JP3816329B2

JP3816329B2 - Parts storage extraction device

Info

Publication number: JP3816329B2
Application number: JP2000346699A
Authority: JP
Inventors: 弘樹田平; 計利高田; 哲男杉園; 克旨稲木
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2000-11-14
Filing date: 2000-11-14
Publication date: 2006-08-30
Anticipated expiration: 2020-11-14
Also published as: JP2002145410A

Description

【０００１】
【発明の属する技術分野】
本発明は、無段変速機（ＣＶＴ）用のベルト等、複数の部品からなる製品を組み立てる際に、前記部品を所定の位置に収納し、或いは所定の位置に収納されている部品を抽出する部品収納抽出装置に関するものである。
【０００２】
【従来の技術】
例えば自動車等の変速装置として用いられる無段変速機（ＣＶＴ）用のベルトは、複数の無端帯状の金属リングをそれらの厚み方向に積層して組み立てた積層リングにより構成されている。この種の積層リングは、基本的にはその周長値や半径が設計値（これは各層毎に互いに相違する）になるように製造されている各層の金属リングを１個づつ選択して、それらを組み合わせて積層する。そして、この作業を積層リングの必要個数の回数だけ繰り返す。
【０００３】
ところが、前記積層リングの各層を構成する金属リングは、前述のように基本的にはその周長値や半径が設計値になるように製造されるものの、常に高精度に設計値に一致するわけではなく、一般には製造上の誤差のために設計値を中心にある程度のばらつきを生じる。このため、前記各層の金属リングを組み合わせて積層する場合、各層の金属リングを任意に（無作為に）１個づつ選択して組み合わせても、所望の積層リングを得ることができるとは限らない。
【０００４】
そこで、前記積層リングを組み立てる場合、各層の金属リングはその製造後、各金属リングの周長値等のサイズデータが別途測定され、個々の金属リングはその測定データと対応づけて部品収納棚等に保管される。そして、各層の金属リングを選択して組み合わせるためにあらかじめ定められた組合せ条件に従って、前記部品収納棚等から各層の金属リングを１個づつ選択して抽出する。
【０００５】
前記部品収納棚のような収納棚に部品等の物品を収納し、または収納されている部品等の物品を抽出する装置として、例えば、特開昭６２−１６１６０９号公報には、多段に積層された貸金庫ボックスを仮想多角柱の各側面に沿って多列に設けて該仮想多角柱を囲む格納ラック（収納棚）とし、前記仮想多角柱の中心部に、前記収納棚の内面側に沿って移動自在の把持手段を有する搬送手段を備えると共に、前記仮想多角柱の一側面に沿って、前記格納ラックの内面側と外面側とを連通する通路を設けた自動貸金庫装置が開示されている。
【０００６】
前記公報記載の自動貸金庫装置によれば、前記通路を介して前記格納ラックの外面側から内面側に供給された物品を前記把持手段により把持して所定の貸金庫ボックスに搬送して収納し、或いは所定の貸金庫ボックスに収納された物品を前記把持手段により把持して抽出し、前記通路を介して前記格納ラックの内面側から外面側に搬出することができる。
【０００７】
しかしながら、前記自動貸金庫装置では、前記格納ラックの内面側に備えられた１つの搬送手段により物品の収納と抽出との両方の作動を行うため、前記金属リングのような多数の部品の収納、抽出には時間がかかり改善が望まれる。
【０００８】
【発明が解決しようとする課題】
本発明は、かかる不都合を解消して、部品の収納、抽出を迅速に行うことができる部品収納抽出装置を提供することを目的とする。
【０００９】
【課題を解決するための手段】
かかる目的を達成するために、本発明の第１の態様の部品収納抽出装置は、内周側に中空部を備える円筒状体の内周面と外周面との間を多段多列に区画して画成され外周側と内周側との両端面が開放された部品収納部を備えると共に、外周面の一部に軸方向に沿って外周側と内周側とを連通する通路を備える収納棚と、該収納棚の外周面に沿って相対的に移動自在であって、部品を把持する第１の部品把持手段を該収納棚の外周面に対向させて備え、第１の部品把持手段により把持される部品を所定の部品収納部に搬送して収納し、或いは所定の該部品収納部に収納された部品を第１の部品把持手段により把持して抽出し、所定の位置に搬送する第１の部品搬送手段と、該収納棚の内周面に沿って相対的に移動自在であって、部品を把持する第２の部品把持手段を該収納棚の内周面に対向させて備え、該通路を介して該収納棚の外周側から内周側に供給された部品を第２の部品把持手段により把持し所定の部品収納部に搬送して収納し、或いは所定の該部品収納部に収納された部品を第２の部品把持手段により把持して抽出し、該部品を該通路を介して該収納棚の内周側から外周側に搬送する第２の部品搬送手段とを備えることを特徴とする。
【００１０】
本発明の第１の態様の部品収納抽出装置によれば、内周側に中空部を備える円筒状体の内周面と外周面との間を多段多列に区画して画成され外周側と内周側との両端面が開放された部品収納部を備える収納棚とすると共に、該収納棚の外周側と内周側とに部品搬送手段を備えている。そこで、前記収納棚の外周側または内周側に設けられた前記部品搬送手段のいずれか一方で部品の収納を行い、他方で部品の抽出を行うことができる。
【００１１】
例えば、前記収納棚の外周側に備えられた第１の部品搬送手段により部品の収納を行う場合は、供給された部品を第１の部品把持手段により把持し、前記収納棚に対して相対的に移動せしめて所定の部品収納部に搬送して収納する。この場合、前記収納棚の内周側に備えられた第２の部品搬送手段が部品の抽出を担当し、所定の部品収納部に収納された部品を第２の部品把持手段により把持して抽出し、前記収納棚に対して相対的に移動せしめ、該部品を前記通路を介して前記収納棚の内周側から外周側に搬送する。
【００１２】
また、前記収納棚の内周側に備えられた第２の部品搬送手段により部品の収納を行う場合は、前記通路を介して前記収納棚の外周側から内周側に供給された部品を第２の部品把持手段により把持し、前記収納棚に対して相対的に移動せしめて所定の部品収納部に搬送して収納する。この場合、前記収納棚の外周側に備えられた第１の部品搬送手段が部品の抽出を担当し、所定の部品収納部に収納された部品を第１の部品把持手段により把持して抽出し、前記収納棚に対して相対的に移動せしめて所定の位置に搬送する。
【００１３】
従って、本発明の第１の態様の部品収納抽出装置によれば、前記部品の収納と、前記部品の抽出とを前記両部品搬送手段によりそれぞれ独立に行うことができ、前記部品の収納、抽出に要する時間を短縮することができる。
【００１４】
次に、本発明の第２の態様の部品収納抽出装置は、内周側に中空部を備える円筒状体の内周面と外周面との間を多段多列に区画して画成され外周側と内周側との両端面が開放された部品収納部を備える収納棚と、該収納棚の外周面に沿って相対的に移動自在であって、部品を把持する第１の部品把持手段を該収納棚の外周面に対向させて備え、第１の部品把持手段により把持される部品を所定の部品収納部に搬送して収納し、或いは所定の該部品収納部に収納された部品を第１の部品把持手段により把持して抽出し、所定の位置に搬送する第１の部品搬送手段と、該収納棚の内周面に沿って相対的に移動自在であって、部品を把持する第２の部品把持手段を該収納棚の内周面に対向させて備え、該収納棚の上方で該収納棚の外周側から内周側に供給された部品を第２の部品把持手段により把持し所定の部品収納部に搬送して収納し、或いは所定の該部品収納部に収納された部品を第２の部品把持手段により把持して抽出し、該部品を該収納棚の上方で該収納棚の内周側から外周側に搬送する第２の部品搬送手段とを備えることを特徴とする。
【００１５】
本発明の第２の態様の部品収納抽出装置は、前記収納棚が内周側に中空部を備える円筒状体であって、前記第１の態様における通路を備えず、前記収納棚の内周側に備えられた第２の部品搬送手段が前記収納棚の上方で、外周側から内周側に供給された部品を収納し、或いは抽出した部品を内周側から外周側に搬送することを除いて、前記第１の態様と同一に作動する。従って、本発明の第２の態様の部品収納抽出装置によっても、前記部品の収納と、前記部品の抽出とをそれぞれ独立に行うことができ、前記部品の収納、抽出に要する時間を短縮することができる。
【００１６】
また、前記各態様において、本発明の部品収納抽出装置は、前記部品が弾性を備えるリングであって前記部品収納部に所定の間隔を存して対向配置された複数対の保持部材に撓められた状態で保持されるときに、前記部品把持手段は前記部品収納部に対して進退自在に備えられ、間隔を存して対向配置された複数対の挟持部材と、該部品収納部に進入した該挟持部材の間隔を該保持部材の間隔より縮小して該リングを外周側から挟持し、該挟持部材の間隔を該保持部材の間隔より拡大して該リングの挟持を解除する拡縮手段とを備えることを特徴とする。
【００１７】
前記部品把持手段は、前記部品としての弾性を備えるリングが前記保持部材により撓められた状態で保持されているときには、前記拡縮手段により前記挟持部材の間隔が前記保持部材の間隔より拡大された状態で前記部品収納部に進入し、次いで前記拡縮手段により前記挟持部材の間隔を前記保持部材の間隔より縮小することにより、前記保持部材により保持されている前記リングをその外周側から把持することができる。
【００１８】
また、前記部品把持手段は、前記拡縮手段により前記挟持部材の間隔を前記保持部材の間隔より縮小し、前記リングをその外周側から把持した状態で前記部品収納部に進入し、次いで前記拡縮手段により前記挟持部材の間隔を前記保持部材の間隔より拡大することにより、前記リングの挟持を解除して、前記リングを前記保持部材に保持せしめることができる。
【００１９】
従って、前記部品把持手段によれば、前記柱状部材と前記部品収納部との間で進退すると共に、前記挟持部材の間隔を拡縮するだけで、前記リングを挟持し、あるいは挟持を解除することができるので、前記部品としてのリングの収納、抽出を容易に行うことができる。
【００２０】
【発明の実施の形態】
次に、添付の図面を参照しながら本発明の実施の形態についてさらに詳しく説明する。図１は本発明の第１の態様の部品収納抽出装置の一実施形態を示す斜視図、図２は図１示の部品把持手段を示す平面図、図３は図２示の部品把持手段の作動を示す作動説明図であり、図４は他の実施形態における図２示の部品把持手段の作動を示す作動説明図、図５は図４示の部品把持手段の側面図である。また、図６は本発明の第２の態様の部品収納抽出装置の一実施形態を示す斜視図である。
【００２１】
次に、本発明の第１の態様について説明する。
【００２２】
図１示のように、本実施形態の部品収納抽出装置１は、内周側に中空部２ａを備える円筒状体２の外周側と内周側との間を多段多列に区画して画成された部品収納部３を備える固定された収納棚４と、収納棚４の外周面に沿って周回自在に備えられた部品搬送手段５ａと、円筒状体２の中空部２ａに収納棚４の内周面に沿って回動自在に備えられた部品搬送手段５ｂとからなる。また、収納棚４は、円筒状体２の外周面の一部に軸方向に沿って、外周側と内周側とを連通する通路４ａを備えている。
【００２３】
部品収納部３は、部品として弾性を備える金属リング（図示せず）を収納するものであって、円筒状体２の外周側端面３ａ及び内周面端面３ｂが開放されていて、両端面から金属リングが収納、抽出できるようにされている。本実施形態において、前記金属リングは、無段変速機（ＣＶＴ）用のベルトとして用いられる積層リングの各層を構成するものであり、周長値等のサイズデータが設計値となるように製造されたのち、該サイズデータが別途測定されている。
【００２４】
部品搬送手段５ａは、収納棚４の外周面に沿って収納棚４の高さ方向と平行に設けられた柱状部材６ａと、柱状部材６ａに沿って垂直方向に移動自在に備えられた垂直移動手段７ａと、垂直移動手段７ａに備えられた部品把持手段８ａとからなる。また、部品搬送手段５ａは、収納棚４の下部に外周面に沿って回動自在に備えられたテーブル９上に設けられており、テーブル９の作動に従って、収納棚４の周囲を周回自在とされている。
【００２５】
一方、部品搬送手段５ｂは、部品搬送手段５ａに対応して、収納棚４の内周面に沿って収納棚４の高さ方向と平行に設けられた柱状部材６ｂと、柱状部材６ｂに沿って垂直方向に移動自在に備えられた垂直移動手段７ｂと、垂直移動手段７ｂに備えられた部品把持手段８ｂとからなり、柱状部材６ｂ自体が収納棚４の内周面に沿って回転することにより回動自在に備えられている。
【００２６】
垂直移動手段７ａ，７ｂとしては、例えば図示しないモータに駆動され、柱状部材６ａ，６ｂに垂直方向に沿って形成された溝部１０に設けられた図示しないギヤ等に係合して垂直に移動するもの等を用いることができる。
【００２７】
部品把持手段８ａ，８ｂは同一の構成となっており、部品把持手段８ａを例として図２（ａ）に示すように、基板１１と、基板１１の下方に備えられた爪部材１２ａ，１２ｂと、爪部材１２ａ，１２ｂを駆動するリンク機構１３とを備えている。爪部材１２ａ，１２ｂはその長さ方向に沿って３カ所から外側方に突出する突出部１４ａ，１４ｂを相対向する位置に備え、突出部１４ａ，１４ｂはその先端部に下方に突出し相対向して金属リングＷを挟持する挟持部材１５ａ，１５ｂを備えている。
【００２８】
リンク機構１３は、２組のリンク１６ａ，１６ｂ、１７ａ，１７ｂと、リンク１６ａ，１６ｂ、１７ａ，１７ｂを駆動するシリンダ１８とからなる。リンク１６ａ，１６ｂは先端部が基板１１の幅方向に設けられた孔部１９ａ，１９ｂに沿って移動自在に螺着されると共に、後端部が共に基板１１の長さ方向に設けられた孔部２０を介してシリンダ１８のシリンダロッド２１に螺着され、シリンダロッド２１の作動に従って孔部２０に沿って移動自在とされている。また、リンク１７ａ，１７ｂは先端部が基板１１の幅方向に設けられた孔部２２ａ，２２ｂに沿って移動自在に螺着されると共に、後端部が共に基板１１の長さ方向に設けられた孔部２３を介してシリンダ１８のシリンダロッド２１に螺着され、シリンダロッド２１の作動に従って孔部２３に沿って移動自在とされている。
【００２９】
次に、図２（ａ），２（ｂ）を参照して、部品把持部材８ａの作動について説明する。尚、前述のように、部品把持部材８ｂは部品把持部材８ａと全く同一の構成を備えており、部品把持部材８ａと全く同一に作動する。
【００３０】
図２（ａ）は、シリンダロッド２１が後退し、リンク１６ａ，１６ｂ、１７ａ，１７ｂはそれぞれの後端部が孔部２０，２３に沿ってシリンダ１８側に移動し、これに伴ってリンク１６ａ，１６ｂ、１７ａ，１７ｂのそれぞれの先端部が孔部１９ａ，１９ｂ、２２ａ，２２ｂに沿って基板１１の内方に移動した状態となっている。このとき、爪部材１２ａ，１２ｂに備えられた挟持部材１５ａ，１５ｂの間隔は最も縮小された状態となっており、３組の挟持部材１５ａ，１５ｂの間に金属リングＷが長円形状に撓められて挟持される。
【００３１】
次に、シリンダ１８によりシリンダロッド２１が前進せしめられると、リンク１６ａ，１６ｂ、１７ａ，１７ｂのそれぞれの後端部が孔部２０，２３に沿ってシリンダ１８から離間する側に移動せしめられる。これに伴って、リンク１６ａ，１６ｂ、１７ａ，１７ｂのそれぞれの先端部は孔部１９ａ，１９ｂ、２２ａ，２２ｂに沿って基板１１の外方に移動し、爪部材１２ａ，１２ｂに備えられた挟持部材１５ａ，１５ｂの間隔を拡大する。このとき、金属リングＷは、その弾性により挟持部材１５ａ，１５ｂの間に挟持された状態を維持しつつ、円形に復帰しようとする。
【００３２】
次に、本実施形態の部品収納抽出装置１の作動について説明する。
【００３３】
まず、前工程で製造された後、周長値等のサイズデータが測定された金属リングＷが、収納棚４の外周側に備えられた部品搬送手段５ａに供給された場合には、部品搬送手段５ａの部品把持手段８ａが図２（ａ）示の状態で金属リングＷを把持する。次に、図示しない制御装置は、この金属リングＷを収納する部品収納部３の位置情報と、部品搬送手段５ａの現在の位置とから、テーブル９の回転角度と垂直移動手段７ａの垂直移動距離を算出する。そして、前記制御手段は、テーブル９及び垂直移動手段７ａを駆動して、部品把持手段８ａを前記金属リングＷを収納する部品収納部３に臨む位置に移動せしめる。
【００３４】
金属リングＷを把持した部品把持手段８ａが部品収納部３に臨む状態を図３（ａ）に示す。部品把持手段８ａは、コ字状部材２４に取着されたロッドレスシリンダ２５の下方に吊持部材２６を介して吊持されており、コ字状部材２４は柱状部材６ａの側面に沿って垂直方向に移動自在に備えられた垂直移動手段７ａに支持されているコ字状部材２７に取着されたロッドレスシリンダ２８にさらに支持されている。
【００３５】
一方、部品収納部３の床面２９には、上方に突出する保持部材３０ａ，３０ｂが２組設けられており、保持部材３０ａ，３０ｂは、部品把持手段８ａの挟持手段１５ａ，１５ｂの間隔が最も縮小された場合と、最も拡大された場合との中間の間隔を存して相対向して備えられている。
【００３６】
このとき、垂直移動手段７ａは、部品把持手段８ａに把持された金属リングＷを保持部材３０ａ，３０ｂと同高度になるようにしており、部品把持手段８ａは挟持部材１５ａ，１５ｂの間隔を保持部材３０ａ，３０ｂの間隔より縮小した状態で金属リングＷを挟持部材１５ａ，１５ｂの間に挟持して把持している。また、保持部材３０ａ，３０ｂは上面が爪部材１２ａ，１２ｂの下面よりも低い位置にあり、挟持部材１５ａ，１５ｂの下面は部品収納部３の床面２９より高い位置にある。尚、図３（ａ）乃至図３（ｄ）では、リンク機構１３は省略して示している。
【００３７】
次に、図３（ｂ）に示すように、ロッドレスシリンダ２５が部品収納部３に接近する方向に移動し、爪部材１２ａ，１２ｂを部品収納部３内に進入せしめる。このとき、部品把持手段８ａは挟持部材１５ａ，１５ｂの間隔が保持部材３０ａ，３０ｂの間隔より縮小された状態となっているので、金属リングＷを挟持部材１５ａ，１５ｂの間に挟持した状態で、保持部材３０ａ，３０ｂの間に進入する。また、２組の保持部材３０ａ，３０ｂはそれぞれ、爪部材１２ａ，１２ｂに備えられた３組の突出部１４ａ，１４ｂの間に位置するように配設されている。
【００３８】
次に、部品把持手段８ａは図２（ｂ）について説明したようにリンク機構１３を作動させて、挟持部材１５ａ，１５ｂの間隔を拡大する。この結果、図３（ｃ）に示すように、挟持部材１５ａ，１５ｂの間隔が保持部材３０ａ，３０ｂの間隔よりも拡大される。
【００３９】
挟持部材１５ａ，１５ｂの間隔が拡大されると、金属リングＷは、その弾性により挟持部材１５ａ，１５ｂの間に挟持された状態を維持しつつ、円形に復帰しようとする。この結果、金属リングＷは、挟持部材１５ａ，１５ｂによる挟持が解除され、代わって拡大された挟持部材１５ａ，１５ｂの間隔よりも狭い間隔で設けられている保持部材３０ａ，３０ｂに挟持されて保持される。
【００４０】
次に、図３（ｄ）示のように、ロッドレスシリンダ２５が部品収納部３から離間する方向に移動し、爪部材１２ａ，１２ｂを後退させる。すると、金属リングＷは、保持部材３０ａ，３０ｂに挟持されて保持された状態で部品収納部３内に残置されるので、部品収納部３に対する収納が完了する。
【００４１】
そこで、前記制御手段は、部品搬送手段５ａにより部品収納部３に収納される金属リングＷに係るサイズデータ等の情報と、金属リングＷが収納された部品収納部３の位置情報とを相互に対応づけて記憶する。
【００４２】
次に、部品収納部３に収納されている金属リングＷを抽出するときには、収納棚４の内周側に備えられた部品搬送手段５ｂによりこれを行う。この場合、前記制御手段は、収納棚４に収納されている複数の金属リングＷの中から所定の条件に該当するサイズデータ等の情報を備える金属リングＷを選択する。次に、前記制御手段は、該サイズデータ等の情報に対応づけられて記憶されている該金属リングＷが収納されている部品収納部３の位置情報と、収納棚４の内周側に備えられた部品搬送手段５ｂの現在の位置とから、柱状部材６ｂの回転角度と垂直移動手段７ｂとの垂直移動距離を算出する。そして、前記制御手段は、柱状部材６ｂ及び垂直移動手段７ｂを駆動して、部品把持手段８ｂを前記金属リングＷを収納する部品収納部３に臨む位置に移動せしめる。
【００４３】
部品抽出搬送手段５ｂの部品把持手段８ｂが前記部品収納部３に臨む状態は、図３（ｄ）において、柱状部材６ａ、垂直移動手段７ａ、部品把持手段８ａを、それぞれ柱状部材６ｂ、垂直移動手段７ｂ、部品把持手段８ｂと読み替えた状態と同一である。そして、部品把持手段８ｂにより金属リングＷを抽出する手順は、部品把持手段８ａが金属リングＷを収納する手順と、全く逆になる。
【００４４】
そこで、次に、図３（ａ）乃至図３（ｄ）において、柱状部材６ａ、垂直移動手段７ａ、部品把持手段８ａを、それぞれ柱状部材６ｂ、垂直移動手段７ｂ、部品把持手段８ｂと読み替えて、部品把持手段８ｂにより金属リングＷを抽出する手順について説明する。
【００４５】
部品把持手段８ｂにより金属リングＷを抽出するときには、まず、図３（ｄ）に示すように、部品把持手段８ｂが部品収納部３に臨んだ状態で、図２示のリンク機構１３を作動させて、挟持部材１５ａ，１５ｂの間隔を保持部材３０ａ，３０ｂの間隔よりも拡大する。
【００４６】
次に、ロッドレスシリンダ２５が部品収納部３に接近する方向に移動し、爪部材１２ａ，１２ｂを部品収納部３内に進入せしめる。すると、部品把持手段８ｂは挟持部材１５ａ，１５ｂの間隔が保持部材３０ａ，３０ｂの間隔より拡大された状態となっているので、図３（ｃ）に示すように挟持部材１５ａ，１５ｂが保持部材３０ａ，３０ｂに挟持されて保持されている金属リングＷの外周側に位置する。
【００４７】
そこで、図２示のリンク機構１３を作動させて、挟持部材１５ａ，１５ｂの間隔を保持部材３０ａ，３０ｂの間隔より縮小する。この結果、図３（ｂ）に示すように、保持部材３０ａ，３０ｂに保持されていた金属リングＷが、保持部材３０ａ，３０ｂに代わって挟持部材１５ａ，１５ｂにより、外周側から挟持される。
【００４８】
次に、図３（ａ）に示すように、ロッドレスシリンダ２５が部品収納部３から離間する方向に移動し、爪部材１２ａ，１２ｂを後退させる。すると、金属リングＷは、挟持部材１５ａ，１５ｂに挟持された状態で、部品収納部３から抽出される。そこで、前記制御手段は、部品搬送手段５ｂの部品把持手段８ｂが前述のようにして抽出した金属リングＷを把持した状態で、柱状部材６ｂを駆動し、部品把持手段８ｂが通路４ａに臨む位置に移動せしめ、通路４を介して金属リングＷを収納棚４の内周側から外周側に搬送する。
【００４９】
前記実施形態では、収納棚４の外周側に備えられた部品搬送手段５ａにより金属リングＷの収納を行い、内周側に備えられた部品搬送手段５ｂにより金属リングＷの抽出を行うようにしているが、部品搬送手段５ｂにより収納を行い、部品搬送手段５ａにより抽出を行うようにしてもよい。
【００５０】
この場合には、前記制御手段は、まず、部品搬送手段５ｂを駆動し、部品把持手段８ｂが通路４ａに臨む位置に移動せしめ、通路４を介して金属リングＷを収納棚４の外周側から内周側に供給し、部品搬送手段５ｂの部品把持手段８ｂが図２（ａ）示の状態で金属リングＷを把持する。次に、前記制御手段は、この金属リングＷを収納する部品収納部３の位置情報と、部品搬送手段５ｂの現在の位置とから、柱状部材６ｂの回転角度と垂直移動手段７ｂの垂直移動距離を算出する。そして、前記制御手段は、柱状部材６ｂ及び垂直移動手段７ｂを駆動して、部品把持手段８ｂを前記金属リングＷを収納する部品収納部３に臨む位置に移動せしめ、部品把持手段８ａによる場合と同一の手順で金属リングＷを部品収納部３に収納する。
【００５１】
金属リングＷが収納されたならば、前記制御手段は、部品搬送手段５ｂにより部品収納部３に収納された金属リングＷに係るサイズデータ等の情報と、金属リングＷが収納された部品収納部３の位置情報とを相互に対応づけて記憶する。
【００５２】
次に、収納棚４の外周側に備えられた部品搬送手段５ａにより、部品収納部３に収納されている金属リングＷを抽出するときには、前記制御手段は、選択された金属リングＷが収納されている部品収納部３の位置情報と、部品搬送手段５ａの現在の位置とから、テーブル９の回転角度と垂直移動手段７ａとの垂直移動距離を算出する。そして、前記制御手段は、テーブル９及び垂直移動手段７ａを駆動して、部品把持手段８ａを前記金属リングＷを収納する部品収納部３に臨む位置に移動せしめ、部品把持手段８ｂによる場合と同一の手順で金属リングＷを抽出し、所定の所定の払い出し位置等に搬送する。
【００５３】
前記実施形態では、部品搬送手段５ａ，５ｂは、収納棚４から抽出した金属リングＷを１個づつ、収納棚４の内周側から外周側に、或いは所定の払い出し位置等に搬送するようにしているが、図４及び図５に部品把持手段８ｂを例として示すように、部品把持手段８ａ，８ｂに抽出した複数の金属リングＷを保持する仮収納手段３１を設け、仮収納手段３１に保持される数の金属リングＷを単位として、収納棚４の内周側から外周側に、所定の払い出し位置等に搬送するようにしてもよい。
【００５４】
仮収納手段３１は、ロッドレスシリンダ２５が部品収納部３から離間する方向に移動して、爪部材１２ａ，１２ｂを後退させたときに、挟持手段１５ａ，１５ｂの間に挟持された金属リングＷが位置する部分に設けられ、支持部材３２を介して垂直移動手段７ｂに取着されることにより、部品把持手段８ｂと同期して垂直移動自在に設けられている。仮収納手段３１は、支持部材３２に柱部材６ａと平行に取着された支柱３３に沿って昇降自在に備えられた昇降手段３４と、昇降手段３４に支持されるアーム部材３５に備えられたロッドレスシリンダ３６と、ロッドレスシリンダ３６に取着されたマガジン部材３７とからなる。そして、マガジン部材３７は、部品把持手段８ｂの挟持手段１５ａ，１５ｂの間隔が最も縮小された場合と、最も拡大された場合との中間の間隔を存して相対向する２組の保持部材３８ａ，３８ｂを上下２段に備え、２組の保持部材３８ａ，３８ｂは前記のように後退せしめられた爪部材１２ａ，１２ｂに備えられる３組の挟持手段１５ａ，１５ｂの間に位置するように配設されている。
【００５５】
次に、抽出した金属リングＷを仮収納手段３１に保持させる手順について説明する。
【００５６】
まず、昇降手段３４が支柱３３に沿って上方に移動し、図５示のように、マガジン部材３７の下段側の保持部材３８ａ，３８ｂが、部品把持手段８ｂの挟持手段１５ａ，１５ｂと同高度に位置するようにする。この状態で、部品把持手段８ｂが前述の手段より金属リングＷを挟持手段１５ａ，１５ｂの間に挟持し、ロッドレスシリンダ２５が部品収納部３から離間する方向に移動すると、挟持手段１５ａ，１５ｂの間隔は、保持部材３８ａ，３８ｂの間隔よりも縮小されているので、図４（ａ）に示すように、挟持手段１５ａ，１５ｂの間に挟持された金属リングＷが保持部材３８ａ，３８ｂの間に導入される。
【００５７】
次に、図２示のリンク機構１３により、挟持部材１５ａ，１５ｂの間隔を保持部材３８ａ，３８ｂの間隔よりも拡大すると、図４（ｂ）に示すように、金属リングＷは、挟持部材１５ａ，１５ｂによる挟持が解除され、代わって拡大された挟持部材１５ａ，１５ｂの間隔よりも狭い間隔で設けられている保持部材３８ａ，３８ｂに挟持されて保持される。
【００５８】
そこで、次に、図４（ｃ）示のように、ロッドレスシリンダ２８が仮収納手段３１から離間する方向に移動し、部品把持手段８ｂを後退させると、金属リングＷは、保持部材３８ａ，３８ｂに挟持されて保持された状態で仮収納手段３１に残置され、仮収納が完了する。
【００５９】
こののち、昇降手段３４は支柱３３に沿って下方に移動し、マガジン部材３７の上段側の保持部材３８ａ，３８ｂが、部品把持手段８ｂの挟持手段１５ａ，１５ｂと同高度に位置するようにする。また、部品把持手段８ｂはロッドレスシリンダ２８が仮収納手段３１に接近する方向に移動することにより、図３（ｄ）に示す状態に復帰する。
【００６０】
次に、部品把持手段８ｂは新たに選択された金属リングＷが収納されている部品収納部３に臨む位置に移動せしめられる。そして、部品把持手段８ｂは、前述と同一の手順により新たに選択された金属リングＷを抽出し、マガジン部材３７の上段側の保持部材３８ａ，３８ｂに仮収納する。
【００６１】
仮収納手段３１は、マガジン部材３７の全ての保持部材３８ａ，３８ｂに金属リングＷが仮収納されたならば、図４（ｃ）示のように、ロッドレスシリンダ２８が仮収納手段３１から離間する方向に移動し、部品把持手段８ｂを後退させる。そして、この状態で、図５示のロッドレスシリンダ３６が支柱３３から離間する方向に移動し、マガジン部材３７に仮収納された金属リングＷを払い出す。
【００６２】
前記実施形態では、マガジン部材３７は保持部材３８ａ，３８ｂを上下２段に備え、２本の金属リングＷを仮収納するようにしているが、保持部材３８ａ，３８ｂをさらに多段に設け、より多くの金属リングＷを仮収納するようにしてもよい。
【００６３】
次に、本発明の第２の態様について説明する。
【００６４】
図６示のように、本実施形態の部品収納抽出装置４１は、内周側に中空部２ａを備える円筒状体２の外周側と内周側との間を多段多列に区画して画成された部品収納部３を備える固定された収納棚４を備え、収納棚４が図１示の通路４ａを備えず、円筒状体２の中空部２ａに収納棚４の内周面に沿って備えられた部品搬送手段５ｂが収納部４の上方で部品把持手段８ｂにより金属リングＷの供給を受け、或いは抽出した金属リングＷを収納部４の内周側から外周側に搬送するようになっていることを除いて、図１示の部品収納抽出装置１と全く同一の構成を示している。
【００６５】
図６示の部品収納抽出装置４１によれば、部品搬送手段５ａの作動は図１示の部品収納抽出装置１と全く同一であるので、部品搬送手段５ｂの作動についてのみ説明する。まず、部品搬送手段５ｂにより金属リングＷを抽出するときには、図１示の部品収納抽出装置１と全く同一の作動により金属リングＷを抽出した後、図示しない制御手段が、垂直移動手段７ｂを駆動して部品把持手段８ｂを収納棚４の上方に移動せしめる。次に、前記制御手段は柱状部材６ｂを回動して、抽出した金属リングＷを搬送する方向に部品把持手段８ｂを指向せしめる。そして、収納棚４の内周側から外周側に抽出した金属リングＷを搬送する。
【００６６】
次に、部品搬送手段５ｂにより金属リングＷを収納するときには、前記制御手段が、垂直移動手段７ｂを駆動して部品把持手段８ｂを収納棚４の上方に移動せしめ、柱状部材６ｂを回動して、金属リングＷが供給される方向に部品把持手段８ｂを指向せしめる。そして、供給された金属リングＷを部品把持手段８ｂで把持したならば、図１示の部品収納抽出装置１と全く同一の作動により金属リングＷを部品収納部３に収納する。
【００６７】
前記各態様の部品収納抽出装置１，４１では、いずれも収納棚４の外周側と内周側とに部品搬送手段５ａ，５ｂを備えているので、部品搬送手段５ａ，５ｂのいずれか一方が部品収納部３に金属リングＷを収納しているときには、他方が部品収納部３から金属リングＷを抽出するというように作動することができる。このようにすることにより、部品搬送手段５ａと、部品搬送手段５ｂとは、金属リングＷの収納または抽出をそれぞれ独立して同時に行うことができ、金属リングＷの収納と抽出とを迅速に行うことができる。
【００６８】
また、前記各態様の部品収納抽出装置１，４１では、いずれも部品搬送手段５ａ，５ｂを移動自在とし、収納棚４を固定して設けているが、収納棚４を移動自在とし、部品搬送手段５ａ，５ｂを固定して設けるようにしてもよい。また、部品搬送手段５ａ，５ｂと収納棚４とを共に移動自在としてもよい。
【図面の簡単な説明】
【図１】本発明の第１の態様の部品収納抽出装置の一実施形態を示す斜視図。
【図２】図１示の部品把持手段を示す平面図。
【図３】図２示の部品把持手段の作動を示す作動説明図。
【図４】本発明の他の実施形態の部品把持手段の作動を示す作動説明図。
【図５】図４示の部品把持手段の側面図。
【図６】本発明の第２の態様の部品収納抽出装置の一実施形態を示す斜視図。
【符号の説明】
１，４１…部品収納抽出装置、２…円筒状体、３…部品収納部、４，４２…収納棚、５ａ…第１の部品搬送手段、５ｂ…第２の部品搬送手段、８ａ…第１の部品把持手段、８ｂ…第２の部品把持手段、１３…拡縮手段、３０ａ，３０ｂ…保持手段。[0001]
BACKGROUND OF THE INVENTION
When assembling a product composed of a plurality of parts such as a belt for a continuously variable transmission (CVT), the present invention stores the parts in a predetermined position or extracts the parts stored in a predetermined position. The present invention relates to a component storage and extraction device.
[0002]
[Prior art]
For example, a belt for a continuously variable transmission (CVT) used as a transmission of an automobile or the like is configured by a laminated ring that is assembled by laminating a plurality of endless metal rings in the thickness direction. This kind of laminated ring is basically selected one by one metal rings of each layer manufactured so that the circumference value and radius are designed values (which are different from each other for each layer), Laminate them in combination. Then, this operation is repeated as many times as necessary for the number of laminated rings.
[0003]
However, although the metal rings constituting each layer of the laminated ring are basically manufactured so that the circumference value and radius are the design values as described above, they always match the design values with high accuracy. However, in general, a certain amount of variation occurs mainly in the design value due to manufacturing errors. For this reason, when the metal rings of the respective layers are combined and laminated, even if the metal rings of the respective layers are arbitrarily selected (randomly) one by one and combined, it is not always possible to obtain a desired laminated ring. .
[0004]
Therefore, when assembling the laminated ring, after manufacturing the metal ring of each layer, size data such as the circumference value of each metal ring is separately measured, and each metal ring is associated with the measurement data and stored in a component storage shelf, etc. Stored in. Then, in order to select and combine the metal rings of each layer, the metal rings of each layer are selected and extracted one by one from the component storage shelf or the like according to predetermined combination conditions.
[0005]
As an apparatus for storing articles such as parts in a storage shelf such as the parts storage shelf or for extracting articles such as stored parts, for example, Japanese Patent Application Laid-Open No. 62-161609 is stacked in multiple stages. The safe box is provided in multiple rows along each side of the virtual polygonal column to form a storage rack (storage shelf) surrounding the virtual polygonal column, and along the inner surface side of the storage shelf at the center of the virtual polygonal column And an automatic safe depositor apparatus provided with a passage that communicates between the inner surface side and the outer surface side of the storage rack along one side surface of the virtual polygonal column. Yes.
[0006]
According to the automatic safe deposit apparatus described in the above publication, the articles supplied from the outer surface side to the inner surface side of the storage rack through the passage are gripped by the gripping means, conveyed to a predetermined safe box, and stored. Alternatively, the articles stored in a predetermined safe box can be grasped and extracted by the gripping means and carried out from the inner surface side to the outer surface side of the storage rack through the passage.
[0007]
However, in the automatic safe depositor, since both the storage and extraction of articles are performed by one transport means provided on the inner surface side of the storage rack, storage of a large number of parts such as the metal ring, Extraction takes time and improvement is desired.
[0008]
[Problems to be solved by the invention]
An object of the present invention is to provide a component storage and extraction device that can eliminate such inconvenience and can quickly store and extract components.
[0009]
[Means for Solving the Problems]
In order to achieve such an object, the component storage / extraction apparatus according to the first aspect of the present invention partitions the inner peripheral surface and the outer peripheral surface of a cylindrical body having a hollow portion on the inner peripheral side into a multistage multi-row. And a storage part having a part storage part in which both end surfaces of the outer peripheral side and the inner peripheral side are opened, and a passage that communicates the outer peripheral side and the inner peripheral side along the axial direction in a part of the outer peripheral face. A first component gripping means is provided, which is relatively movable along the outer peripheral surface of the shelf and the storage shelf, and is provided with first component gripping means for gripping a component facing the outer peripheral surface of the storage shelf. The parts gripped by the carrier are transported and stored in a predetermined part storage part, or the parts stored in the predetermined part storage part are gripped and extracted by the first part gripping means and transported to a predetermined position. The first component conveying means is relatively movable along the inner peripheral surface of the storage shelf and grips the component. 2 parts gripping means are provided to face the inner peripheral surface of the storage shelf, and the parts supplied from the outer peripheral side to the inner peripheral side of the storage shelf via the passage are gripped by the second part gripping means and are predetermined. The component is stored in the component storage unit, or the component stored in the predetermined component storage unit is gripped and extracted by the second component gripping means, and the component is stored in the storage shelf via the passage. And a second component conveying means for conveying from the peripheral side to the outer peripheral side.
[0010]
According to the component storage and extraction device of the first aspect of the present invention, the outer peripheral side is defined by dividing the inner peripheral surface and the outer peripheral surface of the cylindrical body having a hollow portion on the inner peripheral side into a multistage multi-row. And a storage shelf provided with a component storage part having both end surfaces open to the inner peripheral side, and a component conveying means provided on the outer peripheral side and the inner peripheral side of the storage shelf. Therefore, it is possible to store the component in one of the component conveying means provided on the outer peripheral side or the inner peripheral side of the storage shelf and extract the component on the other side.
[0011]
For example, when the parts are stored by the first component conveying means provided on the outer peripheral side of the storage shelf, the supplied parts are gripped by the first component gripping means and are relative to the storage shelf. And then transported to and stored in a predetermined component storage unit. In this case, the second component conveying means provided on the inner peripheral side of the storage shelf is in charge of extracting the components, and the components stored in the predetermined component storage unit are gripped and extracted by the second component gripping means. Then, it is moved relative to the storage shelf, and the parts are conveyed from the inner peripheral side to the outer peripheral side of the storage shelf via the passage.
[0012]
In addition, when storing the parts by the second component conveying means provided on the inner peripheral side of the storage shelf, the parts supplied from the outer peripheral side of the storage shelf to the inner peripheral side through the passage are 2 is gripped by the component gripping means, moved relative to the storage shelf, and conveyed to and stored in a predetermined component storage unit. In this case, the first component conveying means provided on the outer peripheral side of the storage shelf is in charge of extracting the components, and the components stored in the predetermined component storage unit are gripped and extracted by the first component gripping means. Then, it is moved relative to the storage shelf and conveyed to a predetermined position.
[0013]
Therefore, according to the component storage and extraction apparatus of the first aspect of the present invention, the storage of the component and the extraction of the component can be performed independently by the both component conveying means, and the storage and extraction of the component are performed. Can be shortened.
[0014]
Next, the component storage / extraction apparatus according to the second aspect of the present invention is defined by dividing the inner peripheral surface and the outer peripheral surface of a cylindrical body having a hollow portion on the inner peripheral side into multistage multi-rows. A storage shelf having a component storage portion with both end surfaces of the side and the inner peripheral side open, and a first component gripping means that is relatively movable along the outer peripheral surface of the storage shelf and grips the component Facing the outer peripheral surface of the storage shelf, and transporting and storing a part gripped by the first part gripping means to a predetermined part storage part, or storing a part stored in the predetermined part storage part The first component gripping means that grips and extracts the first component transporting means that is gripped and extracted and transported to a predetermined position is relatively movable along the inner peripheral surface of the storage shelf. A second component gripping means is provided so as to face the inner peripheral surface of the storage shelf, and the outer peripheral side from the outer periphery side of the storage shelf above the storage shelf. The supplied parts are gripped by the second part gripping means and transported to and stored in a predetermined part storage part, or the parts stored in the predetermined part storage part are gripped by the second part gripping means and extracted. And a second component conveying means for conveying the component from the inner peripheral side to the outer peripheral side of the storage shelf above the storage shelf.
[0015]
In the component storage / extraction apparatus according to the second aspect of the present invention, the storage shelf is a cylindrical body having a hollow portion on the inner peripheral side, and does not include the passage in the first aspect, and the inner periphery of the storage shelf. The second component transport means provided on the side stores the component supplied from the outer peripheral side to the inner peripheral side above the storage shelf, or transports the extracted component from the inner peripheral side to the outer peripheral side. Except for this, it operates in the same manner as the first embodiment. Therefore, the component storage and extraction apparatus according to the second aspect of the present invention can also perform the storage of the component and the extraction of the component independently, and shorten the time required for storage and extraction of the component. Can do.
[0016]
Further, in each of the above aspects, the component storage and extraction device according to the present invention is bent by a plurality of pairs of holding members that are elastic rings and that are opposed to the component storage portion at a predetermined interval. The component gripping means is provided so as to be able to advance and retreat with respect to the component storage portion when held in a state of being held, and enters into the component storage portion, with a plurality of pairs of clamping members arranged opposite to each other with a space therebetween An expansion / contraction means for reducing the interval between the holding members by reducing the interval between the holding members to clamp the ring from the outer peripheral side, and increasing the interval between the holding members beyond the interval between the holding members. It is characterized by providing.
[0017]
In the component gripping means, when the ring having elasticity as the component is held in a state of being bent by the holding member, the gap between the holding members is expanded by the expansion / contraction means than the interval between the holding members. The ring is held by the holding member from the outer peripheral side by entering the component storage portion in a state and then reducing the interval between the holding members by the expansion / contraction means from the interval between the holding members. Can do.
[0018]
The component gripping means reduces the interval between the holding members by the expansion / contraction means from the interval between the holding members, enters the component storage portion in a state where the ring is gripped from the outer peripheral side, and then expands / contracts Thus, by enlarging the interval between the holding members more than the interval between the holding members, the holding of the ring can be released and the ring can be held by the holding member.
[0019]
Therefore, according to the component gripping means, the ring can be clamped or the clamping can be released only by advancing and retreating between the columnar member and the component storage portion, and by increasing or decreasing the interval between the clamping members. As a result, the ring as the part can be easily stored and extracted.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. 1 is a perspective view showing an embodiment of a component storage and extraction apparatus according to the first aspect of the present invention, FIG. 2 is a plan view showing the component gripping means shown in FIG. 1, and FIG. 3 is a diagram of the component gripping means shown in FIG. FIG. 4 is an operation explanatory view showing the operation, FIG. 4 is an operation explanatory view showing the operation of the component gripping means shown in FIG. 2 in another embodiment, and FIG. 5 is a side view of the component gripping means shown in FIG. FIG. 6 is a perspective view showing an embodiment of the component storage / extraction apparatus according to the second aspect of the present invention.
[0021]
Next, the first aspect of the present invention will be described.
[0022]
As shown in FIG. 1, the component storage and extraction device 1 according to the present embodiment partitions the space between the outer peripheral side and the inner peripheral side of a cylindrical body 2 having a hollow portion 2 a on the inner peripheral side into a multistage multi-row. A fixed storage shelf 4 including the component storage unit 3 formed, a component transport means 5 a provided around the outer peripheral surface of the storage shelf 4, and a storage shelf 4 in the hollow portion 2 a of the cylindrical body 2. The component conveying means 5b is provided so as to be rotatable along the inner peripheral surface. Further, the storage shelf 4 includes a passage 4 a that communicates the outer peripheral side and the inner peripheral side along the axial direction in a part of the outer peripheral surface of the cylindrical body 2.
[0023]
The component storage part 3 stores a metal ring (not shown) having elasticity as a component, and the outer peripheral side end surface 3a and the inner peripheral surface end surface 3b of the cylindrical body 2 are opened, and from both end surfaces. Metal rings can be stored and extracted. In this embodiment, the metal ring constitutes each layer of a laminated ring used as a belt for a continuously variable transmission (CVT), and is manufactured so that size data such as a circumference value becomes a design value. After that, the size data is separately measured.
[0024]
The component conveying means 5a includes a columnar member 6a provided in parallel with the height direction of the storage shelf 4 along the outer peripheral surface of the storage shelf 4, and a vertical movement provided so as to be movable in the vertical direction along the columnar member 6a. It comprises means 7a and component gripping means 8a provided in the vertical movement means 7a. Further, the component conveying means 5a is provided on a table 9 provided at the lower part of the storage shelf 4 so as to be rotatable along the outer peripheral surface, and can rotate around the storage shelf 4 according to the operation of the table 9. Has been.
[0025]
On the other hand, the component conveying means 5b corresponds to the component conveying means 5a, and is provided along a columnar member 6b provided parallel to the height direction of the storage shelf 4 along the inner peripheral surface of the storage shelf 4, and along the columnar member 6b. The vertical movement means 7b provided so as to be movable in the vertical direction and the component gripping means 8b provided in the vertical movement means 7b, and the columnar member 6b itself rotates along the inner peripheral surface of the storage shelf 4. Is provided so as to be rotatable.
[0026]
The vertical moving means 7a and 7b are driven by a motor (not shown), for example, and engage with a gear (not shown) provided in a groove 10 formed along the vertical direction of the columnar members 6a and 6b to move vertically. A thing etc. can be used.
[0027]
The component gripping means 8a and 8b have the same configuration, and the component gripping means 8a is taken as an example, as shown in FIG. 2 (a), and the board 11 and the claw members 12a and 12b provided below the board 11 And a link mechanism 13 for driving the claw members 12a and 12b. The claw members 12a and 12b are provided with projecting portions 14a and 14b projecting outward from three locations along the length direction thereof, and the projecting portions 14a and 14b project downward at the tip portions and face each other. And holding members 15a and 15b for holding the metal ring W.
[0028]
The link mechanism 13 includes two sets of links 16a, 16b, 17a, and 17b and a cylinder 18 that drives the links 16a, 16b, 17a, and 17b. The links 16 a and 16 b are screwed so as to be movable along holes 19 a and 19 b provided in the width direction of the substrate 11, and the rear ends are holes provided in the length direction of the substrate 11. It is screwed to the cylinder rod 21 of the cylinder 18 through the portion 20 and is movable along the hole 20 according to the operation of the cylinder rod 21. The links 17a and 17b are screwed so as to be movable along the hole portions 22a and 22b provided in the width direction of the substrate 11, and the rear end portions thereof are both provided in the length direction of the substrate 11. It is screwed into the cylinder rod 21 of the cylinder 18 through the hole 23 and is movable along the hole 23 according to the operation of the cylinder rod 21.
[0029]
Next, the operation of the component gripping member 8a will be described with reference to FIGS. 2 (a) and 2 (b). As described above, the component gripping member 8b has the same configuration as the component gripping member 8a, and operates exactly the same as the component gripping member 8a.
[0030]
In FIG. 2A, the cylinder rod 21 is retracted, and the rear ends of the links 16a, 16b, 17a, and 17b move to the cylinder 18 side along the holes 20 and 23, and accordingly the link 16a. , 16b, 17a, and 17b are moved inwardly along the holes 19a, 19b, 22a, and 22b. At this time, the interval between the holding members 15a and 15b provided in the claw members 12a and 12b is in the most reduced state, and the metal ring W is bent into an oval shape between the three sets of holding members 15a and 15b. Pinched.
[0031]
Next, when the cylinder rod 21 is advanced by the cylinder 18, the rear end portions of the links 16 a, 16 b, 17 a, and 17 b are moved along the holes 20 and 23 to the side away from the cylinder 18. Along with this, the respective distal end portions of the links 16a, 16b, 17a, 17b move to the outside of the substrate 11 along the hole portions 19a, 19b, 22a, 22b, and are held by the claw members 12a, 12b. The interval between the members 15a and 15b is enlarged. At this time, the metal ring W tries to return to a circular shape while maintaining the state of being held between the holding members 15a and 15b due to its elasticity.
[0032]
Next, the operation of the component storage and extraction device 1 of the present embodiment will be described.
[0033]
First, when the metal ring W that has been manufactured in the previous process and whose size data such as the circumference value is measured is supplied to the component conveying means 5a provided on the outer peripheral side of the storage shelf 4, the component is conveyed. The component gripping means 8a of the means 5a grips the metal ring W in the state shown in FIG. Next, the control device (not shown) determines the rotation angle of the table 9 and the vertical movement distance of the vertical movement means 7a from the position information of the component storage section 3 that stores the metal ring W and the current position of the component conveyance means 5a. Is calculated. And the said control means drives the table 9 and the vertical moving means 7a, and moves the component holding means 8a to the position which faces the components storage part 3 which accommodates the said metal ring W. FIG.
[0034]
FIG. 3A shows a state where the component gripping means 8 a that grips the metal ring W faces the component storage unit 3. The component gripping means 8a is suspended through a suspension member 26 below a rodless cylinder 25 attached to the U-shaped member 24, and the U-shaped member 24 extends along the side surface of the columnar member 6a. It is further supported by a rodless cylinder 28 attached to a U-shaped member 27 supported by a vertical moving means 7a provided so as to be movable in the vertical direction.
[0035]
On the other hand, two sets of holding members 30a and 30b projecting upward are provided on the floor surface 29 of the component storage unit 3, and the holding members 30a and 30b have a gap between the holding means 15a and 15b of the component gripping means 8a. They are provided opposite to each other with an intermediate interval between the most reduced case and the most enlarged case.
[0036]
At this time, the vertical moving means 7a is configured so that the metal ring W gripped by the component gripping means 8a has the same height as the holding members 30a and 30b, and the component gripping means 8a holds the interval between the clamping members 15a and 15b. The metal ring W is sandwiched and held between the sandwiching members 15a and 15b in a state where the distance is smaller than the interval between the members 30a and 30b. Further, the holding members 30 a and 30 b have upper surfaces that are lower than the lower surfaces of the claw members 12 a and 12 b, and the lower surfaces of the holding members 15 a and 15 b are higher than the floor surface 29 of the component storage unit 3. In FIG. 3A to FIG. 3D, the link mechanism 13 is omitted.
[0037]
Next, as shown in FIG. 3B, the rodless cylinder 25 moves in a direction approaching the component storage unit 3, and the claw members 12 a and 12 b enter the component storage unit 3. At this time, the component gripping means 8a is in a state in which the interval between the holding members 15a and 15b is smaller than the interval between the holding members 30a and 30b, so that the metal ring W is held between the holding members 15a and 15b. And enters between the holding members 30a and 30b. The two sets of holding members 30a and 30b are disposed so as to be positioned between the three sets of protrusions 14a and 14b provided in the claw members 12a and 12b, respectively.
[0038]
Next, the component gripping means 8a operates the link mechanism 13 as described with reference to FIG. 2B, and widens the interval between the clamping members 15a and 15b. As a result, as shown in FIG. 3C, the interval between the holding members 15a and 15b is larger than the interval between the holding members 30a and 30b.
[0039]
When the interval between the holding members 15a and 15b is increased, the metal ring W tries to return to a circular shape while maintaining the state of being held between the holding members 15a and 15b due to its elasticity. As a result, the metal ring W is released from being held by the holding members 15a and 15b, and is held and held by holding members 30a and 30b provided at a narrower interval than the interval between the enlarged holding members 15a and 15b. Is done.
[0040]
Next, as shown in FIG. 3 (d), the rodless cylinder 25 moves in a direction away from the component storage portion 3 to retract the claw members 12 a and 12 b. Then, since the metal ring W is left in the component storage unit 3 while being held between the holding members 30a and 30b, the storage in the component storage unit 3 is completed.
[0041]
Therefore, the control unit mutually transmits information such as size data related to the metal ring W stored in the component storage unit 3 by the component transport unit 5a and position information of the component storage unit 3 in which the metal ring W is stored. Store it in association.
[0042]
Next, when extracting the metal ring W stored in the component storage unit 3, this is performed by the component conveying means 5 b provided on the inner peripheral side of the storage shelf 4. In this case, the control means selects a metal ring W having information such as size data corresponding to a predetermined condition from a plurality of metal rings W stored in the storage shelf 4. Next, the control means includes position information of the component storage unit 3 storing the metal ring W stored in association with information such as the size data and the inner peripheral side of the storage shelf 4. The rotation angle of the columnar member 6b and the vertical movement distance between the vertical movement means 7b are calculated from the current position of the component conveying means 5b. And the said control means drives the columnar member 6b and the vertical movement means 7b, and moves the component holding means 8b to the position which faces the components storage part 3 which accommodates the said metal ring W. FIG.
[0043]
The state in which the component gripping means 8b of the component extraction / conveyance means 5b faces the component storage portion 3 is shown in FIG. 3 (d). It is the same as the state replaced with the means 7b and the component gripping means 8b. The procedure for extracting the metal ring W by the component gripping means 8b is completely opposite to the procedure for storing the metal ring W by the component gripping means 8a.
[0044]
Therefore, next, in FIGS. 3A to 3D, the columnar member 6a, the vertical moving unit 7a, and the component gripping unit 8a are read as the columnar member 6b, the vertical moving unit 7b, and the component gripping unit 8b, respectively. The procedure for extracting the metal ring W by the component gripping means 8b will be described.
[0045]
When the metal ring W is extracted by the component gripping means 8b, first, as shown in FIG. 3D, the link mechanism 13 shown in FIG. 2 is operated with the component gripping means 8b facing the component storage portion 3. Thus, the interval between the holding members 15a and 15b is made larger than the interval between the holding members 30a and 30b.
[0046]
Next, the rodless cylinder 25 moves in a direction approaching the component storage unit 3 to cause the claw members 12 a and 12 b to enter the component storage unit 3. Then, since the component gripping means 8b is in a state in which the interval between the holding members 15a and 15b is larger than the interval between the holding members 30a and 30b, the holding members 15a and 15b are held by the holding members as shown in FIG. It is located on the outer peripheral side of the metal ring W held between 30a and 30b.
[0047]
Therefore, the link mechanism 13 shown in FIG. 2 is operated to reduce the interval between the holding members 15a and 15b to be smaller than the interval between the holding members 30a and 30b. As a result, as shown in FIG. 3B, the metal ring W held by the holding members 30a and 30b is clamped from the outer peripheral side by the clamping members 15a and 15b instead of the holding members 30a and 30b.
[0048]
Next, as shown in FIG. 3A, the rodless cylinder 25 moves in a direction away from the component storage unit 3 to retract the claw members 12 a and 12 b. Then, the metal ring W is extracted from the component storage unit 3 while being sandwiched between the sandwiching members 15a and 15b. Therefore, the control means drives the columnar member 6b in a state where the component gripping means 8b of the component transport means 5b grips the metal ring W extracted as described above, and the position where the component gripping means 8b faces the passage 4a. The metal ring W is conveyed from the inner peripheral side to the outer peripheral side of the storage shelf 4 through the passage 4.
[0049]
In the above embodiment, the metal ring W is stored by the component conveying means 5a provided on the outer peripheral side of the storage shelf 4, and the metal ring W is extracted by the component conveying means 5b provided on the inner peripheral side. However, storage may be performed by the component conveying unit 5b and extraction may be performed by the component conveying unit 5a.
[0050]
In this case, the control unit first drives the component conveying unit 5b to move the component gripping unit 8b to a position facing the passage 4a, and the metal ring W is moved from the outer peripheral side of the storage shelf 4 through the passage 4. The component gripping means 8b of the component transport means 5b grips the metal ring W in the state shown in FIG. Next, the control means determines the rotation angle of the columnar member 6b and the vertical movement distance of the vertical movement means 7b from the position information of the component storage part 3 that stores the metal ring W and the current position of the component conveyance means 5b. Is calculated. Then, the control means drives the columnar member 6b and the vertical movement means 7b to move the component gripping means 8b to a position facing the component storage portion 3 for storing the metal ring W, and by the component gripping means 8a. The metal ring W is stored in the component storage unit 3 in the same procedure.
[0051]
If the metal ring W has been stored, the control means includes information such as size data relating to the metal ring W stored in the component storage section 3 by the component transport means 5b, and the component storage section in which the metal ring W is stored. 3 position information is stored in association with each other.
[0052]
Next, when the metal ring W stored in the component storage unit 3 is extracted by the component conveying unit 5a provided on the outer peripheral side of the storage shelf 4, the control unit stores the selected metal ring W. The rotation angle of the table 9 and the vertical movement distance between the vertical movement unit 7a are calculated from the position information of the component storage unit 3 and the current position of the component conveyance unit 5a. Then, the control means drives the table 9 and the vertical movement means 7a to move the component gripping means 8a to a position facing the component storage portion 3 that stores the metal ring W, and is the same as that by the component gripping means 8b. The metal ring W is extracted by the procedure described above and transported to a predetermined predetermined payout position or the like.
[0053]
In the above embodiment, the component conveying means 5a and 5b convey the metal rings W extracted from the storage shelf 4 one by one from the inner peripheral side to the outer peripheral side of the storage shelf 4 or to a predetermined payout position. However, as shown in FIG. 4 and FIG. 5 as an example of the component gripping means 8b, the component gripping means 8a, 8b is provided with a temporary storage means 31 for holding a plurality of extracted metal rings W. You may make it convey to the predetermined | prescribed payout position etc. from the inner peripheral side of the storage shelf 4 to the outer peripheral side by the unit of the number of metal rings W held.
[0054]
The temporary storage means 31 moves in a direction in which the rodless cylinder 25 moves away from the component storage portion 3 and retracts the claw members 12a and 12b, so that the metal ring W held between the holding means 15a and 15b. Is attached to the vertical movement means 7b via the support member 32, and is provided so as to be vertically movable in synchronization with the component gripping means 8b. The temporary storage means 31 is provided on an elevating means 34 that can be raised and lowered along a column 33 attached to a support member 32 in parallel with the column member 6a, and an arm member 35 supported by the elevating means 34. It consists of a rodless cylinder 36 and a magazine member 37 attached to the rodless cylinder 36. The magazine member 37 has two sets of holding members 38a facing each other with an intermediate interval between the case where the interval between the clamping units 15a and 15b of the component gripping unit 8b is reduced most and the case where it is enlarged most. , 38b in two upper and lower stages, and the two sets of holding members 38a, 38b are arranged so as to be positioned between the three sets of clamping means 15a, 15b provided in the claw members 12a, 12b retracted as described above. It is installed.
[0055]
Next, a procedure for holding the extracted metal ring W in the temporary storage means 31 will be described.
[0056]
First, the lifting / lowering means 34 moves upward along the column 33, and as shown in FIG. 5, the lower holding members 38a and 38b of the magazine member 37 have the same height as the clamping means 15a and 15b of the component gripping means 8b. To be located. In this state, when the component gripping means 8b clamps the metal ring W between the clamping means 15a and 15b by the aforementioned means, and the rodless cylinder 25 moves away from the component storage portion 3, the clamping means 15a and 15b. Is smaller than the distance between the holding members 38a and 38b. Therefore, as shown in FIG. 4 (a), the metal ring W held between the holding means 15a and 15b is connected to the holding members 38a and 38b. Introduced between.
[0057]
Next, when the distance between the holding members 15a and 15b is larger than the distance between the holding members 38a and 38b by the link mechanism 13 shown in FIG. 2, as shown in FIG. 4 (b), the metal ring W becomes the holding member 15a. , 15b is released, and is held and held by holding members 38a, 38b provided at a narrower interval than the interval between the holding members 15a, 15b enlarged instead.
[0058]
Therefore, as shown in FIG. 4C, when the rodless cylinder 28 moves away from the temporary storage means 31 and the component gripping means 8b is moved backward, the metal ring W is moved to the holding members 38a, It is left in the temporary storage means 31 while being sandwiched and held by 38b, and the temporary storage is completed.
[0059]
After that, the elevating means 34 moves downward along the column 33 so that the holding members 38a, 38b on the upper side of the magazine member 37 are positioned at the same height as the clamping means 15a, 15b of the component gripping means 8b. . Further, the component gripping means 8b returns to the state shown in FIG. 3D when the rodless cylinder 28 moves in the direction approaching the temporary storage means 31.
[0060]
Next, the component gripping means 8b is moved to a position facing the component storage unit 3 in which the newly selected metal ring W is stored. The component gripping means 8b extracts the newly selected metal ring W by the same procedure as described above, and temporarily stores it in the holding members 38a and 38b on the upper side of the magazine member 37.
[0061]
When the metal ring W is temporarily stored in all the holding members 38a, 38b of the magazine member 37, the temporary storage means 31 is separated from the temporary storage means 31 as shown in FIG. The component gripping means 8b is moved backward. Then, in this state, the rodless cylinder 36 shown in FIG. 5 moves in a direction away from the column 33, and the metal ring W temporarily stored in the magazine member 37 is paid out.
[0062]
In the above embodiment, the magazine member 37 is provided with the holding members 38a and 38b in two upper and lower stages, and temporarily stores the two metal rings W. However, the holding members 38a and 38b are further provided in multiple stages and more. The metal ring W may be temporarily stored.
[0063]
Next, the second aspect of the present invention will be described.
[0064]
As shown in FIG. 6, the component storage and extraction device 41 according to the present embodiment partitions the space between the outer peripheral side and the inner peripheral side of the cylindrical body 2 having the hollow portion 2 a on the inner peripheral side in a multistage multi-row. A fixed storage shelf 4 provided with the component storage unit 3 is provided, the storage shelf 4 does not include the passage 4a shown in FIG. 1, and the hollow portion 2a of the cylindrical body 2 extends along the inner peripheral surface of the storage shelf 4. The component conveying means 5b provided above receives the supply of the metal ring W by the component gripping means 8b above the storage portion 4 or conveys the extracted metal ring W from the inner peripheral side to the outer peripheral side of the storage portion 4. Except for this, the configuration is identical to that of the component storage / extraction apparatus 1 shown in FIG.
[0065]
According to the component storage / extraction device 41 shown in FIG. 6, the operation of the component conveyance means 5a is exactly the same as that of the component storage / extraction device 1 shown in FIG. 1, so only the operation of the component conveyance means 5b will be described. First, when extracting the metal ring W by the parts conveying means 5b, the control means (not shown) drives the vertical moving means 7b after extracting the metal ring W by exactly the same operation as the parts storage and extraction apparatus 1 shown in FIG. Then, the component gripping means 8b is moved above the storage shelf 4. Next, the control means rotates the columnar member 6b to direct the component gripping means 8b in the direction in which the extracted metal ring W is conveyed. And the metal ring W extracted from the inner peripheral side of the storage shelf 4 to the outer peripheral side is conveyed.
[0066]
Next, when the metal ring W is stored by the component conveying means 5b, the control means drives the vertical moving means 7b to move the component gripping means 8b above the storage shelf 4, and rotates the columnar member 6b. Thus, the component gripping means 8b is oriented in the direction in which the metal ring W is supplied. When the supplied metal ring W is gripped by the component gripping means 8b, the metal ring W is stored in the component storage portion 3 by the same operation as that of the component storage extraction device 1 shown in FIG.
[0067]
In each of the component storage and extraction devices 1 and 41 of the above embodiments, since the component conveying means 5a and 5b are provided on the outer peripheral side and the inner peripheral side of the storage shelf 4, either one of the component conveying means 5a and 5b is provided. When the metal ring W is stored in the component storage unit 3, the other can operate such that the metal ring W is extracted from the component storage unit 3. By doing in this way, the component conveyance means 5a and the component conveyance means 5b can respectively perform the accommodation or extraction of the metal ring W independently and simultaneously, and the metal ring W is rapidly accommodated and extracted. be able to.
[0068]
In each of the component storage and extraction devices 1 and 41 of the above-described aspects, the component transporting means 5a and 5b are both movable and the storage shelf 4 is fixed. However, the storage shelf 4 is movable and the component transport is performed. The means 5a and 5b may be fixedly provided. Further, both the component conveying means 5a, 5b and the storage shelf 4 may be movable.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an embodiment of a component storage and extraction device according to a first aspect of the present invention.
FIG. 2 is a plan view showing the component gripping means shown in FIG.
FIG. 3 is an operation explanatory view showing the operation of the component gripping means shown in FIG. 2;
FIG. 4 is an operation explanatory view showing the operation of the component gripping means of another embodiment of the present invention.
5 is a side view of the component gripping means shown in FIG. 4. FIG.
FIG. 6 is a perspective view showing an embodiment of a component storage and extraction device according to a second aspect of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1,41 ... Component storage extraction apparatus, 2 ... Cylindrical body, 3 ... Component storage part, 4,42 ... Storage shelf, 5a ... 1st component conveyance means, 5b ... 2nd component conveyance means, 8a ... 1st 8b, second component gripping means, 13 ... expansion / contraction means, 30a, 30b, holding means.

Claims

A component storage portion defined by dividing the inner peripheral surface and the outer peripheral surface of a cylindrical body having a hollow portion on the inner peripheral side into a multi-stage multi-row, and having both end surfaces on the outer peripheral side and the inner peripheral side opened. A storage shelf provided with a passage communicating with the outer peripheral side and the inner peripheral side along the axial direction in a part of the outer peripheral surface;
A first component gripping means that is relatively movable along the outer peripheral surface of the storage shelf and that grips a component is provided opposite the outer peripheral surface of the storage shelf, and is gripped by the first component gripping means. A first part that is transported to and stored in a predetermined part storage unit, or that a part stored in the predetermined part storage unit is gripped and extracted by the first part gripping means Parts conveying means;
A second component gripping means that is relatively movable along the inner peripheral surface of the storage shelf and that grips a component is provided to face the inner peripheral surface of the storage shelf, and the storage shelf is provided via the passage. The parts supplied from the outer peripheral side of the shelf to the inner peripheral side are gripped by the second part gripping means and conveyed to and stored in a predetermined part storage part, or the parts stored in the predetermined part storage part are stored in the second part. A second part transporting means for gripping and extracting by the part gripping means, and transporting the part from the inner peripheral side to the outer peripheral side of the storage shelf through the passage ,
When the component is a ring having elasticity and is held in a bent state by a plurality of holding members opposed to the component storage portion at a predetermined interval, the component gripping means A plurality of pairs of holding members that are provided so as to be able to advance and retreat with respect to the storage unit and are arranged to face each other with a gap therebetween, and a gap between the holding members that have entered the component storage unit is reduced by a distance from the holding member. clamping the ring from the outer peripheral side, component storage extraction device according to claim Rukoto a scaling means for releasing the holding of the ring spacing該挟support member to expand than the interval of the holding member.

A component storage portion defined by dividing the inner peripheral surface and the outer peripheral surface of a cylindrical body having a hollow portion on the inner peripheral side into a multi-stage multi-row, and having both end surfaces on the outer peripheral side and the inner peripheral side opened. A storage shelf,
A first component gripping means that is relatively movable along the outer peripheral surface of the storage shelf and that grips a component is provided opposite the outer peripheral surface of the storage shelf, and is gripped by the first component gripping means. A first part that is transported to and stored in a predetermined part storage unit, or that a part stored in the predetermined part storage unit is gripped and extracted by the first part gripping means Parts conveying means;
A second component gripping means that is relatively movable along the inner peripheral surface of the storage shelf and that grips a component is provided opposite to the inner peripheral surface of the storage shelf, and is provided above the storage shelf. The parts supplied from the outer peripheral side to the inner peripheral side of the storage shelf are gripped by the second part gripping means and transferred to and stored in a predetermined part storage part, or the parts stored in the predetermined part storage part are stored in the first storage part. A second component transporting means for gripping and extracting by the two component gripping means, and transporting the part from the inner peripheral side to the outer peripheral side of the storage shelf above the storage shelf ;
When the component is a ring having elasticity and is held in a bent state by a plurality of holding members opposed to the component storage portion at a predetermined interval, the component gripping means A plurality of pairs of holding members that are provided so as to be able to advance and retreat with respect to the storage unit and are arranged to face each other with a gap therebetween, and a gap between the holding members that have entered the component storage unit is reduced by a distance from the holding member. clamping the ring from the outer peripheral side, component storage extraction device according to claim Rukoto a scaling means for releasing the holding of the ring spacing該挟support member to expand than the interval of the holding member.