JP2013039651A - Automatic device for inserting coil of print head - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic device for inserting a coil of a print head, which is adapted to correct an insertion posture once with a posture correction mechanism unit when inserting the coil in a predetermined assembly position, and to insert the coil in the predetermined assembly position.SOLUTION: The posture correction mechanism unit 27 includes: a posture correction mechanism unit body 27a raised on a base 40 between a turn table 25t of a coil tray placing standby unit 25 and a turn table 26t of a coil insertion unit 26; a correction head 27b supported elastically retractably to the posture correction mechanism unit body 27a; and a plurality of posture correction guide projections 27b1, 27b2 projectingly arranged at the correction head 27b and for inserting the coil held by a hand unit 30b in a working robot 30.

Description

  The present invention relates to an automatic coil insertion device for a print head.

  For example, as an example of the print head 1 of a dot impact printer, the one shown in FIG. That is, in this print head 1, the nose 2, the substrate 3, the magnetic base yoke 4, the coil 5, the armature 6, the dot wire 7, the wire guide 8, the armature guide 9, and the stopper 10 are configured. , Cover 11, clamper 12, rubber ring 13, and coil spring 14.

The armatures 6 are arranged radially with the number corresponding to the number of dots (for example, 24 in the case of 24 dots) centering on the center line O of the print head 1. A wire 7 is fixedly connected to the inner end of each armature 6.
The number of coils 5 corresponding to the armature 6 is arranged on the circumference. When a predetermined coil 5 is energized and the corresponding yoke 4 is excited, the armature 6 is centered on the base end (point B) of the armature 6. 6 is attracted to the coil 5 side. Thus, the wire 7 is guided by the wire guide 8 and protrudes in the direction of A in FIG.
When the energization of the coil 5 is stopped, the armature 6 is returned to the original position together with the wire 7 by the restoring force of the coil spring 14, and the printing operation is finished.

Here, FIG. 16 shows the arrangement of the coils 5 of the print head 1. Here, the print head 1 has 24 wires 7 and has a print width W of 24 dots. The coils 5 that drive the wires 7 are arranged on the circumference as shown in the figure, and the correspondence between the coils 5 and the wires 7 is as shown in FIG. 17, and reference numbers α to δ in FIG. The first, second, 23rd and 24th wires 7 are driven.
FIG. 17 shows the wire 7 corresponding to the coil 5 described above by a wire number. The wires 7 are arranged in one or a plurality of rows in the order of wire numbers on the hitting surface. When arranging in two rows, for example, in one row, odd-numbered wires 7 are arranged in one row in order of numbers in a predetermined interval, and in the other row, even-numbered wires 7 are arranged in one row in order of numbers. The odd-numbered and even-numbered wires 7 are arranged so as to be shifted in the arrangement direction by a half of the arrangement interval. In the case of printing, the data is delayed by taking the column spacing into consideration.

  When assembling the drive assembly of the print head 1 as described above, it is necessary to incorporate the plurality of coils 5 one by one in a predetermined assembling position of the nose 2 so as not to be displaced in the assembling process. For this purpose, there is a demand for an automatic manufacturing facility that automatically positions and sets the coil 5 efficiently.

As a device for automatically assembling a large number of parts such as the above-described coil, for example, a method of assembling after attaching a dedicated tool to the tip of the robot and adjusting the phase in advance with a CCD camera or the like A method for generating the axis alignment movement direction and movement amount from the force sensor measurement data attached to the tip, aligning the axes, and subsequently generating the phase alignment movement amount from the force sensor measurement data and sequentially inserting and inserting them. It is well known.
However, in the above assembling method, noise is easily applied to the force sensor data, and it is difficult to accurately determine the moving direction of the center alignment from the obtained force information, and the fitting insertion work is uncertain, In addition, it is a procedure in which the movement amount of the axis alignment is determined based on the force sensor data, the operation is confirmed after the movement, and then the phase alignment is sequentially executed.
Therefore, in Patent Document 1, in order to overcome the above-described drawbacks, the axis is not limited in time series such as calculating the movement amount of the axis alignment and the movement amount of the phase alignment after waiting for the output of the force sensor data. A method of performing centering and phase matching at the same time has been proposed.

JP 2002-254257 A

However, in this method, a complicated control method must be used in the positioning and gripping step, the pressing step, the revolution trajectory generating step, and the automatic trajectory generating step for generating the rotation amount around the fitting insertion direction axis, There is a concern that costs will increase.
The present invention has been proposed in view of the background as described above, and relates to an automatic coil insertion and manufacturing facility. When a coil is inserted into a predetermined assembly position, a coil is gripped by a robot. Provided is an automatic coil insertion device for a print head that corrects a deviation from a predetermined insertion posture without using complicated control means such as an image recognition means using a camera, and enables smooth coil insertion. For the purpose.

  In order to solve the above-described problem, the invention according to claim 1 is an automatic coil insertion device for a print head, in which a coil tray mounting standby unit capable of mounting a tray on which a plurality of coils are mounted, and a coil tray mounting A work robot that grips and removes the coil from the tray placed on the stand-by unit, a posture correction mechanism that corrects the deviation of the coil held by the work robot from a predetermined insertion posture, and the coil is inserted A coil insertion portion that can be placed in the head base, and the posture correction mechanism portion again grips the coil with respect to the insertion posture during gripping by the work robot, and the coil is inserted in the insertion posture. It is characterized by being inserted into the head base.

  As a result, the coil is held by the work robot from the tray in the coil tray placement standby unit, the deviation from the predetermined insertion posture is once corrected by the posture correction mechanism unit, the coil is again held by the work robot, and the head The coil can be inserted at a predetermined insertion position in the base.

  Moreover, in the invention which concerns on Claim 2, the coil tray mounting standby part comprises the several coil tray mounting base which can each mount a tray, and a coil tray mounting base correct | amends the distortion of the mounted tray. Distortion correction means is provided.

  As a result, the distortion of the tray itself can be corrected before the coil is gripped by the work robot from the tray in the coil tray placement standby unit, and the influence on the posture of the coil stored in the tray is reduced. It is possible to suppress a deviation from a predetermined insertion posture at the time of gripping the coil by the robot.

  The invention according to claim 3 is characterized in that the distortion correction means includes detection means for detecting whether or not the tray is placed on the coil tray placement table.

  Thus, it is possible to detect whether or not the tray is placed on the coil tray mounting table, so that the operator can quickly take the measure of placing the tray on the coil tray mounting table.

  In the invention according to claim 4, the posture correction mechanism section includes a posture correction guide protrusion for inserting a coil gripped by the hand portion of the work robot, and the posture correction guide protrusion of the coil to be inserted is provided. A shaft portion having an outer diameter corresponding to the inner diameter is provided, and a tapered portion having a tapered tip that facilitates coil insertion is provided at the tip of the shaft portion.

  Accordingly, the coil is easily inserted into the posture correction guide projection by the tapered portion of the tip of the posture correction guide projection. At that time, the posture of the coil is corrected along the shaft portion of the posture correction guide projection.

  Further, in the invention according to claim 5, the posture correction guide protrusion is provided so as to protrude from the correction head, and is supported on the body of the posture correction mechanism part so as to be retractable elastically via the correction head. And

  Thus, for example, even if the hand portion of the work robot does not grip the coil, the posture correction guide protrusion is retracted even if the robot hand portion pushes the posture correction guide protrusion into the posture correction mechanism main body. In addition, it is possible to avoid damage to the claw portion in the hand portion of the work robot.

  The invention according to claim 6 is characterized in that the body of the posture correction mechanism section includes a coil insertion detection section.

  As a result, when the coil cannot be inserted into the posture correction guide projection while the claw portion of the hand portion of the work robot is not gripping the coil, the coil insertion detection unit can grasp that a supply error has occurred. The operator can deal with it promptly.

  In the invention according to claim 7, the coil insertion detection unit is configured to detect the insertion of the coil when the detection shaft protrudes from the correction head and the detection shaft blocks the main body of the posture correction mechanism unit. And a mold sensor.

  As a result, when the coil gripped by the claw portion of the hand portion of the work robot is pushed in and the coil is inserted into the posture correction guide protrusion, the posture correction guide protrusion is protruded by being pushed by the hand portion of the work robot. The correction head retracts to the main body side of the posture correction mechanism unit. If it does so, it can grasp | ascertain that the detection axis | shaft was detected by the non-contact type sensor and the coil was inserted as predetermined by moving to the direction in which a detection axis | shaft is pushed.

  In the invention according to claim 8, the main body of the posture correction mechanism portion includes a contact probe for performing a continuity test by connecting a terminal portion of the coil when the coil is inserted into the posture correction guide protrusion. It is characterized by being.

  As a result, when the coil is inserted into the posture correction guide projection as prescribed, the terminal portions of the coil are electrically connected to the contact probes, respectively, which allows a coil continuity test to be performed. Can be accurately grasped, and assembly of defective coils can be eliminated.

  In the invention according to claim 9, the hand portion of the work robot includes a pair of claw portions that can adjust the distance between them according to the inner dimension of the coil to be gripped.

  As a result, even if the built-in model is different, it is not necessary to replace the claw of the hand portion of the work robot that grips the coil for each model, and it is possible to incorporate various types of products and to handle small lot production.

  In a tenth aspect of the present invention, the pair of claw portions have a pair of claw portion tip portions that have different shapes corresponding to the inner space shape of the coil to be grasped.

  Thereby, the nail | claw part can hold | grip a coil reliably.

  Further, in the invention according to claim 11, each of the claw portions has a stepped shape corresponding to the size of the inner space of the coil to be grasped and having a small step at the insertion tip side and a large step at the insertion rear end side. It has a tip part.

  In this way, if the coil to be gripped is relatively small, grip it at the tip of the nail tip, and if the coil is relatively large, hold it at the back end of the tip of the nail. Can do.

  According to the present invention, when a coil is inserted into a predetermined assembly position, the deviation of the coil from a predetermined insertion posture is corrected without using complicated control means such as image recognition means using a camera. It is possible to provide an automatic coil insertion device for a print head capable of inserting a coil at a predetermined assembly position.

1 is an external perspective view showing a first embodiment of an automatic coil insertion device for a print head according to the present invention. It is an external appearance perspective view of the coil tray mounting standby part and coil insertion part which were arrange | positioned in the coil transfer part accommodating part in the automatic coil insertion apparatus shown in FIG. 1 shows a coil tray placement standby unit and a coil insertion unit disposed in a coil transfer unit accommodation unit in the automatic coil insertion device shown in FIG. 1, and also performs coil removal and coil posture correction in the posture correction mechanism unit. It is perspective explanatory drawing which showed the hand part of the work robot at the time. FIG. 3 is a cross-sectional explanatory view of a posture correction mechanism unit provided between a coil tray placement standby unit and a coil insertion unit disposed in a coil transfer unit housing unit in the automatic coil insertion device illustrated in FIG. 1. FIG. 5 is an enlarged cross-sectional explanatory view of a main part of the posture correction mechanism unit shown in FIG. 4. FIG. 5 is an enlarged cross-sectional explanatory view of a main part of the posture correction mechanism unit shown in FIG. 4. FIG. 5 is an enlarged cross-sectional explanatory view of a main part of the posture correction mechanism unit shown in FIG. 4. It is the elements on larger scale which show the linear guide with which the hand part of the working robot arrange | positioned in the robot accommodating part shown in FIG. It is a perspective explanatory view of the linear guide attached to the hand part shown in FIG. It is side surface explanatory drawing of the linear guide shown in FIG. FIG. 10 is another side explanatory view showing a part of the linear guide shown in FIG. 9 in section. FIG. 10 is another side explanatory view showing a part of the linear guide shown in FIG. 9 in section. (A)-(d) showed the operation | movement which opens a coil once from the pushing operation | movement at the time of correct | amending a coil with an attitude | position correction | amendment mechanism part with the nail | claw part of the linear guide with which the hand part of the work robot was mounted | worn, It is process explanatory drawing. (A)-(c) is process explanatory drawing which showed the operation | movement which hold | grips the coil by which attitude | position correction | amendment was carried out by the attitude | position correction | amendment mechanism part. It is a section explanatory view showing an example of a print head of a dot impact printer in which a coil handled by the present invention is mounted. It is explanatory drawing which showed arrangement | positioning of the coil used for a print head shown in FIG. It is explanatory drawing which showed the wire corresponding to the coil shown in FIG. 16 with the wire number.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an automatic coil insertion device for a print head according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows an external appearance of an automatic coil insertion device 20 for a print head according to the present invention.
This automatic coil insertion device 20 is used for automatically inserting and assembling a plurality of coils (described later) used in a print head in a SIDM printer (Serial Impact Dot Matrix printer) at a predetermined position of a drive assembly of the print head. One of the manufacturing facilities.
The automatic coil insertion device 20 is constructed as follows by a casing 21 formed in a rack shape with a frame, a bottom plate, a side plate, and a top plate. That is, the casing 21 includes a control device accommodating portion 21a that accommodates control devices, and a coil tray placement standby portion (described later) that is placed and waited in a state where the coil before assembly is accommodated in a tray that will be described later. In addition, a coil transfer portion accommodating portion 21b that accommodates a coil insertion portion (described later) in which a base of a drive assembly that takes out the coil from the arranged tray and inserts the coil is arranged, and from the coil tray placement standby portion to the coil insertion portion, It is constructed in a robot housing portion 21c that houses a robot (described later) that holds a coil and inserts it.
In this case, the control device accommodating portion 21a is positioned at the lowest level of the casing 21, the coil transfer portion accommodating portion 21b is positioned at the middle level, and the robot accommodating portion 21c is positioned at the uppermost level.

  A peripheral equipment control box 23 for controlling other peripheral equipment such as the above-described coil tray placement standby section, coil insertion section, and the like, as well as the robot control box 22 for issuing an operation command to the robot, is included in the control device accommodating section 21a. It is installed. Further, the control device accommodating portion 21a is provided with a power switch 24 for the original power supply of the entire apparatus.

Next, in the coil transfer part accommodating part 21b, as described above, the coil tray placement standby part 25 that arranges a predetermined number (for example, 48) of coils before being inserted and accommodated in the tray t, and the arrangement A plurality of coil insertion portions 26 are arranged adjacent to the base of the coil transfer portion accommodating portion 21b. The coil insertion portions 26 are arranged in a state where the coils are taken out from the tray and the bases in the drive assembly of the print head into which the coils are to be inserted are positioned. (See FIG. 2).
Further, when the coil is transferred from the coil tray mounting standby unit 25 to the coil insertion unit 26 by the robot between the coil tray mounting standby unit 25 and the coil insertion unit 26, An attitude correction mechanism 27 that corrects a deviation from a predetermined insertion attitude is provided (see FIG. 3).

A so-called parallel link type working robot 30 is mounted in the robot housing portion 21c. Although the detailed explanation is omitted, the work robot 30 has a hand portion 30b supported at the tip by three sets of movable links 30a arranged in parallel, and each movable link 30a is stored and mounted in a base portion 30c on the head side. The movable link 30a is capable of rotating in addition to three degrees of freedom, and the hand portion 30b attached to the tip is capable of movement with a maximum of six degrees of freedom. Thus, a highly accurate positioning operation is possible. A hand guide 30b provided at the tip of the three sets of movable links 30a is equipped with a linear guide for operating a claw portion as a tool for gripping or opening a coil which will be described later.
In addition, a touch panel type operation panel for inputting an operation command, displaying operation information, and other signals according to other situations to the robot control box 22 beside the work robot 30 in the robot housing portion 21c. 31 is arranged. For example, the operation panel 31 displays the number of operations of the hand unit 30b, that is, the number of times of gripping the coil so that the operator can grasp it.
The work robot 30 is configured to perform a series of operations (described later) based on the operation procedure stored in the robot control box 22.
The robot housing portion 21c has a light that is isolated from the frame constituting the housing 21 so that the operator can easily see the operation from the outside and the operator and the work robot 30 are not in direct contact with each other. A permeable panel is fitted.
Further, the robot housing portion 21 c is constructed in a pentagonal shape in plan view by the frame of the housing 21. Although this will be described in detail later, this is a design in consideration of the operation area of the hand unit 30b of the work robot 30. As a result, the frame forming the robot housing portion 21c provides a function of partitioning the work area between the operator performing the work on the coil transfer portion housing portion 21b and the work robot 30.

Therefore, the coil tray placement standby unit 25, the coil insertion unit 26, and the posture correction mechanism unit 27 disposed in the coil transfer unit accommodating unit 21b will be described in detail (see FIGS. 2 and 3).
The coil tray placement standby unit 25 and the coil insertion unit 26 include turntables 25t and 26t, respectively, which are arranged on the base 40 so that the outer peripheral surfaces are close to each other. The turntables 25t and 26t are configured to rotate around the vertical center axis under the control of the peripheral equipment control box 23 by a driving mechanism (not shown).

In the coil tray mounting standby section 25, six tray mounting tables 25a are arranged radially on the turntable 25t at equal angles around the rotation axis. The tray mounting table 25a has a mounting surface 25b in which the mounting surface of the tray t is inclined by approximately 40 degrees. The placement surface 25b is configured to place the tray t to be placed at a predetermined position with a pair of positioning pins p. The mounting surface 25b is a flat surface, and a plurality of suction ports 25c for suctioning by a suction unit (not shown) as a distortion correction unit are provided so that the back surface of the tray t to be placed is in close contact. It has been. The tray t is formed of a well-known synthetic resin, and there is a delicate distortion on the back surface of the tray t. When this distortion exists, the posture of the coil to be accommodated is affected. This is because the posture is greatly deviated from the predetermined insertion posture.
The suction means is provided with pressure detection means (not shown) for detecting whether or not the tray t is placed on the placement surface 25b of the tray placement table 25a. By displaying the detection signal of the pressure means on the operation panel 31, the operator can grasp the presence or absence of the tray t.

  The tray t is partitioned in a grid shape so that, for example, 48 pre-attached coils can be stored regardless of the coil type. The coil will be described later.

  Next, on the coil insertion portion 26, six bases 50 in the drive assembly of the print head are placed on the positioning adapter 26a on the turntable 26t at equal angles around the rotation axis.

  The posture correction mechanism unit 27 is located between the turntable 25t of the coil tray placement standby unit 25 and the turntable 26t of the coil insertion unit 26 (see FIG. 3), and the posture correction mechanism unit erected on the base 40. A main body 27a, a correction head 27b supported by the posture correction mechanism main body 27a in a releasable manner, and a coil protruding from the correction head 27b and gripped by the hand portion 30b of the work robot 30 are inserted. A plurality of posture correction guide protrusions 27b1 and 27b2 are provided (see FIG. 4).

  The correction head 27b is connected to the correction head support 27c provided on the top of the posture correction mechanism main body 27a along the vertical center axis passing through the posture correction mechanism main body 27a and the correction head support 27c via the float support mechanism 27f. It is supported. The float support mechanism 27f includes guide pins 27f1 and 27f1 and coil springs 27f2 and 27f2 that connect the correction head 27b and the correction head support 27c so that the correction head 27b can be moved up and down in the vertical axis direction ( (See FIGS. 5 and 6).

The posture correction guide protrusions 27b1 and 27b2 projecting from the correction head 27b are shaft portions having outer diameters that can be inserted in accordance with the inner diameter of the coil to be inserted, and these posture correction guide protrusions 27b1. 27b2 are formed with tapered portions 27b3 and 27b4 having a tapered shape that facilitates coil insertion.
The correction head 27b is supported via the float support mechanism 27f along the vertical center axis passing through the posture correction mechanism main body 27a and the correction head support 27c, so that the correction head 27b is guided by the guide pin 27f1, Since it is a function that restrains only in the vertical axis direction along 27f1, the shaft portions that are the posture correction guide protrusions 27b1 and 27b2 also have a structure that restrains only in the vertical axis direction.
The correction head 27b is provided with a fitting hole 27b5 into which the terminal portion of the coil is fitted when the coil is inserted into the posture correction guide protrusions 27b1 and 27b2 as predetermined (see FIG. 7).

  The correction head support portion 27c is provided with a coil insertion detection sensor 60 along the vertical center axis that penetrates the correction head support portion 27c. A light transmission type sensor can be applied to the coil insertion detection sensor 60. The coil insertion detection sensor 60 is provided with a detection port 61 along the vertical center axis, and a detection shaft 62 protruding from the correction head 27b is detected at the detection port 61 according to the vertical movement of the correction head 27b. The shaft 62 moves forward and backward, and the detection shaft 62 is detected by the coil insertion detection sensor 60, whereby it is determined whether or not the coil has been inserted into the posture correction guide protrusions 27b1 and 27b2 as predetermined.

  Further, contact probes 70, 70 are provided on the correction head support portion 27c toward the posture correction guide protrusions 27b1, 27b2 of the correction head 27b. That is, when the coil is inserted into the posture correction guide protrusions 27b1 and 27b2 as predetermined, the insertion hole 27b5 into which the terminal portion of the coil is inserted and the tips of the contact probes 70 and 70 are electrically connected, and the coil continuity test is performed. It is the structure which enables.

  A linear guide 80 is mounted on the hand portion 30b supported by the distal ends of the three sets of movable links 30a of the work robot 30 to operate the claw portion as a tool for gripping or releasing the coil ( (See FIG. 8). The linear guide 80 has a pair of claw portions 81 and 81 that move the distance between each other by the air pressure supplied to the air cylinder. The claw portions 81 and 81 include claw end portions 81a and 81b that can be adjusted according to the inner dimension of the coil 90 to be gripped. Since the inner space shape of the coil 90 to be gripped is a trapezoid whose four sides have different lengths, the claw tip ends 81a and 81b are different in the shape of the claw tip tips 81a and 81b. Also, the insertion tip side of the claw tip end portions 81a and 81b is small so that it can be inserted according to the coil 90 to be gripped, and a large step so that a large size coil 90 can be inserted on the insertion rear end side. It has a shape (see FIGS. 11 and 12). 90t represents a pair of terminal portions.

The automatic coil insertion device for a print head according to the present invention is configured as described above. Next, the operation thereof will be described.
At the start of the operation, the operator turns on the power switch 24 for the original power supply of the automatic coil insertion device 20 and energizes the robot control box 22 and the peripheral equipment control box 23 of the control device accommodating portion 21a to start up. Then, an operation command can be input by the operation panel 31 near the work robot 30 in the robot housing portion 21c. Further, the operator can easily grasp the current operation state of the apparatus from the operation information displayed on the operation panel 31 and other information related to the apparatus status.

  In starting the coil assembling process, in the work area on the coil tray mounting standby unit 25 side defined by the frame of the casing 21 in the coil transfer unit accommodating unit 21b, the operator firstly needs to assemble the coil assembly of the print head to be assembled. For example, 48 trays accommodating 48 coils 90 corresponding to the above are mounted on the mounting surface 25b of the tray mounting table 25a on the turntable 25t. On the other hand, the operator performs the work of placing the base 50 in the drive assembly of the print head via the positioning adapter 26a on the turntable 26t in the work area on the coil insertion portion 26 side.

  In the coil tray placement standby unit 25, the tray t to be placed can be placed at a predetermined position on the placement surface 25b of the tray placement table 25a by a pair of positioning pins p. At this time, since the back surface of the tray t is sucked through the suction port 25c provided on the mounting surface 25b (see FIG. 2), the back surface of the tray t can be placed in close contact with the mounting surface 25b. As a result, the subtle distortion on the back surface of the tray t is corrected, and the rough storing posture of the coil stored in the tray t can be corrected accordingly, and the coil can be moved in a predetermined posture with less variation by the robot. It can be gripped.

  Further, when the tray t is not placed on the placement surface 25b of the tray placement table 25a, the pressure detection provided in the suction means for sucking the back surface of the tray t through the suction port 25c provided in the placement surface 25b. The information can be detected by the means, and the information can be displayed on the operation panel 31 or the indicator lamp L above the robot housing portion 21c, so that even if the operator is not beside the automatic coil insertion device 20, the operation is easy. The situation can be grasped.

  Next, when the operator inputs an operation command through the operation panel 31 near the work robot 30, the work robot 30 is activated, and the hand portion 30b supported by the tips of the three sets of movable links 30a is gripped in a predetermined manner. The tray mounting table 25a at the position is brought close to the tray t on the mounting surface 25b inclined at 40 degrees from the orthogonal direction. And the linear guide 80 with which the hand part 30b was mounted | worn is operated, and the operation | movement which hold | grips the coil 90 is performed (refer FIG. 3).

When the coil 90 is gripped, the linear guide 80 adjusts the distance between the pair of claw portions 81 and 81 according to the inner dimension of the coil 90 to be gripped by the air pressure supplied to the air cylinder, The portions 81a and 81b are inserted into the inner space of the coil 90 to be gripped, and the claw portion tip portions 81a and 81b are driven so as to increase the interval, whereby the coil 90 can be gripped (FIGS. 9 and 9). 10, see FIG.
Even if the claw portion tip portions 81a and 81b have a trapezoidal shape in which the inner space of the coil 90 has four different lengths on each side, the shape of the claw portion tip portions 81a and 81b is larger than the other. Therefore, the coil 90 can be reliably gripped.
Further, the claw tip end portions 81a and 81b have a small size at the insertion tip side of the claw tip end portions 81a and 81b and a large size at the insertion rear end side. 81 and 81 can be shared without exchanging them (see FIGS. 11 and 12).

The coil 90 is gripped by the claw portions 81 and 81 of the linear guide 80 attached to the tip of the hand portion 30b of the work robot 30 as described above, and the coil 90 is positioned and stored in the tray t with high accuracy. However, the coil 90 is often held by the claw portions 81 and 81 in a state where the posture is deviated from the predetermined insertion posture.
In this state, the coil 90 cannot be directly incorporated into the base 50 in the drive assembly of the print head positioned and mounted with high accuracy via the positioning adapter 26a on the turntable 26t on the coil insertion portion 26 side.
Therefore, in order to correct the gripping posture of the coil 90 gripped by the claw portions 81, 81 in the linear guide 80 of the hand portion 30b of the work robot 30, the turntable 25t of the coil tray mounting standby portion 25, the coil insertion portion 26, the posture correction mechanism projection 27b1 projecting from the correction head 27b which is brought into the posture correction mechanism 27 between the 26 turntables 26t and is supported by the posture correction mechanism main body 27a in a resiliently retractable manner. The operation of correcting the posture of the coil 90 by inserting the gripped coil 90 is performed at 27b2. The shaft portions of the posture correction guide protrusions 27b1 and 27b2 are oriented in the vertical axis direction that matches a predetermined insertion posture.

When an operation command is sent to the work robot 30 and the claw portions 81 and 81 in the linear guide 80 of the hand portion 30b are brought directly above any of the posture correction guide protrusions 27b1 and 27b2 protruding from the correction head 27b, The inner space of the gripped coil 90 is inserted along the posture correction guide projections 27b1 and 27b2 via the tapered portions 27b3 and 27b4 on the corresponding ends of the posture correction guide projections 27b1 and 27b2. This is possible (see FIG. 13a).
When the gripped coil 90 is inserted along the posture correction guide protrusions 27b1 and 27b2, the inner space of the coil 90 hits the tapered portions 27b3 and 27b4 of the tip end of the posture correction guide protrusions 27b1 and 27b2. This is because the posture of the gripped coil 90 is deviated from the predetermined insertion posture.
In this state, when the coil 90 is pushed along the shaft portions of the posture correction guide protrusions 27b1 and 27b2, the claw portions 81 and 81 in the linear guide 80 of the hand portion 30b are formed by the tapered portions 27b3 and 27b4 having a tapered tip. In the gripped state, the posture of the coil 90 is gradually corrected.

In this state, when the claws 81 and 81 of the linear guide 80 of the hand portion 30b are pushed toward the posture correction guide protrusions 27b1 and 27b2, the coil 90 has both terminal portions 90t and the correction head 27b. It can be inserted to a predetermined position along the posture correction guide protrusions 27b1 and 27b2 while being inserted into the insertion hole 27b5 provided in the head (see FIGS. 13b and 13c).
When the coil 90 is pushed by the claw portions 81 and 81 in the linear guide 80 of the hand portion 30b, the correction head 27b provided with the posture correction guide protrusions 27b1 and 27b2 protrudes from the correction head support portion 27c. Along the pins 27f1 and 27f1, the coil springs 27f2 and 27f2 are retracted along the vertical center axis that penetrates the posture correction mechanism main body 27a and the correction head support 27c against the repulsive force of the coil springs 27f2 and 27f2.

  When the correction head 27b is retracted to the correction head support portion 27c side as described above, the detection shaft 62 protruding from the correction head 27b side with respect to the detection port 61 provided in the correction head support portion 27c, The detection shaft 62 is interlocked according to the backward movement of the correction head 27b, and the coil insertion detection sensor 60 detects the detection shaft 62, so that the coil 90 is inserted into the posture correction guide protrusions 27b1 and 27b2 as predetermined. It is possible to grasp whether or not. Information about whether or not the coil 90 has been inserted into the posture correction guide protrusions 27 b 1 and 27 b 2 can be displayed on the operation panel 31 near the work robot 30.

  If the coil 90 is not gripped by the claw portions 81, 81 of the linear guide 80 of the hand portion 30b of the work robot 30, the posture correction guide protrusions 27b1, Even if 27b2 is pushed in, the detection shaft 62 protruding from the correction head 27b side is not detected by the coil insertion detection sensor 60 at the detection port 61, and it is possible to grasp that there has been a catch mistake in the coil 90. .

  Further, when the coil 90 is inserted into the posture correction guide protrusions 27b1 and 27b2 as prescribed, both the terminal portions 90t of the coil 90 are inserted into the insertion holes 27b5 provided in the correction head 27b, whereby the contact probe 70 is obtained. , 70 are electrically connected, the continuity test of the coil 90 becomes possible, and the quality of the coil 90 can be judged.

As described above, when the coil insertion detection sensor 60 detects that the coil 90 has been inserted into the posture correction guide protrusions 27b1 and 27b2 by the claws 81 and 81 in the linear guide 80 of the hand portion 30b of the work robot 30. Then, the claw portions 81, 81 in the linear guide 80 of the hand portion 30b of the work robot 30 reduce the interval to temporarily open the coil 90 (see FIG. 13d).
Then, the coil 90 inserted in the posture correction guide protrusions 27b1 and 27b2 follows the shaft portion of the posture correction guide protrusions 27b1 and 27b2 positioned in the vertical axis direction, and the posture naturally moves in a predetermined direction. It becomes a corrected state.
When the coil 90 is gripped by the claws 81 and 81 in the linear guide 80 of the hand 30b of the work robot 30 again, the coil 90 can be gripped accurately in a predetermined posture (see FIGS. 14a to 14c). ).

  In this way, the coil 90 gripped by the claw portions 81, 81 of the work robot 30 is placed on the base 50 positioned and placed with high accuracy via the positioning adapter 26a on the turntable 26t on the coil insertion portion 26 side. , Can be inserted and incorporated as prescribed.

  As described above, the series of steps of taking out the coil, correcting the gripping posture, and incorporating the coil by the work robot 30 is repeated by the number of coils (48 stored in one tray). This is counted by the robot control box 22 that controls the work robot 30 and displayed on the operation panel 31. Thereby, the operator can easily grasp the progress of the process.

  When the above steps are repeated 48 times, the tray t on the mounting surface 25b of the tray mounting table 25a at a predetermined gripping position becomes empty, and a series of coil extraction, gripping posture correction, and coil incorporation by the robot control box 22 is performed. A command to stop this process is issued, and the work robot 30 and the peripheral equipment control box 23 rotate and turn the turntable 25t halfway with respect to the coil tray placement standby unit 25, so that there is an empty space in the operation area of the work robot 30. The tray mounting table 25a on which the tray t is placed is moved to the position of the operator's work area, and the apparatus is stopped. This stop state can be displayed on the indicator lamp L at the upper part of the robot housing portion 21c, and the operation status can be easily grasped even if the operator is not near the automatic coil insertion device 20.

  Next, the operator replaces and places the tray t packed with 48 coils 90 on the tray placing table 25a on which the empty tray t moved to the position of the work area is placed. By pressing S (reset switch), a command to start a series of steps is issued again, and counting is started by the robot control box 22 that controls the work robot 30 and displayed on the operation panel 31. The stop state can also be easily recognized by the operator by blinking the lamp with the start switch S.

On the other hand, in the process of incorporating the coil, the work robot 30 is controlled by being assembled to the base 50 positioned and placed with high accuracy via the positioning adapter 26a on the turntable 26t on the coil insertion portion 26 side. When counted by the robot control box 22, the assembly into the base 50 is completed, the turntable 26t on the coil insertion portion 26 side is rotated halfway, and the positioning adapter 26a that supports the base 50 that has been assembled is It moves from the operation area of the work robot 30 to the position of the operator's work area, a stop command is issued, and the apparatus is stopped. This stop state can be displayed on the indicator lamp L at the upper part of the robot housing portion 21c, and the operation status can be easily grasped even if the operator is not near the automatic coil insertion device 20.
Then, the operator takes out the base 50 that has been assembled, replaces it with a new base 50 that has not been assembled, and presses the start switch S (reset switch) to give a command to start the assembly process again. The counting is started by the robot control box 22 for controlling the work robot 30 and displayed on the operation panel 31.

The operation of the automatic coil insertion device for the print head according to the present invention has been described above, and the operation thereof has been described. However, in addition to the mechanical posture correction mechanism unit 27, of course, well-known posture correction means by image recognition may be applied. Can do. In this case, cameras are arranged on the robot hand side and on the lower side, the inclination of the gripped coil is detected, a correction value is derived, and the position of the robot hand unit is corrected based on the correction value. It is the structure to perform.
In this case, the apparatus is complicated and complicated as compared with the mechanical posture correction mechanism unit 27, but the posture of the coil can be reliably corrected.

DESCRIPTION OF SYMBOLS 20 Coil automatic insertion apparatus 21 Case 21a Control apparatus accommodating part 21b Coil transfer part accommodating part 21c Robot accommodating part 22 Robot control box 23 Peripheral equipment control box 24 Power switch 25 Coil tray mounting standby part 25a Tray mounting base 25b Mounting surface 25c Suction port 26 Coil insertion portion 26a Positioning adapter 25t, 26t Turntable 27 Attitude correction mechanism portion 27a Attitude correction mechanism portion main body 27b Correction head 27b1, 27b2 Attitude correction guide protrusions 27b3, 27b4 Taper portion 27b5 Insertion hole 27b6 Detection shaft 27c Correction Head support portion 27c1 Coil insertion detection sensor 27c2 Detection port 27c3 Contact probe 27f Float support mechanism 27f1, 27f2 Guide pin 27f3, 27f3 Coil spring 30 Work B 30a Movable link 30b Hand part 30c Base 31 Operation panel 40 Base 50 Base 60 Coil insertion detection sensor 61 Detection port 62 Detection shaft 70 Contact probe 80 Linear guide 81 Claw part 81a, 81b Claw part tip part 90 Coil 90t Terminal part L Indicator light S Start switch

Claims (11)

An automatic coil insertion device for a print head,
A coil tray mounting standby unit capable of mounting a tray on which a plurality of coils are mounted;
A working robot that grips and removes the coil from the tray placed on the coil tray placement standby unit;
A posture correction mechanism for correcting a deviation of a coil held by the work robot with respect to a predetermined insertion posture;
A coil insertion part capable of arranging a head base into which the coil is inserted in the insertion posture,
The coil whose deviation from the insertion posture at the time of gripping in the posture correction mechanism is corrected is again gripped by the work robot, and the coil is inserted into the head base in the insertion posture. A print coil automatic insertion device. The coil tray mounting standby unit includes a plurality of coil tray mounting tables each capable of mounting the tray,
2. The automatic coil insertion device for a print head according to claim 1, wherein the coil tray mounting table includes distortion correction means for correcting distortion of the mounted tray. 3.   3. The automatic coil insertion device for a print head according to claim 2, wherein the distortion correction means includes detection means for detecting whether or not the tray is mounted on the coil tray mounting table. The posture correction mechanism unit includes a posture correction guide projection for inserting a coil held by the hand portion of the work robot,
The posture correction guide protrusion has an outer diameter shaft portion corresponding to the inner diameter of the coil to be inserted, and a tip end tapered portion that facilitates coil insertion is provided at the tip of the shaft portion. The automatic coil insertion device for a print head according to claim 1.   5. The posture correction guide protrusion is provided so as to protrude from a correction head, and is supported on the main body of the posture correction mechanism unit so as to be resiliently retractable via the correction head. Automatic print head coil insertion device.   6. The automatic coil insertion device for a print head according to claim 5, wherein the main body of the posture correction mechanism unit includes a coil insertion detection unit.   The coil insertion detection unit includes a detection shaft protruding from the correction head with respect to the main body of the posture correction mechanism unit, and a non-contact type sensor that detects insertion of the coil by being blocked by the detection shaft. 6. The automatic coil insertion device for a print head according to claim 5, wherein the coil automatic insertion device is configured.   The main body of the posture correction mechanism section includes a contact probe that performs a continuity test by connecting a terminal portion of the coil when the coil is inserted into the posture correction guide protrusion. The automatic coil insertion device for a print head according to any one of claims 4 to 7.   2. The automatic coil insertion of a print head according to claim 1, wherein the hand portion of the work robot includes a pair of claw portions capable of adjusting a distance between each other according to an inner dimension of a coil to be gripped. apparatus.   10. The print head coil automatic printing apparatus according to claim 9, wherein the pair of claw portions have a pair of claw portion tip portions that have different shapes corresponding to the inner space shape of the coil to be gripped. Insertion device.   Each of the claw portions has a claw portion tip portion having a stepped shape corresponding to the size of the inner space of the coil to be gripped and having a small step at the insertion tip side and a large step at the insertion rear end side. The automatic coil insertion device for a print head according to claim 9 or 10.

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