JP2010023946A - Workpiece conveying device and workpiece handling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a workpiece conveying device capable of reliably positioning a workpiece at a prescribed position on a conveying line by using a positioning means in a simple structure. <P>SOLUTION: The workpiece conveying device can position a pallet 9 at the prescribed position on the conveying line L by using the positioning means 13 when conveying the pallet 9 loaded with the workpiece W to be handled along the conveying line L. The device includes a guide rail 8 for sliding and guiding the pallet 9 along the conveying line L and a drive means 11 for driving the pallet 9 to a conveyance downstream side. The positioning means 13 serves as a positioning device having an engagement piece 21 which can project on the side of the pallet 9 while facing in a direction crossing the direction of the guide rail 8, and the pallet 9 is positioned with respect to the guide rail 8 as the engagement piece 21 projects to engage with an engagement part 19 on the side of the pallet 9. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a workpiece transfer device and a workpiece processing device.

  2. Description of the Related Art A workpiece transfer device that transfers a pallet on which a workpiece, which is a workpiece, is placed, along a transfer line is conventionally known. The work transport apparatus having such a configuration has a drawback that work efficiency may be lowered when the work is performed at a predetermined location (work location) on the transport line because the work is not positioned.

In order to improve the above-mentioned drawbacks, a workpiece transfer apparatus disclosed in Patent Document 1 provided with positioning means for positioning a pallet at a predetermined position on the transfer line is known.
JP 2003-160220 A

However, since the workpiece transfer device of the above-mentioned document performs positioning by displacing a part of the transfer line in the pallet separation direction and placing the pallet on a mounting table arranged at a predetermined location, the mechanical structure Has become complicated, and problems remain from the viewpoint of maintainability and failure prevention. In addition, another member such as a positioning pin is required to reliably position the pallet on the mounting table.
SUMMARY OF THE INVENTION An object of the present invention is to provide a workpiece transfer device that can solve the above-described problems and can reliably position a workpiece at a predetermined position on a transfer line by a positioning means having a simple configuration.

  In order to solve the above-mentioned problems, the present invention firstly places the pallet 9 on which the workpiece W, which is a workpiece, is placed, along the transport line L, by the positioning means 13 to a predetermined position on the transport line L. In the work conveying apparatus capable of positioning the pallet 9, the apparatus includes a guide rail 8 that slides and guides the pallet 9 along the conveying line L, and a driving unit 11 that drives the pallet 9 toward the conveying downstream side. The positioning device has an engaging piece 21 which can be operated to protrude toward the pallet 9 in a direction crossing the direction, and the engaging piece 21 protrudes and engages with the engaging portion 19 on the pallet 9 side. The pallet 9 is positioned with respect to the guide rail 8.

  Second, the positioning device 13 is supported so as to be movable in the direction of the guide rail 8.

  Third, the conveyance line L is formed in an annular shape.

  Fourthly, the driving means 11 is provided with a feed roller 22 that is pressed against the pallet 9 side to transfer the pallet 9.

  Fifthly, the apparatus includes a work transfer device 1 and a work machine 2 that performs work on the work W at the work place that is the predetermined place, and the work machine 2 attaches the part 28 to the work W. Further, the apparatus includes a supply unit 29 that supplies the component 28 and transfer units 14 and 32 that transfer the component 28 from the supply unit 29 to the assembling unit 31.

  Sixth, the assembling part 31 has a component holding mechanism 61 that is supported to the assembling part side frame part 58 so as to be able to move up and down above the pallet 9 that has been conveyed to the assembling work position. The transfer unit 32 is supported with respect to the transfer unit side frame units 47 and 48 so as to be capable of reciprocating and driving in a straight line from the supply unit 29 side to the component delivery position formed in the middle of the movement locus of the component holding mechanism 61. The component mounting portion 54 is provided, and the component holding mechanism 61 performs the work of assembling the component 28 to the workpiece W.

  Seventh, when the component holding mechanism 61 moves up and down and retracts from the component delivery position, the component holding mechanism 61 and the component placement unit 54 are moved so that the component placement unit 54 transfers the component 28 to the component delivery position. It is characterized by the construction.

  Eighth, when the component 28 is delivered to the component holding mechanism 61 at the component delivery position, the component placement unit 54 is retracted to the supply unit 29 side, and the component holding mechanism 61 attaches the component 28 to the workpiece W. The component holding mechanism 61 and the component placement unit 54 are configured to perform the above.

  Ninthly, when the component 28 is delivered to the component holding mechanism 61 at the component delivery position, the component holding mechanism 61 moves up and down and retracts from the component delivery position.

  Tenth, the present invention is characterized in that an upstream transfer machine 14 for transferring the component 28 from the supply unit 29 to the component mounting unit 54 is provided.

  According to the present invention configured as described above, the conveying line is moved to the pallet in order to reliably position the pallet at a predetermined position by protruding the engaging piece of the positioning device and engaging with the engaging portion on the pallet side. In addition to the effect that the workpiece positioning means can be configured more simply compared to positioning the workpiece at a predetermined location by displacing in the separation direction, positioning pins, etc. are used to reliably position the pallet at the predetermined location. There is an effect that it is not necessary to prepare a separate member.

  In addition, since the positioning device is supported so as to be movable in the guide rail direction, there is an effect that the positioning position of the workpiece can be finely adjusted.

  Moreover, since the control for reciprocating the pallet is unnecessary by forming the transfer line in an annular shape, there is an effect that the control structure can be configured more simply.

  Furthermore, the control structure of the work implement is configured more simply by delivering parts from the transfer section to the assembly section and assembling the parts to the workpiece by linear movement of the assembly machine and the transfer machine. There is an effect that it becomes possible.

  FIG. 1 is a perspective view showing a main part of a configuration of a work processing apparatus to which the present invention is applied. The work processing apparatus mainly includes a transport unit 1 (work transport apparatus) that transports a work W, which is a workpiece, along a transport line L (see FIG. 2), and a work unit that performs work on the work W. 2 (work machine).

Next, the configuration of the transport unit 1 will be described with reference to FIGS.
FIG. 2 is a schematic view of the transport unit, and FIGS. 3 and 4 are a plan view and a perspective view of a linear transport block. The conveyance unit 1 includes a straight conveyance block 3 (conveyance block) that forms a linear conveyance line L and a curved conveyance block 4 (conveyance block) that forms a curved conveyance line L, and these conveyance blocks 3 and 4. Are combined and connected to form a single and annular conveyance line L. In the example shown in the figure, four linear conveyance blocks 3, 3, 3, and 3 that form two linear portions, and two curved conveyance blocks 4 and 4 that connect the start and end of the linear portions, respectively, The transfer line L is formed.

  The linear conveyance block 3 is mainly installed on the upper surface of the installation table 6 and fixedly installed on the base 7 formed in a rectangular shape in plan view and long in the conveyance direction, and on one long side end of the upper surface of the base 7. The guide rail 8 forming the transport line L, the pallet 9 slidably guided on the guide rail 8, and the transport motor 11 (drive means, transport drive means, pallet) that transports (drives) the pallet 9 to the transport downstream side. A pallet position detecting means 12 (see FIG. 7) including a position detecting sensor for detecting the position of the pallet 9 on the guide rail 8, and a positioning device 13 (positioning means) for positioning the pallet 9. It is composed of

  The pallet 9 is formed in a square shape extending in the crossing direction of the guide rail 8 in plan view, and one end portion (tip end portion) is outward from the plan view base portion 7 to the outside of the annular conveyance line L (upstream when passing through the work unit 2). The contact plate 16 extends downward from the other end portion (base end portion). The pallet 9 is slidably guided along the conveying line L by installing and fixing the pallet 9 on the upper surface of the support 17 that is slidably engaged and supported on the guide rail 8. Then, the work W is placed on the upper surface of the pallet 9 and the work W is transported along the transport line L.

  An opening 18 is formed in the upper center portion of the contact plate 16, and a pair of bearings 19, 19 arranged in parallel in the pallet 9 conveying direction are oriented in the vertical direction in the opening 18. is set up.

  The transport motor 11 is provided at a position adjacent to the guide rail 8 on the upper surface of the base portion 7. A plurality of transport motors 11 (four in the illustrated example) are provided for one base portion 7, and the plurality of transport motors 11 are arranged in parallel in the pallet 9 transport direction. Each transport motor 11 is provided with a feed roller 22 that is rotationally driven by the power of the transport motor 11 and constitutes a pallet transport driving means. Each feed motor 11 is urged toward the guide rail 8 by an elastic member (not shown) such as a spring so that the feed roller 22 is pressed against the contact plate 16 when passing through the pallet 9. By rotating 22, the pallet 9 is transported and driven on the guide rail 8 to the transport downstream side.

  The positioning device 13 includes a main body 23 and the engagement rod 21. The main body 23 is supported at a position adjacent to the guide rail 8 on the upper surface of the base portion 7 so as to be movable in the conveying direction of the pallet 9 with respect to the base portion 7, and the pallet 9 is moved by a positioning device moving drive means 24 (see FIG. 7) such as a motor. It is configured to be reciprocally movable in the transport direction (direction of the guide rail 8).

  The engagement rod 21 is a columnar member extending in the crossing direction (in the illustrated example, the orthogonal direction) with respect to the guide rail 8, and is supported by the main body 23 so as to be reciprocally movable in the axial direction (crossing direction of the guide rail 8). Yes. By the reciprocating operation, the engaging rod 21 is configured to be able to change its posture between a housing posture housed in the main body 23 and a projecting posture projecting from the main body 23 toward the guide rail 8 (pallet 9 side). The engagement rod 21 is always urged toward the accommodation posture side by an elastic member (not shown) such as a spring, but by positioning driving means 26 (see FIG. 7) such as a solenoid provided in the main body 23. The posture is switched from the stowed posture to the protruding posture.

  The pallet 9 is transported to a position where the opening 18 of the contact plate 16 is close to the positioning device 13 (a work point P described later), and the engagement rod 21 is driven to switch the posture to the protruding posture. The pallet 9 is positioned with respect to the base portion 7 and the guide rail 8 by being fitted between the pair of bearings 19, 19 described above through the opening 18. That is, an engagement portion that engages with the engagement rod 21 is formed between the pair of bearings 19 and 19.

  When the pallet 9 is positioned on the transport line L, the positioning device 13 can be displaced with respect to the transport line L by the positioning device moving drive means 26 to displace the position of the pallet 9. For this reason, the positioning location can be changed, and the position of the pallet 9 can be adjusted with high accuracy. At this time, the relative position of the positioning device 13 with respect to the guide rail 8 is detected by a positioning device position detection means 27 such as a position detection sensor.

  While the linear conveyance block 3 is configured as described above, the curve conveyance block 4 also includes a guide rail 8 formed in a semicircular arc shape, a point where the guide rail 8 is supported by a plurality of base portions 7, and The linear transport block 3 is substantially the same except that the positioning device 13 is not provided.

  The transport unit 1 divides the transport line L into a plurality of points P and performs free flow line control. In the example shown in FIG. 2, the conveyance line L of each linear conveyance block 3 is divided into two points P, the conveyance line L of each curve conveyance block 4 is divided into four points P, and the total number of points is 16 points P. It is partitioned.

  In the free flow line control, when the pallet 9 is positioned at the point P (target point) to be controlled, the work by the work unit 2 at the target point P is not performed or the work by the work unit 2 is completed. Is the first condition, and the second condition is that there is no pallet 9 at the next point P (next point) of the target point P, and both of the first condition and the second condition are satisfied Is the control for conveying and driving the pallet 9 from the target point P to the next point P. Details of the control will be described later.

  In addition, even if the free flow line control increases / decreases the transport blocks 3 and 4 and the point P on the transport line L changes, the control content at each point P does not change, so the transport line L can be changed more easily. It becomes possible to carry out to this, and versatility improves.

  Each point P is classified into a work point P (predetermined place, work place) where the work unit 2 performs work and a non-work point P where the work unit 2 does not perform work. The positioning device 13 described above is provided at a work point P (in the example shown in FIGS. 3 and 4, a point P on the downstream side of the transport blocks 3 and 4), and the pallet 9 is positioned and adjusted by the work point P. I do. Note that all the points P set in the curve conveyance block 4 are non-work points, and the work by the work unit 2 is not performed in the curve conveyance block 4.

Next, the configuration of the work unit 2 will be described with reference to FIGS.
FIG. 5 is a side view of the main parts of the transport unit, the downstream transfer machine, and the assembly machine, and FIG. 6 is a plan view of the main parts of the upstream mobile machine, the downstream transfer machine, and the assembly machine. The work unit 2 transports the parts 28 from the supply machine 29 (supply part, pallet changer) for supplying the parts 28, the assembly machine 31 (assembly part) for assembling the parts 28 to the workpiece W, and the supply machine 29. An upstream transfer machine 14 (transfer unit, transfer machine), and a downstream transfer machine 32 (transfer unit, transfer machine, traverser) that transfers the parts 28 from the upstream transfer machine 14 to the assembling machine 31. Yes.

  The supply machine 29 has a rectangular parallelepiped and hollow supply machine frame 33 (supply part side frame part), and the supply machine frame 33 is disposed adjacent to the installation table 6 described above. An opening 33a is formed at the end of the feeder frame 33 on the side far from the installation base 6, and a component pallet 34 (component tray) on which the component 28 is positioned and placed is formed through the opening 33a. It is supplied into the feeder frame 33.

  When the parts pallet 34 is supplied from the opening 33a, the feeder 29 horizontally transports the parts pallet 34 to the installation base 6 side, and then transports it upward, and the upper end of the supply machine frame 33 on the installation stage 6 side. The component pallet 34 is supplied and conveyed to the (component supply location 36). When the parts 28 are sequentially taken out from the parts pallet 34 at the parts supply location 36 by the upstream transfer machine 14 and the parts 28 are removed from the parts pallet 34, the feeder 29 supplies the parts pallet 34 to the feeder. The frame 33 is discharged and conveyed to the end of the frame 33 far from the installation base 6.

  Note that the component supply state of the supply device 29 is detected by a supply device state detection means 37 (see FIG. 7) for detecting the remaining number of components 28 on the component pallet 34 by image processing, detecting the position of the component pallet 34, and the like. Detected. In addition, the conveying drive of the component pallet 34 is performed by the feeder driving means 35.

  The upstream transfer machine 14 mainly includes a transfer machine frame 38 (a transfer part side frame part, an upstream transfer part side) that is attached and fixed to an upper end part on the installation base 6 side of the supply machine frame 33 with the component supply point 36 exposed. Frame, upstream moving machine frame) and a pair of assembly / transfer robots 39 installed on the transfer machine frame 38. Note that only one of the pair of assembly / transfer robots 39 is shown in FIG.

  The upper surface of the transfer machine frame 38 is formed at a position that is one step higher than the upper surface of the installation table 6, and a viewing window 38 a is formed at the edge of the upper surface of the transfer machine frame 38 on the installation table 6 side. The assembly / transfer robot 39 includes a base box 41 fixedly supported on the upper surface of the transfer machine frame 38, an arm 42 whose base end portion is supported on the upper surface of the base box 41 so as to be capable of horizontal rotation driving, and a lower end at the distal end portion of the arm 42. The movable box 43 is supported so that the part can be driven to rotate horizontally, and a holding part 44 that is supported so as to be capable of being driven to slide up and down on the installation base 6 side portion of the movable box 43 and holds components.

  A pair of assembling / transferring robots 39 horizontally and rotationally drive the parts 28, take out and hold the parts 28 from the parts pallet 34, perform a simple assembling work, and then downstream through the viewing window 38a. The component 28 is transferred to the transfer machine 32.

  The state of the upstream side mobile unit 14 and the state around the upstream side mobile unit 14 include upstream side transfer unit state detection means 46 (FIG. 7) for detecting the position of the parts pallet 34, detecting the posture of the assembly / transfer robot 39, and the like. ). In addition, each part of each assembly / work robot 39 is individually driven to rotate and slide by an upstream transfer machine driving means 45 (see FIG. 7) constituted by a plurality of actuators.

  The downstream transfer device 32 is a plate-like support frame that protrudes upward from a position adjacent to the long side end portion on the side far from the upstream transfer device 14 in the base portion 7 of the transport unit 1 on the upper surface of the installation table 6. 47 (transfer unit side frame unit, transfer unit frame, downstream transfer unit side frame, downstream mobile unit frame) and plate-like fixed frame 48 (transfer unit side frame unit, transfer unit) bolted to the upper end of the support frame 47 Machine frame, downstream transfer unit side frame, downstream mobile unit frame), a movable body 49 that is movably supported by the fixed frame 48 and is substantially parallel to the fixed frame 48, and a lower end portion of the movable body 49 And a substantially horizontal horizontal plate 51 having a base end portion attached and fixed and a midway portion and a distal end portion extending toward the upstream side mobile device 14.

  The fixed frame 48 extends in the crossing direction of the guide rail 8 (orthogonal direction in the illustrated example) and the vertical direction, and is formed in a rectangular shape that is long in the crossing direction of the guide rail 8. On one surface of the fixed frame 48, a pair of upper and lower support rails 52, 52 are extended in the direction intersecting the guide rail 8, and the movable body 49 is slidably engaged with and supported by the upper and lower support rails 52. ing.

  In addition, the fixed frame 48 is provided with a pair of front and rear stopper pieces 53 and 53 that regulate the sliding width of the movable body 49 and the horizontal plate 51. Note that one of the two stopper pieces 53 is a touch sensor that detects that the movable body 49 has slid and moved to the end (base end) of the support rail 52 far from the upstream transfer device 14. Is a touch sensor that detects that the movable body 49 has slid and moved to the end portion (tip portion) of the movable body 39 closer to the upstream side transfer device 14 of the support rail 52.

  The horizontal plate 51 is disposed above the guide rail 8 of the transport unit 1. The midway part and the front end part of the horizontal plate 51 are formed to be narrow, and a substantially horizontal square mounting plate 54 (component mounting part) is integrally attached and fixed to the front end part. A groove 54 a having a shape corresponding to the shape of the component 28 is formed on the mounting plate 54, and the component 28 is placed in the groove 54 a so that the component 28 is placed on the mounting plate 54. Positioned.

  By sliding the movable body 49 to the distal end portion of the support rail 52, the base end portion of the horizontal plate 51 is positioned above the pallet 8 that has been transported to the work point P, and the mounting plate 54 is connected to the upstream transfer machine. It will be displaced to the 14th side (supply machine 29 side), and will be in the state which faced from the observation window 38a of the plane side upstream transfer machine 14 in planar view. Since the mounting plate 54 faces the viewing window 38a, the assembly / transfer robot 39 of the upstream transfer machine 14 can mount the component 28 in the groove 54a of the mounting plate 54. The position of the mounting plate 54 when the movable body 49 is slid to the tip of the support rail 52 is a receiving position where the downstream transfer device 32 receives parts from the upstream transfer device 14 (supply unit 29).

  On the other hand, when the movable body 49 is slid to the base end portion of the support rail 52, the mounting plate 54 is positioned almost directly above the assembly work location of the pallet 8 positioned at the work point P. This position of the mounting plate 54 becomes a delivery position for delivering the component 28 on the mounting plate 54 to the assembling machine 31.

  The receiving position detection and the delivery position detection of the mounting plate 54 are performed by the two touch sensors 53 and 53 described above. That is, these two touch sensors 53 constitute at least a part of the downstream transfer machine state detection means 56 (see FIG. 7) that detects the state of the upstream transfer machine 32 and the like. In addition, the movable body 49, the horizontal plate 51, and the mounting plate 54 are slidably driven by a downstream transfer machine driving means 57 (see FIG. 7) configured by an actuator such as a motor.

  The assembling machine 31 is attached to and fixed to the upper surface of the installation table 6 in the state where it faces the surface on the non-installation side of the support rail 52 of the fixed frame 48 on the upper surface of the installation table 6 (an assembly part). Side frame portion), a movable body 59 supported by the assembling machine frame 58 so as to be vertically slidable, and a gripping mechanism 61 (part holding mechanism) for gripping parts.

  The gripping mechanism 61 is attached and fixed to the lower end portion of the movable body 49 so as to be positioned substantially directly above the assembly work location of the pallet 8 positioned at the work point P. The gripping mechanism 61 has a fixed shaft 62 and a movable shaft 63 protruding downward. The fixed shaft 62 and the movable shaft 63 are configured to grip (hold) the component 28 between the fixed shaft 62 and the movable shaft 63 when the movable shaft 63 is driven to move away from or in the proximity of the fixed shaft 62. It is configured.

  From the configuration described above, the movement trajectory of the horizontal plate 51 and the mounting plate 54 overlaps with the vertical movement trajectory of the gripping mechanism 61 at the delivery position of the mounting plate 54 (part of the vertical movement trajectory of the gripping mechanism 61). . For this reason, when the gripping mechanism 61 is displaced to the upper end position (retracted position), the mounting plate 54 can be slid in a range from the receiving position to the delivery position, while the mounting plate 54 is in the receiving position. As a result, the gripping mechanism 61 is slidable up and down between the retracted position and the lower end position (work position, assembly work position) in the vicinity of the work upper surface.

  The state of the assembling machine 31 is detected by an assembling machine state detecting means 64 (see FIG. 7) that detects the relative position of the gripping mechanism 61 with respect to the assembling machine frame 58. In addition, each part of the assembling machine 31 is driven by an assembling machine driving means 66 (see FIG. 7) composed of a plurality of actuators.

  Next, control means for the transport unit 1 and the work unit 2 will be described in detail with reference to FIGS. FIG. 7A is a block diagram showing the control structure of the transport unit, and FIG. 7B is a block diagram showing the control structure of the work unit. The transport unit 1 is controlled by a transport unit control unit 67 (control unit) configured by a microcomputer or the like, and the work unit 2 is controlled by a work unit control unit 68 (control unit) configured by a microcomputer or the like.

  The pallet position detection means 12 and the positioning device position detection means 27 described above are connected to the input side of the transport unit controller 67, and the pallet transport drive means 11, the positioning device movement drive means 24 and the positioning device described above are connected to the application side. Drive means 26 is connected. In addition, a communication unit 69 is connected to the transport unit controller 67 in order to acquire information from the work unit controller 68.

  Connected to the input side of the work unit control unit 68 are the feeder state detection means 37, the upstream transfer machine state detection means 46, the downstream transfer machine state detection means 56, and the assembly machine state detection means 64 described above. On the side, the feeder drive means 35, upstream transfer machine drive means 45, downstream transfer machine drive means 57 and assembly machine drive means 66 described above are connected. In addition, a communication unit 71 is connected to the work unit controller 68 in order to obtain information from the work unit controller 67.

  FIG. 8 is a process flow diagram of pallet conveyance control performed at each point of the conveyance line. The transport unit control unit 67 sequentially controls the transport of the pallet 9 at each point P on the transport line L.

  When processing is started at each point P, the process proceeds to step S1. In step S1, it is detected whether or not the target point P to be controlled has the pallet 9, and if there is no pallet 9, the process at the target point P is completed and the process proceeds with the next point as the target point. . On the other hand, if there is a pallet 9, the process proceeds to step S2.

  In step S2, it is detected whether the target point P is the work point P or the non-work point P. If the target point P is the work point P, the process proceeds to step S3. In step S3, it is detected whether or not the work by the work unit 2 at the target point P is started via the communication means 69 and 71. If it is started, the process proceeds to step S4.

  In step S4, it is detected whether or not the work of the work unit 2 at the target point P is completed via the communication means 69 and 71. If completed, the process proceeds to step S5. The processing at the target point P is completed, and the process proceeds with the next point as the target point.

  In step S5, it is detected whether or not there is a pallet 9 at the next point P. If there is no pallet 9, the process proceeds to step S6, and if there is a pallet 9, the processing at this target point P is completed and the next point is targeted. Process as points. In step S6, the pallet 9 is transported to the next point P. Then, the process at the target point P is completed, and the process proceeds with the next point as the target point.

  If it is detected in step S2 that the target point P is a non-work point P, the process proceeds to step S5.

  If it is detected in step 3 that the work by the work unit 2 at the target point P is not yet started, the process proceeds to step S7. In step S7, it is detected whether or not the engagement rod 21 is switched to the protruding posture and positioned by the positioning device 13. If not, the process proceeds to step S8, and if it is, the process proceeds to step S9. In Step S8, the positioning drive means 26 switches and drives the engaging rod 21 to the projecting posture, and the engaging rod 21 is engaged with the engaging portions 19 and 19, thereby positioning the pallet 9 and proceeding to Step S9. .

  In step S9, it is detected whether or not the pallet 9 is in a place with high work efficiency when performing the work by the work unit 2, and if it is in a place with high work efficiency, the processing at this target point P is completed and the next. If the point is the target point and the process is not a place where the work efficiency is good, the pallet 9 is displaced to a place where the work efficiency is good by the positioning device movement drive means 24, the pallet position detection means 12 and the positioning device position detection means 27. Then, the position of the pallet 9 is adjusted. Thereafter, the process at the target point P is completed, and the process proceeds with the next point as the target point.

  FIG. 9 is a process flow diagram of the work unit. The processing flow of the work unit 2 includes a processing flow related to supply control of the component 28 by the feeder 29, a processing flow related to transfer control of the component 28 by the upstream transfer device 14, a transfer control of the component 28 by the downstream transfer device 32, and A processing flow relating to component assembly control on the workpiece W by the assembly machine 31 is provided as a subroutine.

  When the processing of the work unit 2 is started, the process proceeds to step S21. In step S21, the above-described supply control subroutine by the supplier 29 is executed, and when the process returns to the main routine, the process proceeds to step S22. In step S22, the above-described transfer control subroutine by the upstream transfer machine 14 is executed. When the process returns to the main routine, the process proceeds to step S23. In step S23, the subroutine for transfer / assembly control by the downstream transfer machine 32 and the assembly machine 31 described above is executed, and when the process is returned to the main routine, the process returns to step S21.

  FIG. 10 is a process flow diagram of a subroutine for supply control by the supplier. When the supply control subroutine by the supply device 29 is started, the process proceeds to step S31. In step S31, it is detected whether or not a component is supplied to the component supply location 36 by the feeder state detection means 37. If not supplied, the process proceeds to step S32, and if supplied, the subroutine is terminated. The processing is returned to the main routine shown in FIG. In step S32, the parts pallet 34 is transported and supplied to the parts supply point 36 by the feeder driving means 35, this subroutine is terminated, and the process returns to the main routine shown in FIG.

  FIG. 11 is a processing flowchart of a transfer control subroutine by the upstream transfer machine. When the subroutine for the transfer control of the component 28 by the upstream transfer machine 14 is started, the process proceeds to step S41. In step S41, it is detected by the feeder state detection means 37 whether or not the component 28 is supplied to the component supply location 36. If it is supplied, the process proceeds to step S42, and if it is not supplied, this subroutine is terminated. Then, the process returns to the main routine shown in FIG.

  In step S42, the downstream transfer machine state detection means 56 detects whether or not the mounting plate 54 of the downstream transfer machine 32 is located at the receiving position. If it is located, the process proceeds to step S43, where it is located. If not, the subroutine is terminated and the process returns to the main routine shown in FIG.

  In step S43, the downstream transfer machine state detection means 56 detects whether or not a component is placed on the placement plate 54 of the downstream transfer machine 32. If not, the process proceeds to step S44. If it is set, this subroutine is terminated, and the process is returned to the main routine shown in FIG. In step S44, after assembling the component 28 by the pair of assembly / transfer robots 39, 39, the component 28 is placed in the groove 54a of the placement plate 54 of the downstream transfer machine 32. Thereafter, the subroutine is terminated, and the process is returned to the main routine shown in FIG.

  FIG. 12 is a process flow diagram of a subroutine of transfer / assembly control by the downstream transfer machine and the assembly machine. When the subroutine of transfer / assembly control by the downstream transfer machine 32 and the assembly machine 31 is started, the process proceeds to step S51. In step S51, the gripping mechanism 61 of the assembling machine 31 is driven to slide up and down (upward in the illustrated example) to be displaced from the delivery position to the retracted position, and the process proceeds to step S52. In step S52, the mounting plate 54 of the downstream transfer machine 32 is driven to move horizontally and displaced to the receiving position, and the process proceeds to step S53. In the initial state, the mounting plate 54 is positioned at the receiving position so as not to obstruct the vertical movement of the gripping mechanism 61.

  In step S53, whether or not the component 28 is placed on the placement plate 54 is detected based on the detection information from the upstream transfer machine state detection unit 46 and the downstream transfer machine state detection unit 56. If it is placed, the process proceeds to step S54. If it is not placed, this subroutine is terminated, and the process is returned to the main routine shown in FIG.

  In step S54, the mounting plate 54 is driven to slide horizontally from the receiving position to the delivery position, the component 28 is transferred to the delivery position, and the process proceeds to step S55. In step S55, the gripping mechanism 61 is driven to slide up and down (downward in the illustrated example) and displaced to the delivery position, and then the component 28 on the mounting plate 54 is gripped (held), and the process proceeds to step S56.

  In step S56, while holding the component 28, the gripping mechanism 61 is slid up and down (upward in the illustrated example) to be displaced to the retracted position, and the process proceeds to step S57. In step S57, the mounting plate 54 is driven to slide horizontally and retracted to the receiving position, and the process proceeds to step S58. In step S58, the gripping mechanism 61 is driven to slide up and down (downward in the illustrated example) to be displaced to the assembly work position, and then the part is assembled to the workpiece W. Thereafter, this subroutine is terminated, and the process is returned to the main routine shown in FIG.

  According to the work processing apparatus configured as described above, the overall size can be made compact by overlapping the movement trajectory of the mounting plate 54 and the gripping mechanism 61 that move linearly. become. In addition, since the movement is simple, the control structure can be configured simply.

It is a principal part perspective view which shows the structure of the workpiece processing apparatus to which this invention is applied. It is the schematic of a conveyance unit. It is a top view of a linear conveyance block. It is a perspective view of a linear conveyance block. It is a principal part side view of a conveyance unit, a downstream transfer machine, and an assembly machine. It is a principal part top view of an upstream side moving machine, a downstream transfer machine, and an assembly machine. (A) is a block diagram which shows the control structure of a conveyance unit, (B) is a block diagram which shows the control structure of a work unit. It is a processing flowchart of the pallet conveyance control performed at each point of the conveyance line. It is a processing flow figure of a work unit. It is a processing flow figure of the subroutine of supply control by a supply machine. It is a processing flowchart of the subroutine of the transfer control by an upstream side transfer machine. It is a processing flow figure of a subroutine of transfer and assembly control by a downstream side transfer machine and an assembling machine.

Explanation of symbols

1 Transfer unit (work transfer device)
2 work unit (work machine)
9 Pallet 8 Guide rail 11 Transport motor (drive means, transport drive means, pallet transport drive means)
13 Positioning device (positioning means)
14 Upstream transfer machine (transfer unit, transfer machine)
19 Bearing (engagement part)
21 Engagement rod (engagement piece)
22 Feeding roller 28 Parts 29 Feeder (feeding unit)
31 Assembly machine (assembly part)
32 Downstream transfer machine (transfer unit, transfer machine, traverser)
47 Support frame (transfer part frame part, transfer machine frame, downstream transfer part side frame, downstream mobile machine frame)
48 Fixed frame (transfer part frame part, transfer machine frame, downstream transfer part side frame, downstream mobile machine frame)
54 Placement plate (part placement part)
58 Assembly machine frame (assembly side frame)
61 Grip mechanism (part holding mechanism)
L Transfer line W Work

Claims (10)

  When the pallet (9) on which the workpiece (W) as the workpiece is placed is transported along the transport line (L), the positioning means (13) places the pallet (9) at a predetermined position on the transport line (L). A guide rail (8) that slides and guides the pallet (9) along the transfer line (L), and drive means (11) that drives the pallet (9) to the downstream side of the transfer. The positioning means (13) is a positioning device having an engaging piece (21) which is operable to project toward the pallet (9) side in the crossing direction with respect to the guide rail (8) direction. ) Protrudes and engages with the engaging portion (19) on the pallet (9) side, whereby the pallet (9) is positioned with respect to the guide rail (8).   2. The workpiece transfer device according to claim 1, wherein the positioning device (13) is supported so as to be movable in the direction of the guide rail (8).   The workpiece transfer apparatus according to claim 1 or 2, wherein the transfer line (L) is formed in an annular shape.   4. The work conveying apparatus according to claim 1, wherein the driving means (11) is provided with a feed roller (22) for moving the pallet (9) by being pressed against the pallet (9).   A work transporting device (1) according to claim 1, 2, 3 or 4, and a work machine (2) for performing work on the work (W) at the work location which is the predetermined location. ) Is an assembly part (31) for assembling the part (28) to the workpiece (W), a supply part (29) for supplying the part (28), and a part from the supply part (29) to the assembly part (31). A work processing apparatus comprising transfer units (14) and (32) for transferring (28).   The component holding mechanism (61) supported by the assembling unit side frame unit (58) so that the assembling unit (31) can be moved up and down above the pallet (9) conveyed to the assembling work position. The transfer unit (32) can be driven to reciprocate in a straight line from the supply unit (29) side to the component delivery position formed in the middle of the movement locus of the component holding mechanism (61). It has a component placement portion (54) supported to the side frame portions (47) and (48), and the component holding mechanism (61) allows the assembly of the component (28) to the workpiece (W). The work processing apparatus according to claim 5 for performing.   When the component holding mechanism (61) moves up and down and retreats from the component delivery position, the component placement mechanism (61) and the component placement mechanism so that the component placement portion (54) transfers the component (28) to the component delivery position. The work processing apparatus according to claim 6, wherein the work part (54) is configured.   When the component (28) is delivered to the component holding mechanism (61) at the component delivery position, the component placement portion (54) is retracted to the supply portion (29) side, and the workpiece (W The workpiece processing apparatus according to claim 6 or 7, wherein the component holding mechanism (61) and the component mounting portion (54) are configured so that the component (28) is assembled to the component.   9. The workpiece processing according to claim 8, wherein when the component (28) is delivered to the component holding mechanism (61) at the component delivery position, the component holding mechanism (61) moves up and down and retracts from the component delivery position. apparatus.   The work processing apparatus according to claim 6, 7, 8, or 9, further comprising an upstream side transfer machine (14) for transferring the component (28) from the supply unit (29) to the component mounting unit (54).

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