JP2018065689A - Component storage type component supply device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To move a predetermined number of components by a robot device in a stored state and reliably supply them to a succeeding assembly processing device, without using a long hose member.SOLUTION: A storage pipe 4 of a component 1 is held by a robot device 30, and a component cutting out and feeding mechanism 20 for feeding a leading component 1 in the storage pipe 4 is provided, and an injection port 27 for injecting air to the leading component 1 is opened toward an inside of a passage 5 of the storage pipe 4, and by means of a blast air, the leading component 1 is transferred to a predetermined position of a supply and transfer passage to an assembly processing device such as a screw fastening machine or a rivet caulking machine joined to the storage pipe 4.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a component storage-type component supply device that supplies a component by moving a storage tube that stores the component to a predetermined location with a robot apparatus.

  In JP-A-62-166085 and JP-A-2002-307191, a long supply hose extending from a parts feeder arranged at a remote location is connected to a robot apparatus and a component supply apparatus is connected to the part. It is described that it is joined to a supply device, and the supply hose is routed to follow the movement of the robot device to supply the component from the component supply device to a predetermined part of the product.

JP-A-62-166085 JP 2002-307191 A

  Since the technology described in the above Patent Documents 1 and 2 has a supply hose for feeding parts such as a projection nut having a length and width of about 12 mm and a height of about 6 mm, the length may range from 5 m to 10 m. The problem is that it takes a long time to reach the parts supply device from the parts feeder, and the productivity cannot be improved, or the supply hose is long and interferes with nearby members, so the parts cannot be supplied to narrow places. There is.

  The present invention has been provided to solve the above-described problems, and without using a long member such as a supply hose, a predetermined number of parts are moved by a robot apparatus in a storage state, It is an object of the present invention to reliably supply parts to a predetermined portion of a guide tube of an assembly processing apparatus such as a screwing machine or a rivet caulking device.

The invention described in claim 1
A storage pipe that stores a predetermined number of parts in an aligned state is directly or indirectly held by a robot apparatus that moves the storage pipe to a predetermined location,
A part cut-out sending mechanism that sends only the earliest part of the parts aligned in the storage pipe is provided,
The injection port of the blast air that sends out the earliest part is opened toward the passage of the storage pipe, and the blasting air or the rivet caulking device etc. A component storage-type component supply device configured to shift to a predetermined position in a supply transfer path to an assembly processing device.

  A storage tube that stores a predetermined number of parts in an aligned state is held by a robot apparatus that moves the storage tube to a predetermined location. Thus, the storage tube functions as a magazine or cartridge that stores a predetermined number of parts. Therefore, it is not necessary to draw a long hose member such as the above-mentioned supply hose, and it is possible to reach the target part of the product in a short time, which is effective for improving the production efficiency.

  Furthermore, since the main member is a unit that holds the unit that is a storage pipe in the robot apparatus, the storage pipe itself can be reduced in size and can enter a narrow part, and the degree of freedom in supplying parts is improved. And since the supply transfer passage member to the storage pipe and the assembly processing equipment integrated therewith is lightweight, the operation load of the robot apparatus is reduced, which is suitable for the operation of the robot apparatus.

  A part cutout delivery mechanism that sends only the earliest part of the parts that are aligned in the storage pipe is provided, and the jet port for the jet air that sends the earliest part is opened toward the passage of the storage pipe By using the blast air, the earliest part is moved to a predetermined position of a supply transfer passage member such as a screwing machine or a rivet caulking device joined to the storage pipe. That is, carrier air is blown onto the earliest part and transferred to a predetermined location of a supply transfer passage member such as a screwing machine or a rivet caulking device. Therefore, the component supply to the assembly processing equipment such as the screw tightening machine and the rivet caulking device is reliably achieved, and the highly reliable component supply is realized.

It is sectional drawing of the whole apparatus, and sectional drawing of each part. It is a fragmentary sectional view of a replenishment unit. It is a top view which shows the modification of a component cutout sending mechanism.

  Below, the form for implementing the component storage type | mold component supply apparatus of this invention is demonstrated.

  1 to 3 show an embodiment of the present invention.

  First, components to be supplied will be described.

  The parts supplied by the device of the present invention are supplied to assembly processing equipment such as a rivet caulking device and a bolt screwing device. Therefore, the parts are typically rivets and bolts.

  In this embodiment, the rivet is an object to be supplied. As shown in FIG. 1, the rivet 1 has a circular flange 2 and a shaft portion 3 having a circular cross section formed integrally with each other, so that plastic deformation can be easily performed. Made of iron material.

  Next, the storage pipe will be described.

  A transfer passage 5 is formed in the storage pipe 4 for storing a predetermined number of rivets 1, and the transfer passage 5 has a wide flange passage 6 through which the flange 2 passes and a narrow shaft portion through which the shaft portion 3 passes. It is constituted by a passage 7. The cover plate 11 is fixed to the storage tube 4 with bolts (not shown), and the transfer passage 5 has a closed cross section. Although the storage tube 4 has a straight shape, it can be curved as required.

  A joint member 8 is welded to the lower end of the storage tube 4. A joint hole 9 is provided in the joint member 8, and a guide tube 10 is press-fitted therein and integrated with the storage tube 4. A fixing bolt 13 is screwed in to prevent the guide tube 10 from coming off. The guide tube 10 has a curved shape and plays a role of transferring the rivet 1 to the rivet caulking device 100.

  Next, the rivet caulking device will be described.

  The rivet caulking device 100 is of a commonly used type. The holding head 101 temporarily holds the rivet 1, the supply pipe 102 coupled to the holding head 101, and the rivet 1 is pushed out and pressurized. The pressure rod 103 and the hydraulic cylinder 104 that pressurizes the rivet 1 by advancing the pressure rod 103 are main components. The hydraulic cylinder 104 is fixed to a stationary member 19 such as a machine frame of the apparatus. The holding head 101 is welded to the lower end portion of the guide tube 10.

  The holding head 101 is formed with a temporary fixing chamber 105 opened downward, and the flange 2 is received by the stopper surface 107 by the attractive force of the permanent magnet 106 embedded in the holding head 101. A through hole 108 is formed in the upper part of the holding head 101, and the pressure rod 103 passes through the hole 108 so that the flat front end surface of the pressure rod 103 can be in close contact with the upper surface of the flange 2. A permanent magnet 109 is embedded in the vicinity of the tip of the pressurizing rod 103, and advances while adsorbing the rivet 1 to the tip of the pressurizing rod 103.

  The supply transfer passage to the rivet caulking device 100 is constituted by the transfer passage 12 of the guide tube 10 and the temporary fixing chamber 105, and a predetermined position of the supply transfer passage is a position where the flange 2 is received by the stopper surface 107. ing. Therefore, the supply and transfer passage is formed by a space portion in which the passage space of the guide tube 10 and the internal space of the temporary fixing chamber 105 are continuous.

  The cross-sectional shape of the guide tube 10 is the same as that of the storage tube 4 so that the flange 2 and the shaft portion 3 can pass through. A similar passage section is formed in the joint member 8, and a continuous continuous passage is formed from the transfer passage 5 to the temporary fixing chamber 105. Reference numeral 14 denotes a cover plate of the transfer passage 12.

  A mold 110 is arranged coaxially with the supply pipe 102, and a recess 111 is formed at the center thereof. The members to be riveted are the first steel plate part 15 and the second steel plate part 16, and are placed on the mold 110 so that the lower hole 17 opened in both steel plates is coaxial with the supply pipe 102. is there. Although not shown, the mold 110 is fixed to a stationary member.

  When the pressure rod 103 advances, the rivet 1 is attracted to the tip of the pressure rod 103 and the shaft portion 3 is inserted into the lower hole 17. When the pressure rod 103 further advances and the rivet 1 is pressurized, the tip of the shaft portion 3 is pushed into the recess 111 and plastic deformation is performed. When the caulking operation is completed in this way, as shown in FIG. 1 (D), the tip of the shaft portion 3 is pushed into the recess 111 to cause plastic deformation, thereby forming a flat pressure piece 18 and The first steel plate part 15 and the second steel plate part 16 are integrated.

  Next, the component cutout / sending mechanism will be described.

  The component cutout delivery mechanism serves to deliver only the earliest rivet 1 of the rivets 1 aligned in the storage tube 4, and is indicated generally by the reference numeral 20. An advancing / retracting type first stop member 21 that enters the passage 5 of the storage pipe 4 and stops the advance of the first rivet 1 and an advance / retreat that enters the passage 5 of the storage pipe 4 and stops the advancement of the second rivet 1. An actuating second restraining member 22 is provided, and both restraining members 21, 22 are constituted by piston rods 25, 26 that are advanced and retracted by air cylinders 23, 24 fixed to the storage pipe 4. Instead of such a structure, it is also possible to configure the first stop member and the second stop member with members that are advanced and retracted by electromagnetic solenoids.

  Next, air injection will be described.

  As shown in FIG. 1C, an air injection port 27 for injecting air to the first rivet 1 and sending out the rivet 1 is opened in the shaft passage 7, and the air passage 28 following the air injection port 28 In order to pump the rivet 1 effectively, it is formed in an oblique direction. The blast air is jetted obliquely forward and sends out the first rivet 1 vigorously. The propulsive force of the rivet 1 by the jet air is such that the rivet 1 reaches a predetermined position in the supply transfer passage which is the passage space of the rivet caulking device 100 and the temporary storage chamber 105, that is, a place where the flange 2 is received by the stopper surface 107. Is set to be able to migrate. This setting is performed by adjusting the inner diameter of the air passage 28 and the air pressure.

  Next, the robot apparatus will be described.

  The robot apparatus 30 is a general 6-axis type, and the storage pipe 4 is connected to the robot apparatus 30 and the storage pipe 4 is directly connected to the robot apparatus 30 as shown in FIG. Has been. Alternatively, although not illustrated, the robot apparatus 30 may be coupled to the outer surface of the guide tube 10 so that the storage tube 4 is indirectly coupled to the robot apparatus 30.

  The storage tube 4 is displaced in the direction of up and down, left and right, and rotation by the operation of the robot apparatus 30. In order to prevent the rivet 1 from spilling out from the end of the storage tube 4 at that time, a stopper piece 31 is provided. As a specific example of the stopper piece 31, various structures can be employed, such as an air cylinder that allows the stopper piece to enter the transfer passage 5. Here, it is a leaf spring type. A leaf spring 32 is fixed in the vicinity of the inlet of the storage pipe 4, and when the rivet 1 enters the storage pipe 4, the leaf spring 32 is bent and passes. When the rivet 1 moves in the reverse direction, the reverse movement of the rivet 1 is prevented by the tip of the returning leaf spring 32.

  Next, the supply unit will be described.

  When the rivet 1 in the storage tube 4 is consumed for a product of a predetermined type, it is necessary to replenish the rivet 1 for the next product. Therefore, a replenishment unit 33 shown in FIG. 2 is installed. The replenishment unit 33 is like a replenishment station that waits for the storage pipe 4 to return. The replenishment unit 33 accumulates a predetermined number of rivets 1 sent out from the parts feeder 34 and waits for the next consumption. The rivets 1 from the parts feeder 34 are sent out one by one with the carrier air from the air injection pipe 35.

  A storage tube 36 having the same cross-sectional shape as the storage tube 4 is fixed to the stationary member 19. An advancing / retracting stopper piece 37 is provided near the lower end of the storage tube 36. The stopper piece 37 is constituted by a piston rod of an air cylinder 38 fixed to the outer surface of the storage tube 36. When the stopper piece 37 enters the storage tube 36, the rivet 1 from the parts feeder 34 is received by the stopper piece 37, and when a predetermined number of rivets 1 are accumulated, the rivet supply from the parts feeder 34 stops. .

  A joint member 39 is provided at the lower end of the storage tube 36, and a connection hole 40 opened downward is formed. The connection hole 40 has a cross-sectional shape that receives the storage tube 4 exactly. The sensor 41 detects a state in which the storage tube 4 is inserted into the connection hole 40, and issues a backward signal for the stopper piece 37. A predetermined number of rivets 1 are lowered into the storage pipe 4 by the retraction of the stopper piece 37.

  Next, the operation of the apparatus will be described.

  FIG. 1 shows a state where a predetermined number, in this case, six rivets 1 are stored in the storage pipe 4. At this time, the first stop member 21 protrudes into the transfer passage 5 to prevent the first rivet 1 from moving forward by gravity, and the second stop member 22 prevents the second rivet 1 from moving forward. Yes. When the robot apparatus 30 operates in this state and the supply pipe 102 is in the coaxial position with the lower hole 17 in the immediate vicinity of the first steel plate part 15, and the through hole 108 is in the coaxial state with the pressure rod 103, at that position. The storage tube 4, the guide tube 10, the holding head 101, and the entire supply tube 102 are integrated and stopped.

  Thereafter, when the first stopping member 21 moves backward and air is simultaneously injected from the injection port 27, only the first rivet 1 is sent out vigorously and reaches the stopper surface 107. This operation state corresponds to “transition to a predetermined position of a supply transfer path to an assembly processing apparatus such as a screw tightening machine or a rivet caulking device”. Next, the pressure rod 103 advances and the rivet 1 reaches the mold 110 via the lower hole 17, and further pressurization is continued to cause plastic deformation as described above to complete the caulking operation. . Note that the first restraining member 21 may be retracted or air jetted before the operation of the robot apparatus 30 is started.

  When the caulking operation is completed, the first stopping member 21 enters, the second stopping member 22 moves backward, the second rivet 1 is placed at the foremost position, and the second stopping member 22 advances again. At the same time, the pressure rod 103 moves backward, and the robot apparatus 30 operates to move to the next caulking location. When such an operation is repeated and the rivet 1 is consumed, the storage device 4 is moved to the supply unit 33 by the operation of the robot apparatus 30 and receives the next supply of the rivet 1. Further, since the storage pipe 4 is moved to a predetermined location by integrating a part of the structure of the rivet caulking device 100 via the guide tube 10, the rivet caulking device 100 is matched with the remaining caulking mechanism waiting. Along with the supply of the rivet 1 by the storage pipe 4, it is formed accurately, and a highly reliable operation of the apparatus 100 can be ensured.

  Although the above example is a case of a rivet, it is possible to supply the bolt 42 instead of the rivet. The head portion 43 of the bolt 42 and the shaft portion 44 formed with the male screw pass through the flange passage 6 and the shaft portion passage 7 whose dimensions are enlarged, respectively, and rotate to the cross groove 45 formed in the head portion 43. The shaft portion 44 is screwed into the screw hole of the counterpart member by engaging the tool. For this purpose, the tip of the pressure rod 103 is formed into a cross shape and is rotated in accordance with the cross groove 45. In FIG. 1 (E), the code | symbol 46 shows a steel plate component and 47 shows a counterpart component.

  Next, a modified example of the component cutout sending mechanism will be described.

  FIG. 3 shows a modification. Here, in order to facilitate understanding, the lid plate 11 is not shown. The storage pipe 4 is coupled to the receiving box 49, and the rivet 1 entering the internal transition passage 50 is attracted to the permanent magnet 51 fixed to the receiving box 49. An air cylinder 52 is coupled to the end of the transition passage 50, and the rivet 1 is moved to the same guide tube 10 side as described above by the advancement of the piston rod 53. This transition position is maintained by a permanent magnet 54 attached to the end of the receiving box 49. Next, when air is ejected from the ejection port 27, the rivet 1 is sent out to the guide tube 10 vigorously. Other configurations are the same as those in the case of FIG. 1 including portions not shown, and members having similar functions are denoted by the same reference numerals.

  As described above, the rivet 1 that has entered the receiving box 49 is shifted to the lateral side, and only the earliest rivet 1 is sent out to the guide tube 10.

  In the above embodiment, the illustration of the air hose that supplies and discharges the working air to and from each air cylinder is omitted.

  It should be noted that an electric motor that performs forward / backward output can be employed instead of the various air cylinders. It is also possible to replace the various permanent magnets with electromagnets.

  Operations such as the forward / backward movement and air injection of each air cylinder described above can be easily performed by a generally adopted control method. A predetermined operation can be ensured by combining an air switching valve that operates with a signal from the control device or the sequence circuit, a sensor that emits a signal at a predetermined position of the air cylinder, and transmits the signal to the control device.

  The operational effects of the embodiment described above are as follows.

  A storage tube 4 that stores a predetermined number of rivets 1 in an aligned state is held by a robot apparatus 30 that moves the storage tube 4 to a predetermined location. Thereby, the storage tube 4 functions as a magazine or cartridge for storing a predetermined number of rivets 1. Therefore, it is not necessary to route a long member such as the above-described supply hose, and the rivet 1 can reach the target location of the product in a short time, which is effective for improving the production efficiency.

  Further, since the unit whose main member is the storage pipe 4 is held in the robot apparatus 30, the storage pipe 4 itself can be reduced in size and can enter a narrow part, and the degree of freedom in supplying the rivet 1 is improved. To do. Since the storage tube 4 and the guide tube 10 integrated therein are lightweight, the operation load of the robot device 30 is reduced, which is suitable for the operation of the robot device 30.

  A part cut-out delivery mechanism 20 for sending only the earliest rivet 1 of the rivets 1 aligned in the storage pipe 4 is provided, and an injection port 27 for jet air for sending the earliest rivet 1 is a passage of the storage pipe 4. Supplyed to the guide tube 10 of an assembly processing device such as a screwing machine or a rivet caulking device that is opened inward and has the first rivet 1 joined to the storage tube 4 by blast air, that is, the assembly processing device It moves to the predetermined location of a transfer channel | path part. In other words, the conveying air is blown to the first rivet 1 and transferred to a predetermined portion of the guide tube 10 such as a screwing machine or a rivet caulking device. Therefore, the rivet supply to the assembly processing equipment such as the screwing machine and the rivet caulking device is reliably achieved, and the highly reliable parts supply is realized.

  A member constituting part of the rivet caulking device 100 is integrated with the guide tube 10. That is, specifically, since the holding head 101 and the supply pipe 102 are integrated with the guide pipe 10, the rivet 1 stored in the rivet caulking apparatus 100 is accurately caulked, that is, the first steel plate component. 15 and the second steel plate component 16 can be accurately supplied to the pilot hole 17 and the mold recess 111, and the caulking operation is reliably achieved with high reliability. Such an advantage can be secured in the case of the bolt 42 as well. Furthermore, by reducing the number of members corresponding to a part of the rivet caulking device 100 and reducing the overall weight and size, the load on the robot device 30 can be reduced, and it is possible to enter a narrow place. Improves usability.

  The replenishment unit 33 is arranged in a stationary state, and the operation of the robot apparatus 30 couples the storage tube 4 to the replenishment unit 33 and replenishes the storage tube 4 with a predetermined number of rivets 1. When a predetermined number of rivet supplies are supplied with the operation of the robot apparatus 30 and the rivet 1 in the storage pipe 4 is consumed, the storage pipe 4 is coupled to the supply unit 33 in order to obtain a stationary stationary supply unit 33. The Since it is such a replenishment operation, by arranging the replenishment unit 33 in the middle of the operation trajectory of the robot apparatus 30, it is possible to receive rivet replenishment in a situation where the moving distance of the storage tube 4 is as short as possible. The operating efficiency is improved.

  As described above, according to the apparatus of the present invention, a predetermined number of parts are moved by the robot apparatus in a storage state without using a long member such as a supply hose, and a subsequent screw tightening machine or rivet caulking is performed. It can be reliably supplied to assembly processing equipment such as equipment. Therefore, it can be used in a wide range of industrial fields, such as an automobile body assembly process and a home appliance sheet metal assembly process.

DESCRIPTION OF SYMBOLS 1 Rivet, Parts 2 Flange 3 Shaft part 4 Storage pipe 5 Transfer path 6 Flange path 7 Shaft path 10 Guide pipe 20 Part cut-out delivery mechanism 21 1st stop member 22 2nd stop member 27 Injection port 30 Robot apparatus

Claims (1)

A storage pipe that stores a predetermined number of parts in an aligned state is directly or indirectly held by a robot apparatus that moves the storage pipe to a predetermined location,
A part cut-out sending mechanism that sends only the earliest part of the parts aligned in the storage pipe is provided,
The injection port of the blast air that sends out the earliest part is opened toward the passage of the storage pipe, and the blasting air or the rivet caulking device etc. A component storage-type component supply device, wherein the component storage type component supply device is configured to shift to a predetermined position in a supply transfer path to an assembly processing device.

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