JP2013132699A - Component transfer device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a component transfer device capable of gripping two components by one simple compact gripping device and speedily transferring them.SOLUTION: The component transfer device includes: a component storage station 24 where a plurality of components A and components B are stored; a robot R including a gripping device 67 having a first grip member 65 fitted to the tip 72 of an arm 64 and gripping a component A and a second grip member 66 gripping a component B; a detection device 68 for detecting the gripping position of the component B, and a placing table 69 on which the component B is placed when there is deviation between the gripping position of the component B and a reference position. The gripping device 67 is fitted rotatably around the axis 73 of the tip 72, and provided with the first gripping member 65 at one side in a direction orthogonal to the axis 73 and the second gripping member 66 at the other side. The second gripping member 66 re-grips the component B at a gripping position obtained by correcting the deviation on the mounting table 69 when there is the deviation.

Description

  The present invention relates to a component transfer apparatus that transfers a component from a supply source to a transfer destination.

  2. Description of the Related Art In a part transfer device for a production line, a gripping device suitable for characteristics such as the shape, size, thickness, and material of a part is attached to a robot arm and used. In this case, normally, one gripping device is used for one component.

  On the other hand, when two parts are handled by one gripping device, the gripping device becomes complicated and the size is increased and the weight is increased. In this case, it is necessary to attach a heavy gripping device to the robot arm, and it is necessary to prepare a large durable robot. Further, the tip end side of the robot arm becomes heavy and the operation is restricted, and there may be a disadvantage that a small turn cannot be achieved.

  In relation to the component transfer device using a robot, for example, in Patent Document 1, a gripping device having a suction cup and a clamper for gripping a vehicle body panel as a component is provided below the base plate. A vehicle body panel operating device is disclosed that grips and conveys the vehicle body panel in cooperation with each other.

  However, in the technique described in Patent Document 1, two types of gripping members, a suction cup and a clamper, are used, and these gripping members are provided together below the base plate for gripping one vehicle body panel. As a result, the apparatus becomes complicated and large. As described above, the technique described in Patent Document 1 not only considers the case of handling two parts with a single gripping device, but in such a case, the device becomes complicated and increases in size and weight. It does not provide means for solving the problem of increasing.

JP 2005-28565 A

  The present invention has been made in view of the circumstances as described above, and an object of the present invention is to provide a component transfer device that can quickly transfer a component by gripping two components with one simplified miniaturized gripping device. Is to provide.

The invention according to claim 1 is a component transfer device for transferring a component from a supply source to a transfer destination,
A parts storage station provided with a first storage part for storing a plurality of first parts and a second storage part for storing a plurality of second parts, a movable arm, and a tip part of the arm A first gripping member for gripping the first part attached and stored in the first storage part; and a second gripping member for gripping the second part stored in the second storage part. A robot including a gripping device; a detection device for detecting a gripping position of the second component by the second gripping member; and a gripping position of the second component by the second gripping member detected by the detection device And a mounting table for mounting the second component when there is a deviation between the predetermined reference position and the predetermined reference position, and the gripping device is rotatable around the axis of the tip portion Mounted and orthogonal to the axis And the second gripping member is provided on the other side of the first gripping member in the direction in which the second gripping member is disposed on the mounting table. The second part is gripped again at the gripping position corrected, and the robot transfers the first part and the second part gripped by the gripping device to the transfer destination.

According to this invention, the two parts of the first part and the second part can be collectively held on the front side and the back side of the holding apparatus, and the two parts can be held while rotating the holding apparatus. The positions of both parts can be reversed, for example, vertically. Therefore, the gripping device can be simplified and miniaturized, and the delivery operation of receiving two parts from the supply source and passing them to the transfer destination can be quickly performed.
That is, it is possible to provide a component transfer device that can grip two components with a single simplified gripping device and transfer them quickly.
Further, the shift of the grip position of the second part by the second grip member can be corrected, and the second part is moved to an appropriate installation position at the transfer destination while the first part and the second part are gripped and transported collectively. It becomes possible to pass.

  The invention according to claim 2 is the component transfer device according to claim 1, wherein the gripping device further includes a base member having a pair of surfaces facing in opposite directions parallel to the axis, The first gripping member is provided on one surface side of the pair of surfaces, and the second gripping member is provided on the other surface side of the pair of surfaces.

  According to the present invention, two parts can be collectively gripped on the front side and the back side of the base member in the gripping device, and the positions of both parts can be maintained while gripping the two parts by rotating the base member. It can be reversed. In addition, the first gripping member and the second gripping member can be easily and reliably installed in the gripping device.

  A third aspect of the present invention is the component transfer device according to the first or second aspect, wherein the first gripping member includes a plurality of openable and closable members for sandwiching and gripping the first component. It has a claw part, and the 2nd grasping member has a plurality of adsorption parts for adsorbing and grasping the 2nd parts.

According to the present invention, since the claw portion and the suction portion are used, the gripping device is further reduced in size and weight, and the burden on the robot to which the gripping device is attached is further reduced.
Also, for example, when the first part and the second part are two different types of parts, it is possible to accurately grip with a gripping member that matches the characteristics such as the shape, size, thickness, and material of each part. It becomes possible.

  Invention of Claim 4 is the components transfer apparatus as described in any one of Claim 1 thru | or 3, Comprising: The said 1st component and the said 2nd component exhibit a ring shape, and the said 1st storage is carried out. The part is a first cylinder that stands upright at the parts storage station and stores the first parts in a plurality of stages, and the second storage part stands up at the parts storage station and A second cylinder for storing two parts stacked in a plurality of stages, wherein the reference position is a predetermined circumference based on an installation position in a circumferential direction of the second part regulated at the transfer destination; It is a reference position in the direction.

  According to this invention, it can be suitably applied to a case where a plurality of ring-shaped parts are assembled to a workpiece, and the ring-shaped first part and the second part stored compactly in the part storage station are collectively grasped. While being transferred, the second part can be passed to the installation position in the appropriate circumferential direction at the transfer destination.

  According to a fifth aspect of the present invention, in the component transfer device according to any one of the first to fourth aspects, the second gripping member is configured so that the robot is By moving the arm according to a detection value by a detection device, the second component is gripped again at the gripping position where the displacement is corrected on the mounting table.

  According to this invention, by moving the arm of the robot, it is possible to easily correct the grip position of the second part by the second grip member without adding a separate configuration.

  The invention according to claim 6 is the component transfer device according to any one of claims 1 to 5, wherein the second component is transferred to and placed on the workpiece, One part is transferred to the assembling apparatus and delivered, and the first part is brought into contact with the upper surface of the second part placed on the work by the assembling apparatus and press-fitted into the work from above. It is characterized by being.

  According to the present invention, when there is a correlation between the first part and the second part, for example, the first part is a part for preventing the second part from falling off the workpiece, the first part. Since the first part and the second part can be gripped and transported together, it is possible to prevent the first part and the second part from being forgotten to be assembled or erroneously assembled.

  ADVANTAGE OF THE INVENTION According to this invention, the components transfer apparatus which can hold | grip two components with one simple miniaturized holding device and can transfer rapidly can be provided.

It is a figure which shows the workpiece | work used with the components transfer assembly apparatus with which the components transfer apparatus which concerns on one Embodiment of this invention was applied, (a) is a perspective view, (b) is a top view, (c) is ( It is sectional drawing which follows the XX line of b). It is a top view of a components transfer assembly apparatus. FIG. 3 is a front view of the component transfer assembly apparatus shown in FIG. 2. FIG. 4 is an enlarged front view of the periphery of the workpiece transfer mechanism and the component transfer mechanism shown in FIG. 3. It is a principal part enlarged view of a components transfer mechanism, (a) is sectional drawing which follows the YY line of (b), (b) is a right view. It is an enlarged front view which shows the front-end | tip part periphery of a components storage station and a robot arm. It is a top view which shows the components B mounted in the mounting base. It is a perspective view which shows the holding | gripping apparatus attached to the front-end | tip part of the arm of a robot. It is the figure seen from P of FIG. It is the figure seen from Q of FIG. It is a front view which shows the principal part of a component assembly station. It is sectional drawing which shows the mode of the assembly | attachment of the component C in a component assembly station, (a) shows the mode before the assembly of the component C, (b) shows the mode after the assembly of the component C.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
First, before describing a component transfer assembly apparatus to which a component transfer apparatus according to an embodiment of the present invention is applied, a workpiece used in the component transfer assembly apparatus will be described.

  1A and 1B are views showing a workpiece used in a component transfer assembly device to which a component transfer device according to an embodiment of the present invention is applied, wherein FIG. 1A is a perspective view, FIG. 1B is a plan view, (c) is sectional drawing which follows the XX line of (b). In order to clarify the explanation, the vertical direction of the workpiece is set as shown in FIG.

  As shown in FIG. 1, the workpiece W is a rotor used in a rotating electric machine such as a motor or a generator. The workpiece W includes a rotor main body 11, a yoke 12 provided on the outer peripheral surface side of the large-diameter portion 11 a of the rotor main body 11, and a lower end face plate 13 disposed below the yoke 12. The yoke 12 is configured by laminating a plurality of thin steel plates in the axial direction (the vertical direction in FIG. 1C, the same applies hereinafter). A plurality of holes 11c for attaching rotating shafts (not shown) formed at equiangular intervals in the circumferential direction, and circumferential positioning holes into which pins 40 (see FIG. 11) are inserted are inserted into the bottom of the rotor body 11. 11d.

  On the outer peripheral side of the yoke 12, notches 12a are formed along the axial direction at predetermined angular intervals, and two storage holes 12b are formed along the axial direction between the two notches 12a. ing. Moreover, the recessed part 12c is formed in the inner diameter side edge part of the accommodation hole 12b. And the magnet 14 is accommodated in each accommodation hole 12b.

  The component transfer assembly device to which the component transfer device according to this embodiment is applied includes a plurality of components A (first component), B (second component), and C (third component) (see FIG. 1C). This is a parts transfer assembly apparatus that transfers and attaches to the workpiece W. Here, the component transporting and assembling apparatus places the component B, which is an upper end plate, on the yoke 12 of the workpiece W, contacts the component A on the component B, and the outer peripheral surface of the large-diameter portion 11a of the rotor body 11. The component C is press-fitted into the outer peripheral surface of the small-diameter portion 11b formed on the lower end side of the rotor body 11 from below.

  FIG. 2 is a plan view of the component transfer assembly apparatus. FIG. 3 is a front view of the component transfer assembly apparatus shown in FIG. In order to clarify the explanation, the front / rear / right / left / up / down directions of the component transfer assembly apparatus are set as shown in FIGS.

  As shown in FIGS. 2 and 3, the component transfer assembly apparatus positions the workpiece W on the conveyor 25 by positioning a workpiece storage station 24 in which a plurality of components A, B, and C to be assembled to the workpiece W are stored. Pallet 26 for fluidizing, pallet 26 is positioned and stopped, component supply station 27 to which component C is supplied, and workpiece W is gripped and moved to and away from component supply station 27. The workpiece transfer mechanism 28, the workpiece transfer mechanism 28, and the workpiece transfer mechanism 28 are configured to be movable together. The component transfer mechanism 29 grips the component C and transfers it to the component supply station 27. A part assembly station 30 for positioning and stopping the pallet 26 and assembling parts A, B, and C to the workpiece W, and parts And holding the component B and a, and a robot R to transfer the parts assembly station 30.

  The component storage station 24, the component supply station 27, and the component assembly station 30 are installed on the base 1, the component storage station 24 is arranged on the right side of the component supply station 27, and the rear side of the component supply station 27. A component assembling station 30 is arranged (downstream). In FIG. 3, a component assembly station 30 disposed on the rear side of the component supply station 27 is shown.

  The parts storage station 24 is provided with a first storage part 21, a second storage part 22, and a third storage part 23 for storing a plurality of parts A, B, and C, respectively. The 1st storage part 21, the 2nd storage part 22, and the 3rd storage part 23 are provided along with the direction orthogonal to the conveyance direction of the pallet 26 by the conveyor 25. As shown in FIG. Here, the parts A, B, and C have a ring shape, and the first storage part 21, the second storage part 22, and the third storage part 23 are formed by stacking the parts A, B, and C in a plurality of stages. A first cylindrical body 31, a second cylindrical body 32, and a third cylindrical body 33 are provided for storage.

  According to such a configuration of the component storage station 24, the component storage station 24 can be suitably applied to a case where a plurality of ring-shaped components A, B, and C are assembled to the workpiece W. B and C can be stored compactly. In FIG. 3, the cylindrical side surfaces of the first cylindrical body 31, the second cylindrical body 32, and the third cylindrical body 33 exhibiting a cylindrical shape are shown (the same applies to FIG. 6).

  Here, the conveyor 25 is a roller conveyor provided with rollers 52 (see FIG. 4). The pallet 26 carries the work W and flows on the conveyor 25 by the rotation of the roller 52. In the pallet 26, when the pallet 26 is stopped, an engaging hole 34 into which a stopper roller 35 (see FIG. 12, hereinafter the same) is inserted and engaged, and a pin 37 (see FIG. 12, the same applies below) are inserted. Positioning holes 36 are provided.

  The workpiece transfer mechanism 28 grips the workpiece W on the pallet 26 and temporarily retracts and transfers it to the side of the component supply station 27 (here, the left side), and the component transfer mechanism 29 places the component C on the empty pallet 26. After placement, the workpiece W is returned to the component supply station 27 and the gripped workpiece W is returned to the pallet 26.

  The component transfer mechanism 29 grips the component C and transfers it toward the component supply station 27, and the gripped component C is emptied after the workpiece transfer mechanism 28 grips the workpiece W and retreats and transfers it from the pallet 26. It mounts on the pallet 26 which became.

  The robot R grips and transfers the part A stored in the first storage part 21 and the part B stored in the second storage part 22, and the assembly apparatus 39 installed in the part assembly station 30. And the part B is placed on the workpiece W.

  The assembling device 39 has a function of assembling the transferred parts A, B, and C to the workpiece W. Here, the assembling device 39 abuts the part A on the upper surface of the part B placed on the workpiece W and press-fits the outer diameter surface of the large-diameter portion 11a (see FIG. 1C) of the workpiece W from above. Thus, the component C is configured to be press-fitted and assembled to the outer peripheral surface of the small diameter portion 11b (see FIG. 1C) of the workpiece W from below.

  FIG. 4 is an enlarged front view of the periphery of the workpiece transfer mechanism and the component transfer mechanism shown in FIG. FIG. 5 is an enlarged view of a main part of the component transfer mechanism, where (a) is a cross-sectional view taken along line YY of (b), and (b) is a right side view.

  As shown in FIG. 4, the workpiece transfer mechanism 28 and the component transfer mechanism 29 are connected to each other by a connecting bar 41, and are provided so as to be movable in the left-right direction along a pair of rails 42 and 42. The workpiece transfer mechanism 28 and the component transfer mechanism 29 are moved by one drive source 43.

  According to such a configuration, the workpiece transfer mechanism 28 and the component transfer mechanism 29 can be moved together with a simple configuration. Therefore, the component transfer assembly apparatus can be further miniaturized, and the workpiece transfer mechanism 28 and the component transfer mechanism 29 can be positioned simultaneously, so that positioning control is facilitated.

  The workpiece transfer mechanism 28 includes a chuck portion 45 having a pair of claw portions 44 and 44 that are inserted into two opposite holes 11c among the plurality of holes 11c of the workpiece W and open from the inside to the outside to grip the workpiece W. The drive source 46 for opening and closing the pair of claw portions 44, 44 of the chuck portion 45 and the drive source 47 for raising and lowering the chuck portion 45 are provided.

  The parts supply station 27 is provided with an inspection device 53 for inspecting whether or not the magnet 14 (see FIG. 1), which is an assembly part to be assembled in the previous process, is assembled to the workpiece W. The inspection device 53 is disposed above the conveyor 25 in the component supply station 27, and for example, optically captures an image to determine the presence or absence of a plurality of magnets 14.

  As shown in FIGS. 4 and 5, the component transfer mechanism 29 includes a chuck portion 49 having a pair of claw portions 48, 48 that sandwich and grip the outer peripheral surface of the component C by closing from the outside to the inside, and the chuck portion. 49, a drive source 50 for opening and closing the pair of claw portions 48, 48 and a drive source 51 for raising and lowering the chuck portion 49 are provided.

  FIG. 6 is an enlarged front view showing the vicinity of the tip of the parts storage station and the robot arm. FIG. 7 is a plan view showing the component B placed on the placing table. FIG. 8 is a perspective view showing the gripping device attached to the tip of the robot arm. FIG. 9 is a view as seen from P in FIG. FIG. 10 is a diagram viewed from Q of FIG.

  As shown in FIG. 6, the first storage unit 21 includes an elevating body 54 that can move up and down in the axial direction along the outer peripheral surface of the first cylindrical body 31, and a drive source 55 that elevates and lowers the elevating body 54. . And the drive source 55 of the 1st storage part 21 is comprised so that the component A currently stored with the raising / lowering body 54 may be raised by the thickness of one sheet of the component A after the transfer of the component A. The second storage unit 22 includes an elevating body 56 that can be moved up and down in the axial direction along the outer peripheral surface of the second cylindrical body 32, and a drive source 57 that elevates and lowers the elevating body 56. 23 includes an elevating body 58 that can be raised and lowered in the axial direction along the outer peripheral surface of the third cylindrical body 33, and a drive source 59 that elevates and lowers the elevating body 58, and the stored parts B and C are also , Each of them is configured to be raised by one thickness.

  Moreover, the 2nd storage part 22 is provided with the sensor 62 which detects that the components B are not double-fed (two sheets are overlapped and transferred). As the sensor 62, for example, a proximity sensor is used, and the presence or absence of double feeding can be determined based on the sensor output value.

  The robot R is stored in the first holding member 65 and the second storage unit 22 for holding the movable arm 64 and the part A attached to the distal end portion 72 of the arm 64 and stored in the first storage unit 21. A gripping device 67 having a second gripping member 66 for gripping the component B is provided.

  Further, in the vicinity of the component storage station 24, a detection device 68 for detecting a gripping position of the component B in the circumferential direction by the second gripping member 66, and a component B by the second gripping member 66 detected by the detection device 68. A mounting table 69 having a horizontal upper surface for mounting the component B when there is a deviation between a gripping position in the circumferential direction and a reference position in a predetermined circumferential direction is installed. Here, the reference position in the circumferential direction is determined in advance based on the installation position in the circumferential direction of the part B that is regulated in the workpiece W that is the transfer destination.

  The detection device 68 is arranged so that the detection surface, which is the end surface in the detection direction, is parallel to the vertical surface so as to face at least part of the end surface of the ring-shaped component B made parallel to the vertical surface by the robot R. Has been.

  As shown in FIG. 7, notches 70 are formed at predetermined angular intervals on the outer peripheral side of the component B, and two holes 71 are formed between the two notches 70. The notch 70 and the hole 71 of the part B are formed at positions corresponding to the notch 12a and the recess 12c (see FIG. 1B) of the workpiece W. The detection device 68, for example, optically captures an image and detects the position of the cutout portion 70 of the component B, whereby the position between the gripping position of the component B by the second gripping member 66 and a predetermined reference position is detected. This is to detect the deviation. When the second gripping member 66 has the shift, the robot R moves the arm 64 in accordance with the detection value of the detection device 68 to move the component B at the gripping position where the shift is corrected on the mounting table 69. It is designed to grip again.

  As shown in FIGS. 8 to 10, the gripping device 67 is rotatably attached around a shaft 73 in the extending direction of the distal end portion 72 of the arm 64 and is first on one side in a direction orthogonal to the shaft 73. A gripping member 65 is provided, and a second gripping member 66 is provided on the other side. That is, the first grip member 65 and the second grip member 66 are provided back to back.

  More specifically, the gripping device 67 further includes a base member 74 having a pair of surfaces facing in opposite directions parallel to the shaft 73, and the first gripping member 65 is a pair of surfaces of the base member 74. The second gripping member 66 is provided on the other surface side of the pair of surfaces of the base member 74.

  According to such a configuration, the two parts A and B can be collectively held on the front side and the back side of the base member 74 in the holding device 67, and the two parts A and B can be rotated by rotating the base member 74. The position of both parts A and B can be reversed while holding B. Further, the first holding member 65 and the second holding member 66 in the holding device 67 can be easily and reliably installed.

  The first gripping member 65 includes a plurality of freely openable / closable (in this case, three) claw portions 75 for holding and gripping the component A by closing from the outside to the inside, and a drive source for opening and closing the three claw portions 75 76. The second gripping member 66 has a plurality (eight in this case) of suction portions 77 for sucking and gripping the component B.

  According to such a configuration, since the claw portion 75 and the suction portion 77 are used, the gripping device 67 is further reduced in size and weight, and the burden on the robot R to which the gripping device 67 is attached becomes lighter. In the present embodiment, the parts A and B are two different types of parts, and the gripping members that match the characteristics of the shapes, sizes, thicknesses, materials, etc. of the parts A and B are used appropriately. It can be gripped.

  FIG. 11 is a front view showing a main part of the component assembling station. 12A and 12B are cross-sectional views showing the state of assembling the part C at the part assembling station. FIG. 12A shows the state before the part C is assembled, and FIG. 12B shows the state after the part C is assembled. Indicates. In FIG. 12, the upper peripheral members are not shown for convenience of explanation.

  As shown in FIG. 11, the assembling device 39 installed in the component assembling station 30 includes a press-fitting head 78 on which a component A that is press-fitted into the workpiece W is mounted, and a drive source 79 that moves the press-fitting head 78 up and down. And. A magnet (not shown) for attracting and holding the part A is provided at the receiving position of the part A in the press-fitting head 78.

  Further, the component assembly station 30 is provided with a pressing device 80 that presses and supports the side surface of the workpiece W. On the other hand, the pallet 26 is provided with a pin 40, and the workpiece W is positioned in the circumferential direction by being inserted into the positioning hole 11d of the workpiece W. In addition, the hole 11c (refer FIG. 1) for the rotating shaft attachment of the workpiece | work W may be used as a positioning hole in the circumferential direction.

  As shown in FIG. 12, the component assembly station 30 includes a stopper roller 35 that is inserted into and engaged with the engagement hole 34 of the pallet 26, and a pin 37 that is inserted into the positioning hole 36 of the pallet 26. A positioning device 38 is installed. The positioning device 38 further includes a drive source 84 for raising and lowering the stopper roller 35 and a drive source 85 for raising and lowering the pin 37. Note that a positioning device 38 is similarly installed in the component supply station 27.

  The pallet 26 has a movable piece 81 that can be moved up and down, and a component C is placed and set on the movable piece 81. The assembling device 39 includes a plurality of (for example, three) pressing pins 82 that can be moved up and down below the movable piece 81, a press-fitting head 83 that presses the pressing pin 82 from below, and a drive that moves the press-fitting head 83 up and down. Source (not shown).

  In addition, each drive source in this embodiment can be selected and used from various drive sources, such as a fluid pressure cylinder using an air pressure, a hydraulic pressure, etc., an electric motor, a solenoid, etc., for example.

Next, the operation of the present embodiment configured as described above will be described.
As shown in FIGS. 2 and 12, when the workpiece W is positioned and placed on the pallet 26 and conveyed on the conveyor 25, it is stopped at the component supply station 27. That is, at the component supply station 27, the stopper roller 35 is inserted into and engaged with the engagement hole 34 provided in the pallet 26, and the flow of the pallet 26 by the roller 52 (see FIG. 4) of the conveyor 25 is stopped. Subsequently, the pin 37 is inserted into the positioning hole 36 of the pallet 26 by the operation of the drive source 85, and the pallet 26 is positioned slightly higher than the roller 52 to position the pallet 26.

  The inspection device 53 operates on the workpiece W on the pallet 26 stopped at the component supply station 27 to inspect whether or not the magnet 14 is assembled in advance on the workpiece W.

  When it is confirmed by the inspection device 53 that the magnet 14 is assembled to the workpiece W, the workpiece transfer mechanism 28 and the component transfer mechanism 29, which are connected by the connection bar 41 and waited as shown in FIG. The drive source 43 moves to the right in FIG. Thereby, the component transfer mechanism 29 moves onto the component C stored in the third storage section 23 of the component storage station 24, and the workpiece transfer mechanism 28 moves onto the workpiece W (see FIG. 2).

  Subsequently, the workpiece transfer mechanism 28 lowers the chuck portion 45 by the operation of the drive source 47 and inserts the chuck portion 45 into the hole 11c (see FIG. 1) of the workpiece W. The operation of the drive source 46 causes the pair of claws 44 and 44 to move. The workpiece W is opened to grip the workpiece W, and the driving source 47 is operated again to raise the workpiece W.

  On the other hand, the component transfer mechanism 29 moved onto the component C lowers the chuck portion 49 by the operation of the drive source 51 and positions the pair of claw portions 48, 48 on the side of the component C. When the pair of claws 48 are positioned on the side of the part C, the lift 58 is moved by one pitch (one part of the part C) by the operation of the drive source 59 (see FIG. 6). Increase C. At the same time, the component transfer mechanism 29 closes the pair of claws 48, 48 by the operation of the drive source 50, grips the uppermost component C set on the third cylinder 33, and again drives the drive source 51. To raise the part C.

  Then, the component transfer mechanism 29 and the workpiece transfer mechanism 28 that respectively hold the component C and the workpiece W are moved to the left in FIG. As a result, the workpiece W is removed from the pallet 26 (withdrawal transfer), while the component transfer mechanism 29 that holds the component C moves onto the pallet 26.

  When the component transfer mechanism 29 reaches the pallet 26, the chuck portion 49 is lowered by the operation of the drive source 51, and the pair of claw portions 48, 48 are opened by the operation of the drive source 50, so that the pallet 26 can be raised and lowered. The component C is placed on the movable piece 81 (see FIG. 12). Subsequently, the component transfer mechanism 29 operates the drive source 51 again to raise the chuck portion 49 and moves to the component storage station 24 side.

  As the component transfer mechanism 29 moves to the component storage station 24 side after placing the component C on the pallet 26, the workpiece transfer mechanism 28 that has held and waited for the workpiece W moves to the pallet 26. To do. When the workpiece transfer mechanism 28 reaches the pallet 26, the workpiece W is placed on the pallet 26 by the operation of the drive sources 47 and 46. As a result, the part C is set under the workpiece W.

  When the part C is placed on the pallet 26 and the workpiece W is placed thereon, the drive source 85 is actuated so that the pin 37 is extracted from the positioning hole 36 of the pallet 26 and the pallet 26 is slightly lowered. And placed on the rollers 52 of the conveyor 25. Subsequently, the drive source 84 is operated, and the stopper roller 35 that has been stopping the pallet 26 at the parts supply station 27 is lowered to flow the pallet 26 to the next parts assembly station 30.

  In the parts assembly station 30, the pallet 26 is lifted slightly from the rollers 52 and positioned by being separated from the conveyor 25 in the same procedure as the parts supply station 27. W enters a standby state. Furthermore, the side surface of the workpiece W on the pallet 26 is lightly pressed by the pressing device 80 and supported.

  On the other hand, before the workpiece W enters the standby state at the component assembly station 30, the robot R grips two different components A and B stored in the component storage station 24 as shown in FIG. The gripping of the parts A and B is performed as follows.

  That is, one of the uppermost stages of the part A preset in the first cylinder 31 is raised by one pitch (one thickness of the part A) by the raising of the elevating body 54 by the operation of the drive source 55. The first cylinder 31 is separated from the upper end edge. At the same time, the three claw portions 75 of the gripping device 67 attached to the arm 64 of the robot R and waiting on the first gripping member 65 downward above the first cylinder 31 are operated by the operation of the drive source 76. The component A is clamped and held.

  When the robot R grips the part A, the robot R rotates the tip 72 of the arm 64 by 180 degrees while raising the gripping device 67, and moves the suction portion 77 of the second gripping member 66 that has been facing upward until then. The gripping device 67 is moved downward and onto the second cylinder 32 on which the part B is set in advance.

  When the second gripping member 66 arrives on the second cylinder 32 by the operation of the robot R, the lifting body 56 moves the part B by one pitch (one part of the part B) by the operation of the drive source 57. At the same time, the suction part 77 of the second gripping member 66 operates to suck and grip the uppermost part B set on the second cylinder 32 (see FIG. 8). The component B is thinner than the component A and wider in the radial direction, and is therefore suitable for gripping by suction. On the other hand, there is a possibility that two components B are in close contact and transferred. For this reason, the sensor 62 detects that the part B is not being double fed.

  When the suction portion 77 of the second gripping member 66 sucks and grips the component B, the robot R makes at least a part of the end surface of the component B face the detection surface of the detection device 68 as shown in FIG. Subsequently, the detection device 68 detects the gripping position of the component B in the circumferential direction by the second gripping member 66 based on the position of the notch 70 of the component B.

  If there is a deviation of a predetermined value or more between the gripping position in the circumferential direction of the part B by the second gripping member 66 detected by the detection device 68 and the reference position in the predetermined circumferential direction, the part B 69. However, the component B may be configured to be temporarily mounted on the mounting table 69 regardless of whether or not there is a deviation.

  The robot R receives the detection value from the detection device 68 and moves the arm 64 in accordance with the detection value, so that the component is moved by the suction portion 77 of the second holding member 66 at the holding position where the deviation is corrected on the mounting table 69. Adsorb B again and grip it again. Here, the movement of the arm 64 according to the detection value from the detection device 68 is returned to the position before the arm 64 is moved after the arm 64 is moved and the suction part 77 of the second gripping member 66 sucks the part B again. In such a case, the component B is rotated in the circumferential direction so that the deviation is corrected. By moving the arm 64 of the robot R in this way, the gripping position of the component B by the second gripping member 66 can be easily corrected without adding a separate configuration. However, the component B may be re-sucked and gripped by the suction portion 77 after the mounting table 69 is rotated in the direction of correcting the shift without moving the arm 64.

  The robot R holds the gripping device 67 in a state where the component B is gripped by the second gripping member 66 below the gripping device 67 and the component A is gripped by the first gripping member 65 above the gripping device 67. The workpiece is moved onto the workpiece W waiting at the component assembling station 30.

  As shown in FIG. 11, when the gripping device 67 is moved onto the workpiece W, the robot R raises the gripping device 67 and moves the component A gripped by the first gripping member 65 on the upper side of the gripping device 67. It passes to the assembling apparatus 39 and is fitted to the press-fitting head 78. At this time, the part A is attracted by a magnet (not shown) provided at the receiving position of the part A of the assembling apparatus 39 and is held without dropping from the press-fitting head 78.

  Subsequently, the robot R lowers the gripping device 67 and places the component B gripped by the second gripping member 66 below the gripping device 67 on the yoke 12 (see FIG. 1) of the workpiece W. At this time, the position of the notch 70 (see FIG. 7) of the part B and the position of the notch 12a (see FIG. 1 (b)) of the workpiece W coincide with each other. Further, since the position of the hole 71 (see FIG. 7) of the part B matches the position of the concave portion 12c (see FIG. 1 (b)) of the workpiece W, the resin or adhesive for fixing the magnet 14 (see FIG. 1) is used. The agent can be injected from the hole 71 into the storage hole 12b through the recess 12c.

  In this way, the displacement of the gripping position of the component B by the second gripping member 66 can be corrected, and the component B is transferred to an appropriate installation position at the transfer destination while gripping and transporting the component A and the component B collectively. It becomes possible.

  When the part A is transferred to the assembling device 39 and the part B is placed on the workpiece W, the gripping device 67 returns to a predetermined original position by the operation of the robot R.

  Subsequently, the drive source 79 is actuated to lower the press-fitting head 78 so that the part A is brought into contact with the part B and is press-fitted into the outer peripheral surface of the large-diameter portion 11a of the workpiece W from above. This prevents the part B from falling off the workpiece W. At this time, in order to receive a load from the press-fitting head 78, a support member (not shown) enters the pallet 26 from the side.

  In this way, the part B is transferred to the work W and placed, and the part A is transferred to the assembling apparatus 39 and delivered, and the part A is placed on the work W by the assembling apparatus 39. It is brought into contact with the upper surface of the part B and is press-fitted into the work W from above. Therefore, when there is a correlation between the part A and the part B, for example, the part A is a part for preventing the part B from falling off the workpiece W as in the present embodiment, the part A and the part B Can be collectively gripped and transported, so that it is possible to prevent parts A and B from being forgotten or erroneously assembled.

  In a state where the press-fitting of the part A to the workpiece W is completed, the press-fitting head 78 stands by without raising, and the assembly of the part C to the work W is performed while maintaining this state. That is, as shown in FIG. 12, a drive source (not shown) is operated to raise the press-fitting head 83 and press the pressing pin 82 disposed above the press-fitting head 83 from below to above. Then, when the pressing pin 82 is pressed and raised, the movable piece 81 arranged to be raised and lowered on the pallet 26 is raised, and the component C placed on the movable piece 81 is the outer peripheral surface of the small diameter portion 11b of the workpiece W. It is press-fit from below and assembled.

  When the assembly of the parts A, B, and C to the workpiece W is completed, the press-fitting head 83 disposed on the lower side and the press-fitting head 78 disposed on the upper side at the part assembly station 30 return to the predetermined original positions. To do. Subsequently, the positioning of the pallet 26 that has been positioned and stopped by the positioning device 38 is released, and the pallet 26 is released onto the conveyor 25.

  In the present embodiment, in the parts supply station 27, the work W can be retracted and transferred from the pallet 26 by the work transfer mechanism 28, and the parts can be supplied and transferred to the pallet 26 by the parts transfer mechanism 29 simultaneously. After C is placed on the pallet 26, the workpiece transfer mechanism 28 returns to the component supply station 27 and places the workpiece W gripped on the pallet 26, so that the component C can be set under the workpiece W. it can. Also, the robot R can grip the two parts A and B together, and can pass the part A to the assembling device 39 and place the part B on the work W at the part assembling station 30. Further, in the component assembly station 30, the component A is brought into contact with the upper surface of the component B placed on the workpiece W by the assembly device 39 and is assembled to the workpiece W from above, and the component C is assembled to the workpiece W from below. be able to. As described above, it is possible to simultaneously or collectively perform a plurality of operations of transferring the parts A, B, C and the workpiece W and assembling the components A, B, C to the workpiece W. The work efficiency is increased, and the component transfer assembly apparatus can be made compact. That is, in the component transfer assembly apparatus, a plurality of components can be efficiently transferred and assembled to the workpiece, and the size can be reduced.

Here, the component transfer apparatus according to the present embodiment including the component storage station 24, the robot R, the detection device 68, and the mounting table 69 is applied to the component transfer assembly apparatus described above.
That is, the component transfer device according to the present embodiment is a component transfer device that transfers the components A and B from the supply source to the transfer destination, the component storage station 24 that stores a plurality of components A and B, and the arm 64. In order to detect a gripping position of the component B, a robot R including a gripping device 67 that is attached to the distal end portion 72 of the robot and includes a first gripping member 65 that grips the component A and a second gripping member 66 that grips the component B. And a mounting table 69 on which the component B is mounted when there is a deviation between the gripping position of the component B and the reference position. The gripping device 67 is attached to be rotatable around a shaft 73 of the distal end portion 72, and a first gripping member 65 is provided on one side in a direction orthogonal to the shaft 73 and the second gripping member 66 is provided on the other side. Is provided. The second gripping member 66 grips the part B again at the gripping position where the shift is corrected on the mounting table 69 when the shift is present. Then, the robot R transfers the parts A and B gripped by the gripping device 67 to the transfer destination.

Therefore, according to the component transfer device according to the present embodiment, the two components A and B can be gripped collectively on the front side and the back side of the gripping device 67, and the gripping device can be rotated by rotating the gripping device. The position of both parts A and B can be reversed, for example, up and down while holding the two parts A and B. Therefore, the gripping device 67 can be simplified and miniaturized, and the delivery work of receiving the two parts A and B from the supply source and passing them to the transfer destination can be quickly performed.
That is, it is possible to provide a component transfer device that can grip and quickly transfer the component A and the component B with the single simplified gripping device 67.
Further, the shift of the gripping position of the component B by the second gripping member 66 can be corrected, and the component B can be transferred to an appropriate installation position at the transfer destination while the component A and the component B are gripped and transferred collectively. It becomes possible.

  As mentioned above, although this invention was demonstrated based on embodiment, this invention is not limited to the structure described in the said embodiment, The combination thru | or selecting suitably the structure described in the said embodiment is included. The configuration can be changed as appropriate without departing from the spirit of the invention.

For example, the workpiece W is not limited to a rotor used in a rotating electrical machine, and various workpieces that are parts to be assembled on a production line can be used.
Moreover, the shape of the components that are transferred and assembled to the workpiece W is not necessarily limited to the ring shape, and may be a shape other than the ring shape.
Moreover, the assembly | attachment to the workpiece | work of components is not limited to press injection, For example, other types of assembly | attachment, such as screw fastening, may be sufficient.

  The gripping method of the workpiece W in the workpiece transfer mechanism 28 is not limited to the method used in the embodiment. For example, the work W may be gripped by inserting a pair of claw portions into the two holes 11c of the work W and closing the work from the outside to the inside. In addition, you may hold | grip with a pair of nail | claw part, and you may hold | grip the workpiece | work W with three or more nail | claw parts. Moreover, you may hold | grip other places, such as the rib of the workpiece | work W, instead of the hole 11c of the workpiece | work W. FIG.

  The component gripping method in the component transfer mechanism 29 and the gripping device 67 of the robot R is not limited to the method used in the embodiment. For example, a part may be grasped by opening a pair of claws from the inside to the outside, or a part may be grasped by closing the pair of claws from the outside to the inside. Moreover, you may hold | grip with a pair of nail | claw part, and may hold | grip components with three or more nail | claw parts. Furthermore, the gripping of the component may be either adsorption or clamping according to the characteristics such as the shape, size, thickness, and material of the component.

DESCRIPTION OF SYMBOLS 21 1st storage part 22 2nd storage part 24 Parts storage station 31 1st cylinder 32 2nd cylinder 39 Assembling apparatus 64 Arm 65 1st holding member 66 2nd holding member 67 Holding apparatus 68 Detection apparatus 69 Mounting stand 72 Tip part 73 Shaft 74 Base member 75 Claw part 77 Adsorption part A Part (first part)
B part (second part)
R Robot W Work

Claims (6)

A parts transfer device for transferring parts from a supply source to a transfer destination,
A parts storage station provided with a first storage part for storing a plurality of first parts and a second storage part for storing a plurality of second parts, respectively;
A movable arm, a first gripping member for gripping the first part attached to the tip of the arm and stored in the first storage part, and the second part stored in the second storage part A robot having a gripping device having a second gripping member for gripping
A detection device for detecting a grip position of the second component by the second grip member;
A mounting table for mounting the second component when there is a deviation between a gripping position of the second component by the second gripping member detected by the detection device and a predetermined reference position; With
The gripping device is rotatably attached around an axis of the tip, and the first gripping member is provided on one side in the direction orthogonal to the axis, and the second gripping member is on the other side. Provided,
The second gripping member grips the second part again at the gripping position where the shift is corrected on the mounting table when there is the shift,
The robot transfers the first part and the second part gripped by the gripping device to the transfer destination.   The gripping device further includes a base member having a pair of surfaces facing in opposite directions parallel to the axis, and the first gripping member is provided on one surface side of the pair of surfaces, The component transfer device according to claim 1, wherein the second gripping member is provided on the other surface side of the pair of surfaces.   The first gripping member has a plurality of openable and closable claw portions for sandwiching and gripping the first component, and the second gripping member is a plurality of suctioning and gripping the second component. The component transfer device according to claim 1, further comprising: a suction portion. The first part and the second part have a ring shape,
The first storage unit is a first cylinder that is erected on the component storage station and stores the first component in a plurality of stages, and the second storage unit stands on the component storage station. A second cylinder for being stacked and stored in a plurality of stages of the second component,
The reference position is a reference position in the circumferential direction that is predetermined based on an installation position in the circumferential direction of the second part that is regulated at the transfer destination. The component transfer apparatus according to claim 1.   When there is a deviation, the second gripping member moves the arm according to a detection value by the detection device, so that the second gripping member has the second gripping position at the gripping position where the deviation is corrected on the mounting table. The component transfer apparatus according to any one of claims 1 to 4, wherein the component is re-gripped.   The second part is transferred to and placed on the work, the first part is transferred to an assembling apparatus and delivered, and the first part is placed on the work by the assembling apparatus. 6. The component transfer device according to claim 1, wherein the component transfer device is brought into contact with an upper surface of the second component and press-fitted into the workpiece from above.

Images