JP2630038B2 - Work transfer device hand - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to, for example,
The present invention relates to a hand of a work transfer device that transfers a body side.

2. Description of the Related Art In general, an automobile body is assembled by welding a plurality of pressed parts such as a body side, a rear panel, and a roof to a floor main, and these pressed parts are formed by a process of performing such welding. Until then, it is automatically transferred by a so-called work transfer device.

Conventionally, among such work transfer devices, for example, a work transfer device for transferring a body side is shown in FIGS.
Some are configured as shown in the figure. FIG. 3 is a view taken in the direction of the arrow A in FIG. 2, and FIG. 4 is a view taken in the direction of the arrow B in FIG.

The illustrated work transfer device transfers a body side (hereinafter, referred to as a work) 1 completed in a so-called body side assembly process to a body side setting process.

As shown in the figure, the rail 2 extended in the transport direction has
The transfer device main body 3 moves along the rail 2, and a hand 4 for holding the work 1 is attached to the transfer device main body 3.

The hand 4 is moved by a positioning mechanism (not shown) according to a predetermined gripping position of the work 1.
The tip of the claw 5 of the hand 4 is shaped according to the shape of the work 1 as shown in FIG. 5, for example, so that the work 1 can be securely gripped. It is formed in the shape which was.

Such a work transfer device is completed in the body side assembly process, and the work 1 set on the positioning jig at the transfer start position is set on the body side while holding the end of the work 1 with each hand 4. It is designed to be transported to the process.

(Problems to be Solved by the Invention) However, in the hand of such a conventional work transfer device, when the shape of the work to be transferred is changed due to a change of a vehicle type or the like, the shape of the nail is changed accordingly. ,
In addition, since the position at which the workpiece is gripped is changed, it is necessary to change the position of the hand with respect to the transfer device main body, and the like. And such work was extremely complicated.

Further, if such work is performed frequently, there is a problem that the time required for the work is longer than the production time, and the productivity is deteriorated.

The present invention has been made to solve such a conventional problem, and an object of the present invention is to provide a hand of a highly versatile work transfer device capable of gripping various types of works. I do.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a plurality of hand bodies which are independently and movably attached to a direction in which a work is gripped, and which lock an end of the work. A hand of a work transfer device that has two claws having a protrusion member with a protrusion formed thereon, and driving means for moving the claws toward and away from each other, and conveys the work positioned by the positioning jig to the next process. The drive means is independently movable with respect to the hand main body, and comprises a main body attached to one of the claws and a rod attached to the other of the claws to perform a projecting retraction operation; And a fixing means for fixing the claw to the hand main body.

(Operation) The hand of the work transfer device of the present invention configured as described above operates as follows.

When the hand moves to a position where the hand can grip the workpiece by the transport device main body, the respective claws approach each other by operating the driving means.

At this time, the claw to which the main body of the driving means is attached and the claw to which the rod of the driving means are mounted are independently and movably mounted on the hand main body. Then, the other claw moves closer until it comes into contact with the work, and the end of the work is locked (gripped) by the protrusion members formed on both claws.

Therefore, the gripping position at which the pawl grips the work is automatically set within the movement range of the pawl according to the operation of the driving means. In other words, the operation of gripping the workpiece and the positioning of the gripping position can be performed at the same time, eliminating the need for a mechanism for positioning the hand main body with respect to the transfer apparatus main body as in the related art. There is no need to perform an operation for positioning with respect to the gripping position.

Next, the fixing means attached to the claw (block) is operated, and the claw is fixed to the hand body at this gripping position (the state where the work is gripped).

Thereafter, the workpiece is transported to the next step together with the transport device main body while being held by the hand. That is, since the work is securely fixed to the hand by the fixing means and the projecting member, there is no displacement during the transfer to the next step.

Further, since the work is locked and held by the projection member of the claw, it is not necessary to manufacture a claw according to the shape of the work as in the related art.

(Embodiment) Hereinafter, a hand of the work transfer device of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a hand of the work transfer device of the present invention. Since the work transfer device to which the hand is attached is the same as the conventional one, the description is omitted here.

As shown in FIG. 1, a hand 10 of the work transfer device of the present invention has a hand main body 11 formed in a U-shape toward the work 1, and is independently and movably attached to the hand main body 11. And two cylinders 13 as the driving means for moving each of the claws 12 toward and away from each other.

Shafts 14 and 15 extending in the direction of gripping the work 1 are fixed to the hand body 11 in parallel with each other.
Each of the claws 12 is slidably attached to 4, 4.

One end of each claw 12 is fixed to a flange block 16 that slides on a shaft 14.

The flange block 16 has a so-called slide bearing built therein, and a shaft 14
Are inserted, and are slidable in the axial direction of the shaft 14.

The center of each of the claws 12 is fixed to a block 17.

The block 17 has a so-called slide bearing built therein, and the shaft 15 is inserted through the slide bearing, so that the block 17 is slidable in the axial direction of the shaft 15.

That is, each claw 12 is attached to the hand main body 11 so as to be independently movable in the direction of each of the shafts 14 and 15 that is the direction in which the work 1 is gripped.

Further, a brake 18 is attached to a block 17 to which the center of one of the claws 12a is fixed, as the fixing means for restricting the movement of the block 17 in the axial direction of the shaft 15.

The brake 18 is operated by compressed air supplied by an air tube (not shown), and fixes the block 17 to which the brake 18 is attached to the shaft 15,
Thereby, one claw 12a is fixed to the hand main body 11.

On the other hand, the main body of the cylinder 13 is attached to the other claw 12b. Note that a hole 19 is formed in the hand body 11 so that the cylinder 13 can pass through. That is, the cylinder 13 is independently movable with respect to the hand body 11.

The cylinder 13 is adapted to cause the rod 21 to protrude and retract by compressed air supplied by an air tube 20 as shown in the figure, and to extend through a hole formed in the claw 12b. Is fixed to one of the claws 12a via a joint 22.

That is, when the rod 21 of the cylinder 13 projects, the respective claws 12 are separated from each other, and when the rod 21 is retracted, the respective claws 12
Are designed to approach each other. The driving means is not limited to the cylinder 13, but may be a general positioning mechanism including, for example, a ball screw, a slider, a servomotor, and the like.

Furthermore, in the portion of each nail 12 where the work 1 abuts,
A gripper 23 as the projection member is mounted.

On the surface of the gripper 23, as shown, a plurality of projections 24 are formed to be locked to the end of the work 1,
When the respective claws 12 approach by the operation of the cylinder 13 and the respective grippers 23 come into contact with the work 1, the ends of the work 1 are engaged with these projections 24. In other words, the gripper 23 can hold various types of works 1 having different shapes, so that the work 1 is not displaced during transportation to the next process.

The hand 10 of the present invention thus configured operates as follows.

By the work conveyance device which is not shown like the conventional one,
When the hand 10 moves to the position for gripping the work 1, specifically, completed in the body side assembly process, and when the hand 10 moves to the position for gripping the work 1 set on the positioning jig, compressed air is supplied to the cylinder 13. Then, each claw 12 moves closer.

At this time, since each of the claws 12 is independently and movably attached to the hand main body 11, either one of the claws 12 is
When the workpiece 12 contacts the workpiece 1, the other
12 moves closer to grip the work 1. That is, the gripping position at which the pawl grips the workpiece is automatically determined within the range of movement of the pawl according to the movement of the pawl based on the operation of the cylinder 13. Moreover, the gripping position to be positioned is a position where the work 1 is to be gripped.

At the same time, the end of the work 1 is fixed to the gripper 23 while being locked by the projection 24.

Next, when the compressed air is supplied to the brake 18, the brake 18 is operated, and the block 17 on which the claw 12 a is attached is fixed to the shaft 15 in a state where the gripper 23 grips the work 1. As a result, the claw 12a is fixed to the hand body 11, and at the same time, the claw 12a
The other claw 12b fixed by the cylinder 13 is also fixed to the hand body 11.

When the work transfer device operates in the same manner as in the related art, the work 1 thus held by the hand 10 is
Is transported to the next step together with the transport device body.

Thus, the gripping position where the nail 12 grips the work 1 is
The setting is automatically performed by the operation of the cylinder 13 and the closer movement of the pawl 12 to the end. Moreover, the gripping position to be positioned is a position where the work 1 is to be gripped. In other words, since the operation of gripping the work 1 and the positioning of the gripping position can be performed simultaneously by the cylinder 13, a mechanism for positioning the hand main body 11 with respect to the transfer apparatus main body 3 as in the related art is not required. There is no need to perform an operation of positioning the position 11 with respect to the position where the workpiece is to be gripped. Thereafter, the work is securely fixed to the hand by the fixing means attached to the claw (block) and the projection member attached to the claw, so that the work does not shift during the transportation to the next step.

Further, since the work 1 is locked and fixed to the gripper 23 of the claw 12, there is no need to manufacture a claw according to the shape of the work 1 as in the related art.

Therefore, it solves the conventional problems of complexity and productivity in changing the vehicle type, etc., and becomes a versatile hand capable of gripping various types of workpieces. Good productivity can be achieved.

(Effects of the Invention) As is clear from the above description, the present invention has the following effects.

Since the operation of gripping the workpiece and the positioning of the gripping position can be performed simultaneously, there is no need for a mechanism for positioning the hand main body with respect to the transfer device main body as in the related art. The work of positioning with respect to the position is not required. After that, the work is securely fixed to the hand by the fixing means and the protruding member, so that the work does not shift during the transportation to the next step.

Further, since the work is locked and fixed to the projection member of the claw, it is not necessary to manufacture a claw according to the shape of the work as in the related art.

Therefore, it is a highly versatile hand that can grip many types of workpieces that have solved the conventional problems of complexity and productivity in changing vehicle models, etc. It is possible to cope well.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a hand of a work transfer device of the present invention, and FIGS. 2 to 5 are explanatory views of a conventional work transfer device. 1 ... work, 3 ... transfer device body, 10 ... hand, 11
…… Hand body, 12… Claws, 13 …… Cylinder (drive means), 14,15 …… Axle, 18 …… Brake (fixing means), 23
…… gripper (projection member), 24 …… projection.

Claims (1)

(57) [Claims] 1. A claw having a projection member having a plurality of projections formed on a hand main body independently and movably in a direction of gripping a work, and formed with a plurality of projections for locking an end of the work. A driving means for moving the claws toward and away from each other, and a hand of a work transfer device for transferring the work positioned on the positioning jig to the next step, It is movable and comprises a body attached to one of the claws and a rod attached to the other of the claws to perform a retraction operation, and is attached to the claws to fix the claws to the hand body. A hand for a work transfer device, comprising a fixing means.