JP2008264943A - Conveyance-work system and conveyance-work method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a conveyance-work system capable of conducting teaching easily and performing work by correcting a position automatically even when a workpiece is inclined in some degree. <P>SOLUTION: This conveyance-work system moves the workpiece W onto a clamper 4 of a deburring station S1 while gripping the workpiece W by a clamper 3, and inserts the claws 11,,, of the clamper 4 in a hole h formed in the workpiece W. On this occasion, the claws 11,,, of the clamper 3 and the claws 11,,, of the clamper 4 are configured to be dephased. After this, the claws 11,,, of the clamper 4 are spread, and then, the claws 11,,, of the clamper 4 are contacted with the edge of the hole h of the workpiece W without interfering in the claws 11,,, of the clamper 3 since the claws 11,,, of the clamper 3 and the claws 11,,, of the clamper 4 are dephased, and the workpiece W is gripped by the clamper 3 and the clamper 4 simultaneously. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a transfer / work system method for working a transferred work at a work station.

  When processing a workpiece such as a transmission case (for example, deburring), the workpiece is conventionally gripped by a clamper, transferred to a work station, transferred, and then processed with another workpiece held by a clamper. I am doing so. As a clamper structure for gripping a workpiece, a structure in which a plurality of claws are opened and closed in the radial direction has been conventionally known. (Patent Document 1, Patent Document 2)

  Patent Document 1 discloses a chuck in which a child claw is attached to the inner end of three parent claws that open and close in the radial direction of the chuck, and this child claw can be automatically replaced by a clamp arm provided in an exchange jig. A nail change system is disclosed.

  In Patent Document 2, a first claw and a second claw are provided twice in the insertion direction of the pipe to be clamped into the joint body, and each of the first claw and the second claw is connected to the pipe. There is disclosed a clamp for a pipe joint in which a plurality of biting portions are provided so that the biting portions of the first and second claws are displaced in the circumferential direction of the pipe.

JP 61-103710 A JP-A-63-280903

  In the above-described conventional transport / work system, the structure of the clamper that grips the workpiece during transport is different from that of the clamper that grips the workpiece during work. For this reason, teaching is troublesome.

  Further, in the conventional clamper, the claw is opened and closed in the radial direction, and the workpiece is gripped by applying a force in the same direction as the opening and closing movement to the workpiece. However, this method cannot automatically correct the workpiece when it is tilted by its own weight.

  In order to solve the above-mentioned problems, the invention of claim 1 is a transfer / work system for working a work carried by a transfer device such as a robot at a work station, wherein the transfer device and the work station include a plurality of work devices. Each of the clampers has a similar structure, and each of the plurality of claws of each clamper grips a different gripping portion of the workpiece.

  Here, the work includes all work such as machining, drilling, drilling, chemical processing such as painting and plating, assembly, assembly, and cleaning.

  Here, the same structure refers to a structure that has the same function and performs the same function. For example, when there are three nails on the transport device side and four nails on the work station side, the same structure is used.

  The invention of claim 2 is characterized in that the claws of the clamper grip the work with a surface and a tapered surface with respect to the work.

  The invention of claim 3 is characterized in that a plurality of clampers are provided in the work station.

  The invention of claim 4 is characterized in that the grip portion of the workpiece is a through hole, and the plurality of claws of the clamper move radially outward.

  The invention of claim 5 is provided with a clamper having the same structure in each of the transport device and the work station, and in a state where the work is gripped by the plurality of claws of the clamper of the transport device, the plurality of claws of the clamper of the work station are It is characterized in that a portion different from the gripping portion of the plurality of claws of the clamper of the transport device is simultaneously gripped, and thereafter the gripping by the clamper of the transport device is released.

  According to the first aspect of the present invention, in the transfer / work station that works the work transferred by the transfer device at the work station, the transfer device side clamper and the work station side clamper have the same structure. It is easy to associate teachings with each other, and the system itself is simplified.

  In addition, each of the plurality of claws of each clamper grips a different gripping part of the workpiece, so that the claws of the other clamper can enter between the claws of one clamper, so that the claws of the other clamper do not interfere with each other at the same time. The workpiece can be gripped.

  Note that it is preferable that the clamper on the transport device side and the clamper on the work station side have the same structure, because the design is simplified, and there is no fear of assembly errors during assembly and maintenance of the workpiece transport / work system of the present invention.

  According to the invention of claim 2, by providing a tapered portion on the claws of the clamper and gripping the workpiece with the surface and the tapered surface, the workpiece is brought into contact with the workpiece between the surfaces and another workpiece is placed at another location. The workpiece is supported at two points by contacting the taper surface of the claw at a different location, and by applying a force in a direction different from the direction of movement of the claw to the workpiece, even when the workpiece is tilted automatically Can be corrected.

  According to the invention of claim 3, since the work station is provided with a plurality of clampers, when the process at the work station takes longer than the previous process of the work station, a plurality of works can be installed at the work station. If a plurality of clampers are provided and processed by a plurality of people or robots, it is possible to manufacture without decreasing the line speed.

  According to the invention of claim 4, if the workpiece has a through hole and the plurality of claws of the clamper move radially outward, for example, when gripping the workpiece, the workpiece is placed on the plurality of claws of the clamper of the transport device. After being gripped and transported, the through-hole portions of the work gripped by the plurality of claws of the clamper of the transport device are inserted into the work station side clamper portion. The plurality of claws of the work station side clamper move radially outward to grip the workpiece, and the plurality of claws of the clamper of the transport device move radially inward to release the workpiece.

  When the workpiece has a through hole and the plurality of claws of the clamper move to the outside in the radial direction when gripping the workpiece, the system itself is simplified by using one part of the workpiece as a teaching point. Furthermore, the delivery of the workpiece | work from a conveyance apparatus to a work station can be implemented correctly and reliably.

  According to the fifth aspect of the present invention, in the method of working the work transferred by the transfer device at the work station, the transfer device side clamper and the work station side clamper have the same structure. It becomes easy to associate with each other, work position shift and posture change are less, work such as stopping the production line and readjustment is reduced, and work can be manufactured stably. Become. In addition, the clamper's claws do not interfere with each other because the claws of the other clamper can enter between the claws of one clamper while the claws of each clamper are gripping the gripping part of the workpiece. At the same time, the workpiece can be gripped.

  The best mode for carrying out the present invention will be described below in detail with reference to the drawings. 1 is an overall plan view of a transfer / work system according to the present invention, FIG. 2 is a side view of a clamper constituting the transfer / work system according to the present invention, and FIG. 3 is a view in the direction of arrow A in FIG.

  The transportation / working system grips the mission case (work) W cast by the casting apparatus 1 with the clamper 3 of the take-out robot 2, which is a transporting device, and delivers it to the clamper 4 on the first deburring station S1 to lay down the wrinkles. Set to the state (cap shape). In the illustrated example, three clampers 4 are fixed to the first deburring station S1 to increase the tact time.

  The mission case W set on the deburring station S1 is deburred by the deburring device 5 on the outside of the peripheral edge, and then grips the mission case W with the clamper 7 of the robot 6 which is another transport device. Then, the burrs existing inside the peripheral edge are removed by another deburring device 8 fixed in the second deburring station S2 while being turned upside down and in a bowl shape (cup shape).

The clampers 3, 4, and 7 have the same structure. Therefore, the clamper 3 will be described.
The clamper 3 is provided with three claws 11 on the main body 10 at equal intervals, and each of the claws 11 engages with a guide groove 10a formed in the main body 10 and drives a motor or the like to open and close in the radial direction. . A receiving plate 12 that opens and closes integrally with the claw is attached to the outside of the base of each claw 11 in the radial direction, and the receiving plate 12 can be exchanged according to the thickness of the workpiece W.

  A tapered portion 13 is formed on the radially outer side of the tip portion of each claw 11. When the claws 11 are spread radially outward to grip the workpiece W, the workpiece W is sandwiched in the plate thickness direction between the upper surface of the receiving plate 12 and the tapered portion 13, and the direction orthogonal to the spreading direction. Hold the workpiece with the force of

  Here, it is preferable to form the part where the workpiece W is gripped in a tapered shape. By doing in this way, the grip by the nail | claw with respect to a workpiece | work becomes strong. Furthermore, it is more preferable if the taper angle of the workpiece and the taper angle of the claw are substantially the same. By doing in this way, the grip by the nail | claw with respect to a workpiece | work becomes still stronger.

  Next, workpiece transfer will be described with reference to FIGS. FIG. 4 shows a state in which the workpiece W is gripped by the clamper 3 of the robot 2. In this state, the claws 11 of the clamper 3 enter the hole h formed in the workpiece W and expand to open the hole h. The edge is gripped between the tapered portion 13 of the claw 11 and the receiving plate 12.

  By gripping the workpiece between the taper portion 13 and the receiving plate 12, a force that expands in the radial direction acts in the thickness direction of the workpiece W. As a result, even when the workpiece is slightly inclined, It can be corrected.

  Then, the workpiece W is moved onto the clamper 4 of the deburring station S1 while holding the workpiece W with the clamper 3, and the claws 11 of the clamper 4 are inserted into the holes h formed in the workpiece W. At this time, the claws 11 of the clamper 3 and the claws 11 of the clamper 4 are kept out of phase.

  Thereafter, the claws 11 of the clamper 4 are expanded. Then, the claws 11 of the clamper 3 and the claws 11 of the clamper 4 are out of phase, so that the claws 11 of the clamper 4 work without interfering with the claws 11 of the clamper 3 as shown in FIG. The workpiece W is in contact with the edge of the hole h of W, and the workpiece W is simultaneously held by the clamper 3 and the clamper 4.

  Then, by retracting the claws 11 of the clamper 3 inward in the radial direction and pulling the clamper 3 out of the workpiece W, the workpiece W is delivered to the deburring station S1 as shown in FIG.

Overall plan view of a transfer / work system according to the present invention The side view of the clamper which comprises the conveyance and work system which concerns on this invention A direction arrow view of FIG. The figure which shows the state before the workpiece delivery of the conveyance and work system which concerns on this invention The figure which shows the state at the time of the workpiece | work delivery of the conveyance and work system which concerns on this invention The figure which shows the state after the workpiece | work delivery of the conveyance and work system which concerns on this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Casting device, 2, 6 ... Conveying device (robot), 3, 4, 7 ... Clamper, 5, 8 ... Deburring device, 10 ... Clamper body, 10a ... Guide groove, 11 ... Claw, 12 ... Receiving plate 13: Tapered portion, h: Work hole, S1: First deburring station, S2: Second deburring station, W: Mission case (work).

Claims (5)

A transport / work system for gripping a work carried by a transport device at a work station, wherein the transport device and the work station are each provided with a clamper having a plurality of claws, and each clamper has a similar structure, and A workpiece conveying / working system, wherein a plurality of claws of each clamper grips different gripping portions of the workpiece. 2. The work conveyance / working system according to claim 1, wherein the claws of the clamper grip the work with a surface and a tapered surface with respect to the work. 2. The workpiece transfer / work system according to claim 1, wherein a plurality of clampers are provided at the work station. 2. The workpiece transfer / work system according to claim 1, wherein a grip portion of the workpiece is a through hole, and a plurality of claws of the clamper move radially outward. . A transporting / working method in which a work carried by a transporting device is operated at a work station, wherein a clamper having a similar structure is provided in each of the transporting device and the work station, and the work is held by a plurality of claws of the clamper of the transporting device. In this state, the plurality of claws of the work station clamper simultaneously grip a part different from the gripping part of the plurality of claw workpieces of the transport device clamper, and then release the grip by the clamper of the transport device. Conveying and working methods for workpieces.

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