JP2002187026A - Positioning carrying machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an accurate positioning for a workpiece, which is filled at a workpiece installation place, of a carrying out position where the workpiece is assembled. SOLUTION: A main body block 12 having a workpiece receiving face 13a, on which contacts a workpiece, is fixed to a rotating table 6 as a movable body and, two positioning pins 23, 41 which fit to through-holes respectively formed on the workpiece are placed to reciprocate adjustably along an axial direction. A clamp arm 25 is housed inside a slit 24 formed on the positioning pins 23. The clamp arm 25 is drived by a pneumatic cylinder 15 between a pushed out position for clamping the workpiece and a pulled in position inside the slit 24. The positioning pins 23, 41 are drived by a pneumatic cylinder 31 between between a protruded position from the workpiece receiving face 13a and a pulled in evacuated position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a workpiece positioning / transporting apparatus for transporting a workpiece by fitting a positioning pin into a through hole formed in the workpiece. The present invention relates to a work positioning / transporting device configured to carry and position.

[0002]

2. Description of the Related Art In an automobile production line, various parts, that is, works are assembled. For example, when assembling a door hinge to an automobile body, two door members are connected to each other by a pin. One of the door hinges is attached to the vehicle body with bolts, and the other hinge member is attached to the door.

In order to automate the work of assembling such parts to the vehicle body, it is necessary to automatically transfer the parts to the vehicle body by a transfer device and position the parts at a predetermined mounting position. There is a method of transporting parts to a predetermined position by gripping and transporting the parts with fingers or claws attached to the robot arm, but the finger interferes with the assembly side such as the car body where the parts are mounted Otherwise, it cannot be accurately positioned at a predetermined position.

[0004]

In order to position a part, that is, a work, at a predetermined position, it is preferable to fit a positioning pin into a through hole formed in the work, but the work is fastened in addition to the positioning pin. Is provided in the positioning and conveying device, the clamp member interferes with the side to be assembled.

In particular, when the door hinge is mounted on the vehicle body by the transfer device, the through hole formed in the door hinge is accurately positioned in the through hole on the vehicle body with respect to the mounting position on the vehicle body. It is necessary to avoid interference.

An object of the present invention is to enable a work loaded at a work loading position to be accurately positioned at a work unloading position where the work is assembled.

[0007]

According to the present invention, there is provided a positioning / conveying apparatus, comprising: a movable body movably provided between a work loading position and a work unloading position; and a work fixed to the movable body and in contact with the work. A main body block having a receiving surface, a positioning pin provided in the main body block and fitted into a through hole formed in the work, a clamp arm housed in a slit formed in the positioning pin, and the clamp arm And a clamp arm driving means for driving the workpiece to a position where the workpiece is clamped between the slit and the workpiece receiving surface and a position where the workpiece is inserted into the slit. In the state where the positioning pin is fitted into the hole and the work is clamped by the clamp arm, the work unloading position is In wherein the conveying.

In the positioning / conveying apparatus according to the present invention, a retracting drive means for moving the positioning pin and the clamp arm to a position retracted from the work receiving surface is provided on the main body block. After moving the clamp arm backward,
The main body block is moved so that the work receiving surface moves in a direction along the work.

According to the present invention, there is provided a positioning / conveying apparatus comprising: a movable body movably provided between a work carry-in position and a work carry-out position; and a body block fixed to the movable body and having a work receiving surface with which the work comes into contact. A first positioning pin provided in the main body block and fitted in a first through hole formed in the work; a clamp arm accommodated in a slit formed in the first positioning pin; A second positioning pin that fits into a second through hole formed in the work, and a position where the clamp arm protrudes from the slit to clamp the work between the work receiving surface and the second positioning pin. A clamp arm driving means for driving to a position to be inserted into the slit, and a position where each of the positioning pins protrudes from the work receiving surface. A retracting drive unit that is driven between the retracted retracted position and a state in which the respective positioning pins are fitted into the respective through holes at the workpiece loading position and the workpiece is clamped by the clamp arm. And transports the workpiece to the work unloading position.

In the positioning / conveying device according to the present invention, the work is connected to a first hinge member attached to a door side and a second hinge member attached to the vehicle body side and pin-connected to the first hinge member.
A door hinge having a hinge member, wherein the positioning pin is fitted into a mounting hole formed in the door hinge, and is conveyed to the work unloading position,
The main body block is provided with a magnet for applying an attractive force to the work in a direction toward the work receiving surface.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1A is a front view showing a positioning and conveying device according to an embodiment of the present invention in which the present invention is applied to attach a door hinge to a vehicle body.
(B) is a front view of FIG. (A) viewed from the right side.

The door hinge 1, which is a workpiece, has a first hinge member 1a attached to the door side and a second hinge member 1b attached to the vehicle body side, and these are rotatably connected to each other by pins 3. I have. Door hinge 1 is 1
Two are attached to each of the doors, and a total of eight are attached to a vehicle body having a front door and a rear door. Two through holes 4a, 4b are formed in each of the first and second hinge members 1a, 1b, and a bolt is attached to each of the through holes.

FIG. 1 shows a positioning transfer device for transferring the door hinge 1 to the vehicle body 2 and mounting the door hinge 1 at a predetermined position.
As shown in FIG. 1B, a support table 5 is provided, and two turn tables 6 are provided on the support table 5 so that the upper and lower two door hinges 1 can be attached to the vehicle body almost simultaneously. . Three positioning / conveying device bodies 10 are fixed to each of the two rotating tables 6 functioning as moving bodies, and each of the rotating tables 6 has a work unloading position 7a for attaching a door hinge, which is a work, to the vehicle body. , Two work loading positions 7b into which the works are loaded respectively.
7c, the positioning / transporting device main body 10 at the work carry-in position 7b is conveyed to the work carry-out position 7a by rotating the turntable 6 clockwise, and is positioned at the work carry-in position 7c. 10 is conveyed to the work unloading position 7a by rotating the turntable 6 counterclockwise.

Therefore, in the positioning / transporting device shown in FIG. 1, three types of door hinges 1 can be loaded into each turntable 6 in correspondence with the type of the vehicle to which the door hinges 1 are assembled. Transported to the unloading position for assembling. The door hinge 1 conveyed to the work unloading position is changed to a robot and attached to the vehicle body 2. However, the work loading position may be one, and a reciprocating member that reciprocates in a linear direction may be used as the moving body instead of the rotating table 6 as the moving body. Further, a door hinge of one vehicle type may be transported by one rotating table 6.

FIG. 2 is a perspective view showing the positioning / conveying apparatus main body 10 shown in FIG. 1 (A), and FIG. 3 (A) is a front view of the positioning / conveying apparatus main body 10 viewed from the direction of arrow A in FIG. FIG. 3B is a rear view of the positioning and transporting apparatus main body 10 viewed from the direction of arrow B in FIG.
FIG. 4A is a cross-sectional view of the positioning / transporting apparatus main body 10 in a state where the work is clamped, and FIG. And
FIG. 5 is a cross-sectional view taken along line CC in FIG.

The positioning / conveying apparatus main body 10 has a rectangular parallelepiped main body block 12 provided with a quadrangular flange portion 11 which is screwed to the rotary table 6, and a door hinge 1 as a work is provided in front of the main body block 12. A workpiece receiving member 13 having a workpiece receiving surface 13a with which the workpiece comes in contact is screwed.

A moving plate 14 is arranged on the back side of the main body block 12, and a pneumatic cylinder 15 is attached to the moving plate 14. A hollow guide rod 16 is fixed to the front end of the pneumatic cylinder 15,
The hollow guide rod 16 penetrates the movable plate 14 and is slidably mounted in a guide hole 17 formed in the main body block 12 in the axial direction. Hollow guide rod 16
Piston rod 1 housed inside it so that it can reciprocate in the axial direction
8 is a piston 19 provided in the pneumatic cylinder 15
When compressed air is supplied to an air pressure chamber 21 formed between the piston 19 and the head cover 20, the piston rod 18 moves forward, and the air pressure formed between the piston 19 and the hollow guide rod 16 is increased. When compressed air is supplied to the chamber 22, the piston rod 18 moves backward.

At the distal end of the hollow guide rod 16, a positioning pin 23 which fits into a through hole 4b formed in the door hinge 1, which is a work, is fixed. The distal end of this positioning pin, that is, the locate pin 23, is left. A slit 24 is formed. A clamp arm 25 for clamping a work is accommodated in the slit 24, and the clamp arm 25 is swingably connected to the piston rod 18 by a fulcrum pin 26 fixed to a distal end portion of the piston rod 18. ing. As shown in FIG. 5, both ends of the fulcrum pin 26 are engaged with an elongated hole 27 formed in the hollow guide rod 16, and when the piston rod 18 moves in the axial direction, the fulcrum pin 26 is Along with the clamp arm 25
Also slides in the slit 24 in the axial direction.

As shown in FIG. 4, a cam pin 28 is fixed to the hollow guide rod 16 in parallel with the fulcrum pin 26. The cam pin 28 passes through a cam groove 29 formed in the clamp arm 25. . The cam groove 29 is formed along the longitudinal direction at a central portion in the width direction of the clamp arm 25 and has a straight cam groove portion 29a for projecting a clamp claw 25a provided at the tip of the clamp arm 25 to the outside of the slit 24; When the cam groove 29b inclined by the forward movement of the piston rod 18 comes to the position of the cam pin 28, the clamp arm 25 swings and the portion of the clamp claw 25a is also connected. All enter the slit 24.

The moving plate 14 has a pneumatic cylinder 15
A pneumatic cylinder 31 is attached adjacent to
A hollow guide rod 32 is fixed to the front end of the pneumatic cylinder 31. The hollow guide rod 32 penetrates the moving plate 14 and is slidably mounted in a guide hole 33 formed in the main body block 12 in the axial direction. Have been. A piston rod 34 housed in the hollow guide rod 32 so as to be reciprocally movable in the axial direction is connected to a piston 35 provided in the pneumatic cylinder 31, and a pneumatic chamber formed between the piston 35 and the head cover 36. When compressed air is supplied to the piston 37, the piston rod 34 moves forward, and when compressed air is supplied to an air pressure chamber 38 formed between the piston 35 and the hollow guide rod 32, the piston rod 32 is moved.
Moves backward.

As described above, the pneumatic cylinder 15 for opening and closing the clamp arm 25 so as to be parallel to each other and the positioning pins 23, 4
Since the pneumatic cylinder 31 for moving the unit 1 forward and backward is arranged in parallel, the length of the positioning / conveying apparatus main body 10 in the left-right direction in FIG. 4 can be set short.

At the tip of the hollow guide rod 32, a positioning pin 41 which fits into a through hole 4b formed in the door hinge 1, which is a work, is fixed. Piston rod 3
As shown in FIG. 5, both ends of the drive pin 42 fixed to 4 pass through a long hole 43 formed in the hollow guide rod 32 and are fixed to the main body block 12. A screw member 4 for preventing the drive pin 42 from coming off is provided on the main body block 12.
4 is attached.

Therefore, when compressed air is supplied to the pneumatic chamber 38 to move the piston rod 34 backward with respect to the pneumatic cylinder 31, the moving plate 14 moves closer to the main body block 12, and the piston rod 34 Becomes the retreat limit position, as shown in FIG.
The moving plate 14 comes into contact with the main body block 12. At this time, the positioning pin 41 is at a position where the positioning pin 41 protrudes most from the work receiving member 13. On the other hand, when the piston rod 34 is moved forward with respect to the pneumatic cylinder 31, the moving plate 14 is separated from the main body block 12, and when the piston rod 34 reaches the forward limit position,
As shown in FIG. 4B, the moving plate 14 is in a state farthest from the main body block 12. When the pit rod 34 moves between the forward limit position and the backward limit position, the long hole 43 is set longer than the stroke of the piston rod 32 so that the piston rod 32 and the hollow guide rod 32 do not collide.

Each of the pneumatic cylinders 15, 31 is connected to the pneumatic chamber 2 from the supply / discharge ports 21a, 37a shown in FIG.
When compressed air is supplied to the main body block 1 and 37, the respective piston rods 18 and 34 are at the forward limit position closest to the main body block 12, as shown in FIG. 41 is a work receiving member 1
3 does not protrude from the work receiving surface 13a.
Under this condition, the pneumatic chamber 38 of the pneumatic cylinder 31
When compressed air is supplied from the supply / discharge port 38a to the
As shown in (A), the two positioning pins 23 and 41 are in a state of protruding from the work receiving surface 13a. However,
If the piston rod 18 remains at the forward limit position, the clamp arm 25 remains in the slit 24 as shown by a two-dot chain line in FIG. In this state, when compressed air is supplied to the pneumatic chamber 22 from the supply / discharge port 22a to move the piston rod 18 backward, as shown by a solid line in FIG. Will rush.

The work receiving member 13 has a work receiving surface 13
The magnet 45 is embedded so as to be exposed to a, and when the work made of a magnetic material such as steel is in contact with the work receiving surface 13a, the work is attracted toward the main body block 12.

The positioning / conveying apparatus main body 10 having the above-described configuration
The procedure for attaching the door hinge 1 to the vehicle body 2 by using the positioning transfer device having the structure attached to the turntable 6 will be described.
b, 7c are loaded, that is, loaded into the transfer device main body 10.
At that time, the respective positioning pins 23 and 41 are in a protruding state as shown in FIGS.
The clamp arm 25 enters the slit 24 as shown by a two-dot chain line in FIG. 4 (A), and in this state, is formed on the second hinge member 1b on the vehicle body side to be attached to the vehicle body 2. The positioning pins 23 and 41 are fitted in the through holes 4b thus formed. At the same time, the second hinge member 1 b is moved by the magnet 45 to the main body block 12.
Adsorbed on the side.

This loading operation may be performed automatically by the loading device, or may be performed manually. After the loading operation is completed, the piston rod 18
Is moved backward, as shown by the solid line in FIG.
The clamp arm 25 protrudes from the slit 24, and the hinge member 1 b on the vehicle body side is clamped by the clamp claw 25 a of the clamp arm 25 and the work receiving member 13.

In this manner, by rotating the turntable 6 by a predetermined angle in a state where the door hinge 1 is clamped by the positioning / conveying apparatus main body 10, the door hinge 1 becomes the work unloading position 7a. . In this state, the door hinge 1 is moved by a robot (not shown).
Is changed and transported to a predetermined position of the vehicle body 2.
At this time, since the predetermined position of the through hole 4b of the second hinge member 1b attached to the vehicle body 2 is set by the positioning pins 23 and 41, it is possible to easily match the position of the through hole 4b with the mounting position of the vehicle body based on the position. it can. Under this condition, the door hinge 1 is screwed to the vehicle body 2 by rotating the bolt using a screw fastening device. However, the screw fastening operation may be performed manually.

The door hinge 1 at the work unloading position 7a
When the robot changes the robot, first, the piston rod 18 is moved forward. As a result, the clamp arm 25 is separated from the second hinge member 1b to a position shown by a two-dot chain line in FIG. 4A, and the work clamp is released. Next, as shown in FIG. 4B, when the positioning rods 23 and 41 are moved backward by moving the piston rod 34 forward, the respective positioning pins 23 and 41 are retracted from the work receiving surface 13a. State. In this state, the second hinge member 1b is attracted to the work receiving surface 13 by the magnet 45, but when the robot is gripped, the second hinge member 1b is stronger than the magnetic force of the magnet 45. When the rotary table 6 is rotated in the above, the work receiving surface 13 moves in a direction along the second hinge member 1b. As a result, the turning table 6 can be turned immediately after both the positioning pins 23 and 41 are retracted, and the work of mounting the door hinge 1 can be performed quickly. However, after the door hinge 1 is gripped by the robot, the door hinge 1 may be moved in the direction along the rotating table 6 by the robot so that the door hinge 1 is detached from the positioning and transporting apparatus main body 10.

The above-described positioning and transporting apparatus is applied to use the door hinge as a workpiece and attach it to the vehicle body 2. However, the type of workpiece is not limited to the door hinge, and various workpieces, that is, parts are positioned as workpieces. Can be transported.

FIG. 6 is a view showing another type of positioning / conveying apparatus main body 10a. In FIG. 6, members common to the above-described positioning / conveying apparatus main body 10 are denoted by the same reference numerals.

The apparatus main body 10a has only one positioning pin 23, and the positioning pin 23 has a clamp arm 25 which can be freely opened and closed as in the case described above. This is performed by a fixed pneumatic cylinder 15. A pneumatic cylinder 31 is attached to the main body block 12 to move the positioning pin 23 forward and backward.
The piston rod 34 reciprocating by 1 is connected to the hollow guide rod 16 by a connecting plate 46. In order to fix the connection plate 46 to the piston rod 34, a connection cylinder 48 is fixed to the piston rod 34 by bolts 47, and the connection cylinder 48 is screwed to the connection plate 46. The connection between the hollow guide rod 16 and the connection plate 46 is also made by screw connection.

This type of positioning / conveying apparatus main body 10a
A plate housing space 49 for housing the connection plate 46 is formed in the body block 12 of
The axial length of the device body 10a can be shorter than that of the device body 10 of the type described above. Also, in this type of positioning / conveying apparatus main body 10a, 1
Only the positioning pins 23 are used, and a workpiece having at least one through hole through which the positioning pins 23 pass for positioning and clamping the workpiece can be fastened.

A detection rod 51 is attached to the work receiving member 13 to be movable in the axial direction in order to detect that the work has come into contact with the work receiving surface 13a. The reciprocating rod 5 connected to the detection rod 51 and provided on the main body block 12
A compression coil spring 53 is attached to 2 to urge the detecting rod 51 with a spring force in the protruding direction, and a magnet 54 is further fixed. The magnetic sensor 55 responsive to the magnetic force of the magnet 54 is
2 and the magnetic sensor 55 detects the magnetic force of the magnet 54 to detect that the work has contacted the work receiving surface 13a. The main body block 12 is made of an aluminum alloy so that the magnetic sensor 55 operates reliably by the magnetic force of the magnet 54.

This type of positioning / conveying apparatus main body 10a
In this case, the positioning pin 23 can be set at a position where it does not protrude from the work receiving surface 13a. Therefore, when the work is removed from the transfer device main body 10a by a robot and carried out, the work receiving surface 13a is slid onto the work. Thus, the transfer device main body 10a can be retreated. However, in the case where the positioning pins are not moved backward from the work receiving surface in each of the transfer device main bodies 10, 10a, after the work unloading is completed,
The transfer device body is retracted by a robot in a direction perpendicular to the surface of the work.

The present invention is not limited to the above embodiment, and it goes without saying that various changes can be made without departing from the spirit of the present invention. For example, the type of work is not limited to the door hinge, and various types of work can be used. Although the work at the work unloading position is removed by a take-out mechanism such as a robot, the work may be unloaded directly from the positioning and transporting apparatus main body to a member on the loading side.

[0037]

According to the present invention, a workpiece is positioned by using a through hole formed in the workpiece and a positioning pin is penetrated therein, and the workpiece is clamped by a clamp arm incorporated in the positioning pin. Therefore, the positioning and clamping of the work can be achieved by a small-sized device.

By providing two positioning pins, a pin with the clamp arm incorporated and a pin without the clamp arm, the workpiece can be accurately positioned at a predetermined position and transported stably.

By arranging the magnet on the work receiving surface, it is possible to prevent the work from dropping during transport without causing the work to shift when the work is carried in.

[Brief description of the drawings]

FIG. 1A is a front view showing a positioning transfer device according to an embodiment of the present invention in which the present invention is applied to attach a door hinge to a vehicle body, and FIG. 1B is a right side view of FIG. It is a front view seen from

FIG. 2 is a perspective view showing a positioning / conveying apparatus main body shown in FIG. 1 (A).

3A is a front view of the positioning / conveying apparatus main body viewed from the direction of arrow A in FIG. 2, and FIG. 3B is a rear view of the positioning / conveying apparatus main body viewed from the direction of arrow B in FIG.

4A is a cross-sectional view of the positioning / transporting apparatus main body in a state where a workpiece is clamped, and FIG. 4B is a cross-sectional view of the positioning / transporting apparatus main body in a state where the clamping is released and the positioning pins are shifted. is there.

FIG. 5 is a sectional view taken along line CC in FIG. 4 (A).

FIG. 6 is a cross-sectional view showing a positioning / conveying apparatus main body according to another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Door hinge (work) 1a 1st hinge member 1b 2nd hinge member 2 Car body 4a, 4b through-hole 5 Support base 6 Rotating table (moving body) 10, 10a Positioning / conveying device main body 12 Main body block 13 Work receiving member 13a Work receiving Surface 14 Moving plate 15 Pneumatic cylinder 16 Hollow guide rod 17 Guide hole 18 Piston rod 19 Piston 21,22 Pneumatic chamber 23 Positioning pin 24 Slit 25 Clamp arm 26 Support pin 27 Long hole 28 Cam pin 29 Cam groove 31 Pneumatic cylinder 32 Hollow guide rod 33 Guide hole 34 Piston rod 35 Piston 37, 38 Pneumatic chamber 41 Positioning pin 42 Drive pin 43 Slot 45 Magnet 46 Connection plate 47 Bolt 48 Connection cylinder

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Masakazu Tezuka 3-2-2 Marunouchi, Chiyoda-ku, Tokyo F-term in Koganei Co., Ltd. (Reference) 3C016 CB03 CC02 CC04 HA03 HA04 3C030 BC02 CC06 DA27 DA35 DA38

Claims (5)

[Claims] A moving body movably provided between a work carry-in position and a work carry-out position; a main body block fixed to the moving body and having a work receiving surface with which the work comes into contact; A positioning pin provided to fit into a through hole formed in the work; a clamp arm accommodated in a slit formed in the positioning pin; and the work receiving surface by allowing the clamp arm to protrude from the slit. And a clamp arm driving means for driving the work to a position where the work is clamped and a position where the work is inserted into the slit. Wherein the work is conveyed to the work unloading position while the work is clamped by an arm. Location. 2. The positioning and transporting device according to claim 1, wherein a retraction drive means for moving the positioning pin and the clamp arm to a position retracted from the work receiving surface is provided on the main body block, and the retraction drive means is provided at a work unloading position. A positioning and conveying device, wherein after moving a positioning pin and the clamp arm backward, the main body block is moved so that the work receiving surface moves in a direction along the work. 3. A moving body movably provided between a work loading position and a work unloading position, a main body block fixed to the moving body and having a work receiving surface with which a work comes into contact, A first positioning pin provided to fit into a first through hole formed in the work; a clamp arm accommodated in a slit formed in the first positioning pin; A second positioning pin that fits into a second through hole formed at a position where the clamp arm protrudes from the slit to clamp the work between the work receiving surface and a position to enter the slit. Clamp arm driving means for driving the positioning pins, a position where each of the positioning pins protrudes from the work receiving surface, and a retracted position where the positioning pins are retracted. And a retracting drive unit that is driven between the work loading position and the positioning pin is fitted into each of the through holes at the work loading position and the work is clamped by the clamp arm to the work unloading position. A positioning transfer device characterized by transferring. 4. The positioning / conveying device according to claim 1, wherein the workpiece is attached to a first hinge member attached to a door side and a pin body to the first hinge member attached to a vehicle body. And a second hinge member, wherein the positioning pin is fitted into a mounting hole formed in the door hinge, and is conveyed to the work unloading position. 5. The positioning / conveying device according to claim 1, wherein a magnet for applying a suction force to the work in a direction toward the work receiving surface is provided on the main body block. Positioning transfer device.