixed to the lower surface of the rectangular plate 24. Pad mounting plates 32,... Are provided at both ends and a center portion (extending to the rear side in FIG. 2) of the block 31.・ Is provided. Vacuum pads 33 as suction pads for sucking and holding the panels 2 to 4 are provided at the tip of the pad mounting plate 32.
Are provided, and hoses 34 for releasing the negative pressure by a solenoid valve (not shown) connected to a control device (not shown) are connected to the vacuum pad 33.

An air cylinder 41 as an actuator is fixed to the cylinder mounting plate 21. An extension rod (not shown) extending from the air cylinder 41 is inserted through the cylinder mounting plate 21. It extends downward. A fixed plate 42 fixed to the lower end of the extension rod is supported by the shaft 22 not having the spring 26 so as to be vertically movable. When the fixed plate 42 is moved downward, Rectangular plate 2
An abutment block 44 having an abutment surface 43 that abuts on the abutment 4;
A receiving block 46 having a locate hole 45 into which the locate pin 25 is fitted is provided. Thereby, the cylinder mounting plate 21 is provided with the receiving block 46 as a fitting portion via the extension rod of the air cylinder 41, and at the lower end of the shaft 22 which moves up and down together with the vacuum pad 33. Is
The locate pin 25 is provided integrally via the rectangular plate 24.

The air cylinder 41 is connected to first and second hoses 51 and 52 through which air for driving the extension rod flows.
An air supply source is connected to 52 via a switching device having a supply valve and an opening valve (not shown). Accordingly, the extension rod is extended downward, and the locate pin 25 is in a rigid state 53 in which the locate pin 25 is inserted into the locate hole 45 of the receiving block 46, and the extension rod is retracted upward and the locate pin 25 The floating state 54 separated from the hole 45 is formed. The air cylinder 41 includes a first limit switch 55 that operates when the extension rod is moved downward, and a second limit switch 56 that operates when the extension rod is moved upward. Is provided, and signal lines 5 from both limit switches 55 and 56 are provided.
Reference numeral 7 is connected to a control device (not shown).

In the embodiment having the above-described configuration, when the panels 2 to 4 loaded on the pallet are transported, the robot 11 is operated to move the robot hand 14 onto the pallet, and the robot hand 14 is moved. Are moved downward, and the vacuum pads 33,... Of the hand devices 17,. At this time, if positioning accuracy is required, the air cylinder 41 is actuated to move the receiving block 46 downward to form a rigid state 53 in which the locating pins 25 of the rectangular plate 24 are fitted into the locating holes 45 of the receiving block 46. Keep it. When the vacuum pads 33,... Are pressed against the panels 2 to 4, the inside of the vacuum pads 33,. Is retained. Thus, the shaft 2 supported on the cylinder mounting plate 21
The vacuum pad 3 provided at the lower end via the rectangular plate 24, the block 31, and the pad mounting plate 32 can prevent horizontal displacement of the lower end.
3 can be prevented from being displaced in the horizontal direction. This makes it possible to adsorb and hold the plurality of stacked panels 2 to 4 one by one while maintaining the accuracy of positioning.

Then, the robot hand 14 is moved on the set jig 5 by operating the robot 11, and
The panels 2 to 4 having different plate thicknesses are set on predetermined positions 62, 63, 64 of the setting jig 5 with the ends overlapped (approximately 3 mm). At this time, since the horizontal displacement of the vacuum pads 33,... Holding the plates 2 to 4 is prevented, guide posts for positioning the panels 2 to 4 are set on the set jig 5. Without the provision, the positional accuracy at the time of setting the panel can be improved. After the temporary clamping, the negative pressure of the vacuum pads 33,... Is released, and the panels 2 to 4 are separated. Numerals 65 and 66 are grooves into which welding wheels (not shown) of the seam welding machine (not shown) are inserted. 67
Is non-slip.

Next, the panels 2 to 4 are held by the clamps 6,...
4 are seam-welded. Then, a member partially reinforced with a thick panel is formed by press molding, and the weight of the member is reduced. As described above, in the hand devices 17,... Of the work transfer device 1, the panels 2 to 4 are transferred and the setting jig 5 while maintaining the positional accuracy in the state of being positioned on the pallet. Therefore, the present invention can be applied even when performing the above-described seam welding in which positioning accuracy is required.

On the other hand, when the positioning accuracy of each of the plates 2 to 4 is not required, the air cylinder 41 is driven to move the receiving block 46 upward, and the locating pin 25 of the rectangular plate 24 is detached from the locating hole 45 so as to be floating. A state 54 is formed. This allows the shafts 22,... Supported by the cylinder mounting plate 21 to move up and down, so that the reaction force when the vacuum pads 33,. And the displacement is determined by the springs 26,2 mounted on the shafts 22,22.
The elasticity of 6 allows absorption as before, and can cope with the case where the heights of the stacked panels are different.

Therefore, since a single robot 11 can cope with different transfer operations, it is not necessary to produce a robot hand 14 having a plurality of different hand devices 17, and the production and installation costs can be reduced. .

In the present embodiment, the case where the flat panels 2 to 4 before the press molding are conveyed has been described as an example. Is also good. In this case, a universal joint is provided between the pad mounting plate 32 and the vacuum pad 33 so that the vacuum pad 33 can be tilted in accordance with the inclined surface.

In this embodiment, the case where the air cylinder 41 is used as an actuator has been described as an example. However, the present invention is not limited to this. May be.

Further, in the present embodiment, a receiving block 46 having a locate hole 45 is provided on the cylinder mounting plate 21 via an extending rod of the air cylinder 41, and the receiving block 46 is moved up and down together with the vacuum pad 33. The case where the locate pin 25 is integrally provided at the lower end of the shaft 22 via the rectangular plate 24 has been described as an example, but the present invention is not limited to this.

That is, as shown in FIG. 3, an air cylinder 73 as an actuator is provided on an upper surface of a base member 72 of a hand device 71, and the base member 7
On the lower surface of 2, a cylindrical guide post 76 that is fitted externally to a shaft 75 connected to a rod 74 of an air cylinder 73 is provided, and the guide post 76 is provided with a fitting portion 78 having a locate hole 77. Further, a pad mounting portion 79 is provided at a lower end portion of the shaft 75, and a vacuum pad 81 as a suction pad is provided in the pad mounting portion 79. And
A spring 82 as an elastic member is mounted on the shaft 75, and a locating pin 83 fitted into the locating hole 77 is erected on the pad mounting portion 79, and the air cylinder 73 is actuated. As shown in FIG. 3B, a rigid state 91 in which the locate pin 83 is fitted in the locate hole 77, and a floating state 92 in which the locate pin 83 is separated from the locate hole 77 as shown in FIG. May be formed.

[0024]

As described above, in the work transfer device of the present invention, the actuator of the hand device is driven to form the rigid state in which the locating pin is fitted in the locating hole of the fitting portion, thereby forming the shaft. The rattling of the suction pad provided at the lower end in the horizontal direction can be suppressed. Thus, the positioning accuracy at the time of setting the work can be improved without providing the positioning guide post on the jig to which the work is transported. In this way, it is possible to perform a transport operation requiring positioning accuracy.

Further, by driving the actuator to form a floating state in which the locating pin is separated from the locating hole, it is possible to perform a transport operation that does not require positioning accuracy. As described above, since a single driving device can cope with different transport operations, it is not necessary to produce a plurality of different hand devices, and production and installation costs can be reduced.

When a plurality of the hand devices are provided and a plurality of works are simultaneously transported by the respective hand devices, the respective works are previously positioned and set on a jig while maintaining the positional accuracy. be able to. Thus, a work transfer device suitable for transfer in a case where positional accuracy of each work is required, such as seam welding of works in a subsequent process, can be obtained.

[Brief description of the drawings]

FIG. 1 is a perspective view of one embodiment of the present invention.

FIG. 2 is an enlarged view showing a main part of the embodiment.

FIG. 3A is a diagram illustrating a floating state of a hand device according to another embodiment, and FIG. 3B is a diagram illustrating a rigid state of the embodiment.

FIG. 4 is a view showing a conventional work transfer device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 work transfer device 2 panel (work) 11 robot (drive device) 14 robot hand 17 hand device 21 cylinder mounting plate (base member) 22 shaft 25 locate pin 26 spring (elastic member) 33 vacuum pad (suction pad) 41 air cylinder ( Actuator) 45 Locate hole 46 Receiving block (fitting part) 53 Rigid state 54 Floating state 71 Hand device 72 Base member 73 Air cylinder (actuator) 75 Shaft 76 Guide post 77 Locate hole 78 Fitting part 81 Vacuum pad (suction pad) 82 Spring (Elastic member) 83 Locate pin 91 Rigid state 92 Floating state

Claims (1)

[Claims] A hand device is attached to a driving device, a shaft is supported on a base member of the hand device so as to be vertically movable, and a suction pad is provided at a lower end portion of the shaft, and the suction pad is pressed against a work. An elastic member that absorbs a reaction force and a displacement when the shaft is provided, and the workpiece is suctioned by the suction pad and transported by the suction pad; and a locate pin and a locate hole into which the locate pin is fitted. And the other is provided integrally with the lower end of the shaft that moves up and down together with the suction pad, and the relative position of the insertion portion with respect to the locate pin is changed so that the locate pin is The actuator which forms a rigid state inserted into the locate hole and a floating state separated therefrom, Workpiece transfer apparatus, characterized in that provided in the de device.