JP2789984B2 - Pin press-in device for assembled furniture board - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pin press-in device used in a process of manufacturing a board for assembled furniture.

[0002]

2. Description of the Related Art A board for assembling furniture is formed by drilling a number of holes in both ends and a longitudinal direction on a center line, a type is determined for each purpose of furniture to be used, and a female screw is cut into a required hole depending on the type. Is press-fitted, and when assembled as furniture, a male screw pin is screwed into a female screw portion of a part to be a shelf, and the shelf is put on for use. In the manufacturing process of the board for assembling furniture, the worker marks the hole to be press-fitted according to the drawing for each type with a water-based pen, hits the pin into the hole to be pressed with a hand hammer, drives into the required hole,
He wiped off the markings on the water-based pen.

[0003]

However, in the above-described conventional method, as the number of varieties increases due to manual operation, pin press-fitting into a designated hole due to marking error of a press-fitting hole occurs, or a hand hammer causes a problem. There is a disadvantage that the press-fitting depth of the pin becomes uneven due to tapping. In order to solve these problems, even if the pin press-fitting is automated, the hole pitch size is not fixed due to the influence of humidity due to the processing accuracy of the drilling machine and the material of the board is veneer plywood. I was Therefore, the present invention provides a pin press-fitting device for a board for assembled furniture which can accurately detect the hole positions of boards for assembled furniture of various types and automatically press-fit pins with a uniform pressure.

[0004]

A pin press-fitting device for a board for assembled furniture according to the present invention has a work table, a gantry robot, a parts feeder, a pin press-fitting portion, a robot controller, a video camera, a personal computer portion, and an image processing portion. The work table includes a positioning pin and a clamp device, and fixes the assembled furniture board at a predetermined position. The gantry robot includes a bridge that straddles the work table and operates on the X-axis guide in the X direction by a servomotor, and a moving mount that is attached to the bridge and operates on the Y-axis guide in the Y-axis direction by the servomotor. And move in the X and Y directions. The parts feeder is provided with a bowl for inserting a pin to be press-fitted, and separates the pin from the bowl one by one and sends the pin to the pin press-fitting section. The pin press-fitting section has a structure in which the pins sent from the parts feeder are pressed into the pin holes of the board, and is mounted on the movable mounting base of the gantry robot. Control the movement of the gantry robot. The video camera has a structure capable of capturing pin holes of a board as image information, and is provided on a movable mount of a gantry robot. The PC section stores pin press-in position information of each board type in advance, outputs pin press-in position information of the board to be press-fitted to the robot controller, and moves the video camera to near the pin hole of the board by the gantry robot. The image processing unit outputs the position error in the X and Y directions of the pin hole position of the board to the robot controller based on the image information from the video camera, and moves the pin press-in unit to the pin hole position of the board by the gantry robot. The pin is pressed into the pin hole of the board by the press-fit portion.

[0005]

In the press-fitting device of the present invention constructed as described above, the type of the board to be press-fitted is designated by the personal computer unit, and the pin press-fitting position information of the board is output to the robot controller. The video camera is moved to the vicinity, the pinhole into which the video camera is pressed is captured, and the image processing unit outputs the position correction value to the robot controller. Next, the pin press-fitting section moves to the pin hole position while correcting the position of the image processing section in accordance with the instruction of the robot controller, and press-fits the pin sent from the parts feeder at a specified pressure by the pin press-fitting section. This is repeated by the number of places where the pins are pressed in according to the pin press-in position information of the personal computer.

[0006]

FIG. 1 shows an embodiment of the present invention. The pin press-in device for the board for assembled furniture is roughly classified into a work table 11, a gantry robot 15, a parts feeder 25, a pin press-in section 24, a robot. Controller 32, video camera 23, personal computer unit 33, and image processing unit 31
Consisting of

[0007] In order to position, fix and tighten the board 13 on the work table 11,
A positioning pin 12 and a clamp device 14 are provided.

The work table 11 is provided with an X-axis servo motor 18, a rack and pinion 16, and an X-axis guide 17. The gantry robot 15 is provided with a bridge 10 that straddles the work table 11, and the bridge 10 is an X-axis guide 1
It moves in the X direction on seven orbits.

The bridge 10 of the gantry robot 15 is provided with a Y-axis servomotor 20, a ball screw 21 and a Y-axis guide 22, on which a movable mount 19 is provided. It moves in the Y direction on 22 orbits.

The video camera 23 has a structure capable of capturing pin holes of the board 13 as image information.
To be provided. The pin press-fit portion 24 has a structure in which a pin can be pressed into a pin hole of the board 13 and is provided on the movable mount 19.

A bowl 26 for receiving a pin to be press-fitted,
A parts feeder 25 for arranging the pins and separating them one by one and feeding them with compressed air is provided.
A vinyl tube 27 for transporting the pin to the tip of is provided.

The control panel 30 includes a gantry robot 15
The robot controller 32 that controls the servo motors 18 and 20 that moves the X and Y directions and the pin press-in position information for each type of the board 13 is stored in advance, and the pin press-in position information of each type is output to the robot controller 32. A personal computer unit 33 and an image processing unit 31 that measures the position of the center of gravity of the pin hole based on image information captured from the video camera 23 and outputs a movement correction value to the robot controller 32 are provided.

Next, the operation of the pin press-in device will be described.
First, the bridge 10 and the movable mount 19 of the gantry robot 15 are moved to the X-axis and Y-axis start origins. The board 13 is positioned on the work table 11 by the positioning pins 12 and fixed by the clamp device 14. Next, a pin to be pressed into the board 13 is put into the bowl 26 of the parts feeder 25.

Next, the information of the required type in the board pin press-in position information for each type stored in the personal computer unit 33 of the control panel 30 is input to the robot controller 3 using a keyboard.
Output to 2.

When the start button switch of the control panel 30 is pressed, a movement command is issued from the robot controller 32,
The servo motors 18 and 20 operate to move the bridge 10 and the moving mount 19 of the country robot 15 to move the video camera 23 near the pin hole. Then, the video camera 23 captures the image information of the pinhole, and based on the image information, the image processing unit 31 outputs a position correction amount in the X and Y directions from the center of gravity of the pinhole to the robot controller 32.

The robot controller 32 moves by adding and subtracting the position data of the video camera 23 and the pin press-fitting unit 24 and the position correction amount of the image processing unit 31 which have been input in advance.
The pin press-fit portion 24 is accurately positioned at the pin press-fit hole position.

Next, a pin press-fitted from the parts feeder 25 passes through the vinyl tube 27 and is inserted into the tip of the pin press-fitting portion 24. When the pin insertion is confirmed by the pin insertion sensor at the tip, the pin press-fitting section 24 press-fits the pin into the pin hole of the board 13 with a predetermined pressure.

The robot controller 32 controls the repetitive operation of the number of press-fitting pins of the board 13 depending on the type.

[0019]

According to the present invention, it is possible to accurately pin a pin hole of which processing accuracy is not determined by humidity, such as veneer plywood, in a manufacturing process of a board for assembled furniture, and press-fit the pin with a uniform pressure. Further, by managing pin hole information of various types of boards, a series of operations can be automated to save labor.

[Brief description of the drawings]

FIG. 1 is a view showing an example of a pin press-in device for a board for assembled furniture of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Cross-linking 11 Work table 12 Positioning pin 13 Board 14 Clamping device 15 Gantry robot 16 Rack and pinion 17 X-axis guide 18 X-axis servomotor 19 Moving mount 20 Y-axis servomotor 21 Ball screw 22 Y-axis guide 23 Video camera 24 pin Press-in part 25 Parts feeder 26 Bowl 27 Vinyl tube 30 Control panel 31 Image processing part 32 Robot controller 33 Personal computer part

Claims (1)

(57) [Claims] A working table, a gantry robot, a parts feeder, a pin press-fitting section, a robot controller, a video camera, a personal computer section, and an image processing section. The working table is provided with positioning pins and a clamp device. The gantry robot straddles the work table and secures the X
A bridge that operates on the axis guide in the X direction by a servo motor, and a moving mount that is attached to the bridge and operates on the Y axis guide in the Y axis direction by the servo motor;
The parts feeder is moved in the X and Y directions, and the parts feeder is provided with a bowl for inserting a pin to be press-fitted. The pins are separated from the bowl one by one and sent to the pin press-fitting part. The pin press-fitting part is sent from the parts feeder. The pin is pressed into the pin hole of the board, and it is attached to the gantry robot's moving mount. The robot controller controls the movement of the gantry robot, and the video camera captures the pin hole of the board as image information. The gantry robot is mounted on the movable mounting table. The PC section stores the pin press-in position information of each board type in advance, outputs the pin press-in position information of the board to be press-fitted to the robot controller, and outputs the video camera by the gantry robot. Is moved near the pin hole of the board, and the image processing unit The position error in the X and Y directions of the pin hole position of the board is output to the robot controller, the pin press-fitting part is moved to the pin hole position of the board by the gantry robot, and the pin is pressed into the pin hole of the board by the pin press-fitting part. , Pin press-in device for assembled furniture boards.