JP4093110B2 - General-purpose hand - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a general-purpose hand that grips a workpiece, and particularly to a general-purpose hand that can grip a wide variety of workpieces of different sizes and shapes.
[0002]
[Prior art]
Conventionally, in order to grip a variety of workpieces of this type, it has been common to provide a gripping device such as a gauge clamp corresponding to each type of workpiece in a hand as a gripping device of a transporting device such as a robot.
[0003]
In this method, gripping means to be applied according to the type of workpiece to be gripped during conveyance or the like is switched using a switching mechanism.
[0004]
[Problems to be solved by the invention]
However, the above conventional example requires a plurality of gripping means and its switching mechanism corresponding to the number of types of workpieces to be conveyed, and the hand becomes heavier as the types of workpieces to be produced increase. There is a possibility that the load capacity and allowable inertia of the transport means such as a robot may be exceeded.
[0005]
Also, a plurality of gripping means corresponding to the number of types of workpieces and a switching mechanism thereof are provided, and gripping means other than the gripping means applied to the workpiece are located at the standby position on the hand. Therefore, the gripping means and the switching mechanism have to be more complicated because it is necessary to form them so as not to interfere with the carry-in process side gauge or the carry-out process side gauge.
[0006]
Accordingly, the present invention has been made in view of the above problems, and an object thereof is to provide a general-purpose hand that can grip a wide variety of workpieces without adding a gripping means.
[0007]
[Means for Solving the Problems]
  The present invention relates to a suction pad that can move forward and backward by a predetermined range with respect to a frame that is positioned and transported by multi-axis transport means, and is urged in the forward position direction and supported in a swingable manner. A suction actuating means for attracting the workpiece to the workpiece, a lock means for restraining the advancing and retreating movement of the suction pad when the suction actuating means is actuated, and a restraining means for restraining the swing of the suction pad.Composed of a pairAdsorption holding meansOne of the pair of suction holding means is arranged so that the slide position can be adjusted by a drive shaft with respect to the frame, and the other suction holding means is slidably supported on a driven shaft provided on the frame, One suction holding means and the other suction holding means are connected by an interval restraining mechanism capable of restraining the distance between the two, and the other suction holding means is activated when the interval restraining mechanism is inactive, and is deactivated when activated. Brake means for restricting the movement of the other suction holding means, and when the interval restraining mechanism is operated, one suction holding means and the other suction holding means can be slid together, and the interval restraining mechanism is inoperative. Sometimes only one suction holding means can slideIt is characterized by that.
[0008]
【The invention's effect】
  Therefore, in the present invention, the suction pad is supported so as to be movable forward and backward while being urged in the forward position direction with respect to the frame, and the suction pad is moved forward and backward when the workpiece is suctioned. To be restrained by locking means and restraining meansA pair of configuredAdsorption holding meansPreparation,thisOne of the pair of suction holding means is arranged so that the slide position can be adjusted by a drive shaft with respect to the frame, and the other suction holding means is supported so as to be slidable on a driven shaft provided on the frame. The other suction holding means is connected by a distance restraining mechanism capable of restraining the distance between the two, and the other suction holding means is activated when the distance restraining mechanism is inactive, and is deactivated during operation. Brake means for restraining the movement of the first and second suction holding means, and the one suction holding means and the other suction holding means can be slid together when the interval restraining mechanism is operated, and one suction holding means when the distance restraining mechanism is not actuated. Can only slide anddid.
[0009]
For this reason, the suction pad can be imitated in the shape of the workpiece in the advancing / retreating direction and the swinging direction, can be appropriately held even for workpieces of different types and shapes, and can be easily generalized.
[0010]
  In addition, since additional gauge clamps are not required for different types of workpieces, there is no increase in the weight of the hand even when a plurality of types of workpieces are selectively conveyed.
  Further, the positions of the plurality of suction holding means can be changed by one drive axis, and can be controlled by, for example, the seventh axis controller of the robot which is the multi-axis transport means, and a control device dedicated to the drive axis is not required. In addition, the use of a single drive shaft makes it possible to reduce the cost and weight.
  In addition, the position of both suction holding means can be arbitrarily adjusted by reciprocating one suction holding means in conjunction with the operation of the interval restraining mechanism and the brake means, and the operating stroke of the slide mechanism of one suction holding means can be adjusted. It can be shortened, and the drive shaft and the slide mechanism of each suction holding means can be reduced in cost and weight.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.
[0012]
FIGS. 1-10 shows an example of the general purpose hand of this invention, and is applied to the general purpose hand 1 which grips and conveys the body side outer (hereinafter referred to as B / S-OTR) of an automobile.
[0013]
1 and 2 show a plan view and a front view of a general-purpose hand 1 to which the present invention is applied. 1 and 2, the general-purpose hand 1 includes gauge clamps 2 to 4 for clamping the flange SF of the side sill SS and the flange PF in front of the center pillar CP that form the front and rear door openings FD and RD of the B / S-OTR, respectively. And suction holding means 5, 6 capable of being sucked on the inner surface of the rear fender RF formed integrally with the B / S-OTR, positioning means 7 for moving the suction holding means 5, 6 in the longitudinal direction of the vehicle body, It comprises a frame 8 that holds the suction holding means 5 and 6 positioned by the gauge clamps 2 to 4 and the positioning means 7 and is connected to the robot arm RA.
[0014]
As shown in FIG. 3, the gauge clamps 2 to 4 hold the B / S-OTR by clamping the panel flange by the fixed claw 10 and the movable claw 11 pivotally supported by the fixed claw 10. To do. The fixed claw 10 is fixedly supported by a bracket integrated with the frame 8, and the movable claw 11 is positioned at either the open position or the clamp position by the clamp cylinder 12. As shown in FIG. 2, in the gauge clamps 2 and 3 for clamping the flanges SF forming the door openings FD and RD before and after the side sill SS, the fixing claws 10 are arranged substantially vertically so as to be orthogonal to the flanges extending in the vertical direction. In the gauge clamp 4 that clamps the flange PF in front of the center pillar CP, the fixed claws 10 are arranged substantially horizontally so as to be orthogonal to the flange extending in the front-rear direction. These flanges SF and PF can be clamped in common without adjusting the positions of the gauge clamps 2 to 4 even though the vehicle types (vehicle types) are different. The vehicle type (vehicle type) is a type of a sedan from large to small and a wagon from large to small.
[0015]
As shown in FIG. 4, the suction holding means 5, 6 includes a slide guide 16 having a lock mechanism 20 that slidably supports the slide shaft 15 and can restrain the slide movement, and a suction pad 17. A swing restraining means 30 that is swingably supported at the tip of the slide shaft 15 and can restrain the swing, a suction pad 17 held by the swing restraining means 30, the lock mechanism 20, and a swing restraint. The pneumatic circuit 40 (see FIG. 5) is configured to selectively supply a positive pressure to the means 30 and to selectively supply a negative pressure to the suction pad 17.
[0016]
The suction pad 17 is made of a material having a softer tip side that is ring-shaped compared to the base side, so that the work such as a panel as a counterpart is not scratched during suction. The suction pad 17 is made of nitrile rubber (NBR), which is an oil-resistant polymer rubber generally used for oil seals, O-rings, and the like. The quality and amount of carbon contained in the polymer base are made different between the tip side and the base end side of the suction pad 17 so that the hardness obtained is different between the base side and the tip side, and both are integrally vulcanized and molded. . In the vulcanization molding process, the distal end side and the proximal end side are polymers of the same system, so they are easily chemically bonded and integrated. In this way, the suction pad 17 has high flexibility on the distal end side and high rigidity on the proximal end side.
[0017]
The material of the suction pad is not limited to the above, but may be formed of other rubber materials as long as the required hardness can be made different between the distal end side and the proximal end side. . According to the durometer hardness HDA based on the spring type hardness tester “Durometer” used for plastics and rubber materials, the suction pad 17 has a hardness of “40 to 50” on the distal end side, and the other proximal end side. It is desirable that each part to be included has a hardness of “60 to 70”.
[0018]
As shown in detail in FIG. 6, the slide guide 16 includes a guide tube 21 that slidably holds the slide shaft 15 and is integrally held on the bracket 18. A coiled spring 19 is disposed around the slide shaft 15 to urge the swing restraining means 30 and the suction pad 17 in the advancing direction. FIG. 4 shows the limit state of the suction pad 17, and FIG. 7 shows the return limit state of the suction pad 17 with the slide shaft 15 moved to the retracted position.
[0019]
In FIG. 6, the lock mechanism 20 slidably fits a lock sleeve 22 to the inner and outer peripheral surfaces of a cylindrical space formed around the guide tube 21, and one space of the lock sleeve 22 is placed in the pneumatic circuit 40. A spring 24 is formed in the cylinder chamber 23 to which the hose from the cylinder is connected, and is inserted into the other space of the lock sleeve 22 to retreat the lock sleeve 22 toward the cylinder chamber 23. The guide tube 21 is provided with a plurality of through holes 25 penetrating the inner and outer surfaces, and spheres 26 are inserted into the respective through holes 25 so as to be movable in the radial direction, and the spheres 26 are cylindrical on the inner peripheral side. In contact with the brake shoe 27. On the inner peripheral surface of the lock sleeve 22, a tapered lock surface 28 whose diameter increases as it approaches the cylinder chamber 23 in the axial direction is provided. The lock sleeve 22, the spring 24, the sphere 26, and the brake shoe 27 constitute a lock mechanism (lock means) 20. Reference numeral 29 denotes an open hole to the atmosphere in the space where the spring 24 is arranged.
[0020]
In the lock mechanism 20, when the lock sleeve 22 is in the retracted position on the cylinder chamber 23 side by the urging force of the spring 24, the small diameter portion of the lock surface 28 of the lock sleeve 22 presses the sphere 26 inward in the radial direction. It functions to apply braking to the slide shaft 15 via the brake shoe 27. Further, when compressed air is supplied to the cylinder chamber 23 that functions as the unlocking means, the lock sleeve 22 moves to the forward position against the urging force of the spring 24, and the sphere 26 of the tapered lock surface 28. The pressing force inward in the radial direction is released and the contact of the brake shoe 27 with the slide shaft 15 is released.
[0021]
As shown in FIG. 8, the swing restraining means 30 includes a spherical piece 31 fixed to the suction pad 17, a fixed spherical guide 32 that supports the piece 31 from the suction pad 17 side, and a spherical guide 32. And a movable spherical guide 33 that supports the frame 31 from the opposite side. The movable spherical guide 33 is urged toward the top 31 by a spring 34 and includes a cylinder 35 that opposes the spring 34 and operates in a direction away from the top 31.
[0022]
The top 31 is fixed to the back surface of the suction pad 17 via a bolt 17A, and has a passage 31A for introducing a negative pressure into the suction pad 17 penetrating in the center. The outer periphery of the top 31 is formed into a spherical surface and is supported by the fixed and movable spherical guides 32 and 33. In a state where the movable spherical guide 33 is urged by the spring 34, the swinging movement of the suction pad 17 is restrained by being locked by both spherical guides 32 and 33. In a state where the movable spherical guide 33 is urged away from the cylinder 35, movement between the spherical guides 32 and 33 is permitted and the suction pad 17 is allowed to swing.
[0023]
On the suction pad 17 side, the cylinder 35 holds the fixed spherical guide 32 by an outer peripheral screw 32A, and supports the movable spherical guide 33 in the inner peripheral hole 35A so as to be movable in the axial direction. Further, the slide shaft 15 side is formed in a cylindrical body 35 </ b> B, and the open end thereof is closed by an end lid 36 connected to the slide shaft 15. A ring-shaped piston 37 is slidably inserted in the inner periphery of the cylindrical body 35 </ b> B, and a boss 37 </ b> A is formed on the inner periphery of the piston 37 so as to be slidably fitted to the end lid 36. The inner peripheral side of the piston 37 and the movable spherical guide 33 are connected via a cylindrical member 33A extending in the axial direction from the spherical guide 33, and the piston 37 and the spherical guide 33 move together. The cylindrical member 33A is slidably fitted to the tip of a flange 35C extending inward from the cylindrical body 35B, and the cylindrical body 35B and the flange 35C, and the cylindrical member 33A and the piston 37 form a cylinder chamber 35D. The spring 34 is inserted between the piston 37 and the end lid 36 to urge the piston 37 toward the suction pad 17. A hole 36A provided in the end cover 36 in the axial direction allows the through hole 15A of the slide shaft 15 and the inside of the suction pad 17 to communicate with each other via the inner periphery of the piston 37 and the cylindrical member 33A and the passage 31A of the top 31. Yes.
[0024]
In the swing restraining means 30, working fluid is introduced from the pneumatic circuit 40 into the cylinder chamber 35D through the hole 35E in synchronization with the lock mechanism 20. When no working fluid is introduced into the cylinder chamber 35D, the urging force of the spring 34 acts on the movable spherical guide 33 via the piston 37 and the cylindrical member 33A. In this case, the top 31 is locked and held with the fixed spherical guide 32, and the suction pad 17 is restrained from swinging and is in a restrained state in which the swing position is held. When the working fluid is introduced into the cylinder chamber 35D, the piston 37 is biased to the opposite side of the suction pad 17 against the spring 34 by the working fluid, and the movable spherical guide 33 is fixed via the cylindrical member 33A. Move away from the spherical guide 32. In this case, the rotation of the top 31 is allowed, and the suction pad 17 is in a release state in which the suction pad 17 can be swung in the swing direction, for example, in the illustrated cross-sectional position, two-dotted position, or the like.
[0025]
As shown in FIG. 5, the pneumatic circuit 40 includes a filter 41, a pressure regulating valve 42, a first electromagnetic valve 43, a second electromagnetic valve 44, an ejector 45, a venturi 26, and the like. The first solenoid valve 43 supplies the compressed air from the pneumatic pressure source 40A to the cylinder chambers 23 and 35D connected in parallel from the common pneumatic circuit 47 at the first switching position and the second solenoid valve. The passage leading to 44 is opened to the atmosphere. The first electromagnetic valve 43 also supplies compressed air from the pneumatic pressure source 40A to the second electromagnetic valve 44 and supplies the cylinders 23 and 35D to a common pneumatic pressure at the second switching position where the solenoid is operated. The air is released through the circuit 47.
[0026]
The second solenoid valve 44 supplies the compressed air that has passed through the first solenoid valve 43 to the suction pad 17 connected in parallel from the common pneumatic circuit 48 via the ejector 45 at the first switching position. Further, at the second switching position where the solenoid is operated, compressed air is supplied to the venturi 46 to generate a negative pressure by the venturi action, and this negative pressure is supplied from the common pneumatic circuit 48 to the suction pad 17 connected in parallel. To do. The ejector 45 functions to stop the supply when a predetermined amount of air is supplied to the suction pad 17.
[0027]
When the first solenoid valve 43 is in the first switching position, the first and second solenoid valves 43 and 44 release the operation of the lock mechanism 20 and the swing restraining means 30 and the suction pad 17 slides. It can be moved forward and backward together with the shaft 15 and can swing. When the first solenoid valve 43 is switched to the second switching position, the lock mechanism 20 and the swing restraining means 30 are actuated to restrain the advancing / retreating and swinging of the suction pad 17, while the second solenoid valve 44. It operates so as to supply positive pressure or negative pressure to the suction pad 17 in accordance with the switching position. The second electromagnetic valve 44 and the venturi 46 function as adsorption operation means.
[0028]
The positioning means 7 enables the suction holding means 5 and 6 to move in the longitudinal direction of the vehicle body, and as shown in FIGS. 9 and 10, a slide mechanism 51 disposed on a frame 8 extending in the longitudinal direction of the vehicle body. , 52 supports the suction holding means 5, 6.
[0029]
In the illustrated example, the two suction holding means 5 and 6 and the slide mechanisms 51 and 52 are arranged in the longitudinal direction of the vehicle body, and the first slide mechanism 51 on the front side of the vehicle body includes a drive device 53. 53, the suction position of the suction holding means 5 can be adjusted in the longitudinal direction of the vehicle body as shown by the solid line and the chain line in the figure. Similarly, the second suction holding means 6 at the rear of the vehicle body is supported and provided by a second slide mechanism 52 disposed on the frame 8. The second slide mechanism 52 is provided with a second brake unit 55 that restrains its movement instead of being provided with a driving device, and the slide movement is blocked when the second brake unit 55 is operated, and is movable when the operation is released. It becomes.
[0030]
Further, an interval restraining mechanism by the first brake unit 54 is provided between the first slide mechanism 51 and the second slide mechanism 52. The spacing restraint mechanism includes a member 56 extending from the first slide mechanism 51 toward the second slide mechanism 52, a member (bar) 57 extending from the second slide mechanism 52 toward the first slide mechanism 51, The first brake unit 54 restricts the relative movement of both the members 56 and 57. The first brake unit 54 is inactivated when the second brake unit 55 is activated, and is activated when the second brake unit 55 is not activated. When the first brake unit 54 is in an inoperative state, the second brake unit 55 is in an activated state, and the slide movement of the first slide mechanism 51 is not transmitted to the second slide mechanism 52. In the activated state of the first brake unit 54, the second brake unit 55 is deactivated, and in this state, the sliding movement of the first slide mechanism 51 by the driving device 53 maintains the distance therebetween via the distance restraining mechanism. In this state, the second slide mechanism 52 can be moved in the sliding direction.
[0031]
In the general-purpose hand 1 having the above-described configuration, the movable claws 11 of the gauge clamps 2 to 4 are released from the fixed claws 10 by the clamp cylinder 12 to be opened, and the lock mechanism 20 and the swing restraining means 30 are compressed as working fluid. By supplying air and releasing the lock mechanism 20 and the swing restraining means 30, the workpiece can be held. The slide shaft 15 is moved to the tip position by the spring 19, the swing restraining means 30 is moved against the spring 34 by supplying compressed air to the cylinder chamber 35D, and the movable spherical guide 33 is moved to the top. The top 31 is loosely contacted with the spherical surface of the top 31 or slightly separated from the spherical surface of the top 31, and the top 31 is in a restrained release state in which the spherical guides 32 and 33 can rotate and slide.
[0032]
When the frame 8 is moved by a robot arm (not shown) and faces a B / S-OTR as a work held by a loading process side gauge (not shown), the fixing claws 10 of the respective gauge clamps 2 to 4 are moved to the side sill SS. The flange SF of the center pillar CP and the side surface of the flange PF of the center pillar CP (see FIG. 2), and the tips of the suction cups 17 respectively contact the inner surface of the rear fender RF (see FIG. 2). Each suction cup 17 is swung along the inclined shape of the inner surface of the rear fender RF, and is retracted according to the shape of the rear fender RF (see FIG. 11).
[0033]
In this state, the clamp cylinder 12 is operated, and the air supplied to the lock mechanism 20 and the swing restraining means 30 is discharged, while a negative pressure is supplied to the suction cup 17. Each gauge clamp 2-4 clamps the corresponding flange between the fixed claw 10 and the movable claw 11. The lock mechanism 20 locks the movement of the slide shaft 15, and the swing restraining means 30 is configured such that the piston 37 is biased by the spring 34 and the movable spherical guide 33 is biased by the spring 34 toward the fixed spherical guide 32. The rotation of 31 is restrained, and the suction pad 17 is maintained in a restrained state in which a ring-shaped tip is brought into contact with the work surface. The suction pad 17 sucks and holds the workpiece by the negative pressure introduced through the through hole 15A of the slide shaft 15, the hole 36A of the end lid, the inner periphery of the piston 37 and the cylindrical member 33A, and the passage 31A of the top 31. .
[0034]
In this state, the ring-shaped portion on the tip side of the suction pad 17 is held at the swing position where the suction pad 17 swings following the workpiece shape, and the slide position of the suction pad 17 also slides along the workpiece shape. It is locked by the lock mechanism 20. The workpiece posture can be conveyed as it is held in the unloading process side gauge and can be transferred to the unloading process side gauge.
[0035]
When the vehicle type to be transported changes, the position and length of the integrated rear fender RF change. For this reason, it is necessary to change the position to be sucked by the suction cup 17. Since the suction holding means 5 and 6 are arranged so as to be movable in the longitudinal direction of the vehicle body by the slide mechanisms 51 and 52 of the positioning means 7, the suction holding means 5 and 6 can be moved according to the vehicle type to be transported. In this case, when the slide mechanisms 51 and 52 are provided with drive mechanisms, respectively, the first slide mechanism 51 and the second slide mechanism 52 can be moved independently. In this case, drive mechanisms corresponding to the strokes of the slide mechanisms 51 and 52 are required.
[0036]
In the positioning means 7 shown in FIGS. 9 and 10, the drive mechanism 53 is disposed only on one first slide mechanism 51, and the first slide mechanism 51 is operated without providing a drive mechanism on the other second slide mechanism 52. It is configured to slide. Hereinafter, the operation of the positioning means 7 will be described.
[0037]
Here, as shown in FIG. 12, the strokes of the first slide mechanism 51 and the second slide mechanism 52 are, for example, 100 mm and 400 mm, respectively, and the vehicle type A is determined from the reference position of the first slide mechanism 51. It is assumed that the suction holding means 5 and 6 of the first slide mechanism 51 and the second slide mechanism 52 need to be positioned at positions of (100 mm, 800 mm) and vehicle type B (70 mm, 650 mm). Furthermore, it is also located at each position of the vehicle type C (50 mm, 850 mm). Now, a case where the B / S-OTR of the vehicle type A is currently transported and then the B / S-OTR of the vehicle type B needs to be transported will be described.
[0038]
Since the vehicle type A is transported, the suction holding means 5 and 6 are located at 100 mm and 800 mm from the reference position (time point t0). The first slide mechanism 51 needs to approach the 30 mm reference position, and the second slide mechanism 52 needs to approach the 150 mm reference position.
[0039]
First, the first brake unit 54 is operated and the second brake unit 55 is released. In this state, the first and second slide mechanisms 51 and 52 are integrally slidable.
[0040]
Next, the first slide mechanism 51 is moved forward by 100 mm (limit stroke of the first slide mechanism 51) toward the reference position side, and the second slide mechanism 52 is also moved forward by 100 mm toward the reference position side via the first brake unit 54 (time point). t1 to t2, in this state, the suction holding means 5 held by the first slide mechanism 51 is located at the reference position, and the suction holding means 6 held by the second slide mechanism 52 is located at a position 700 mm from the reference position. .
[0041]
Next, the first brake unit 54 is released, the second brake unit 55 is operated, and the first slide mechanism 51 is moved backward by 100 mm from the reference position. Since the movement of the second slide mechanism 52 is blocked by the second brake unit 55 and the first brake unit 54 is released, only the first slide mechanism 51 is separated from the 100 mm reference position, and the second slide mechanism 52 is It remains stopped (time t3 to t4). This movement is an idle movement in which only the first slide mechanism 51 is moved.
[0042]
Next, the first brake unit 54 is operated, the operation of the second brake unit 55 is released, and the first slide mechanism 51 is advanced by 50 mm. The suction holding means 6 held by the second slide mechanism 52 is located 650 mm from the reference position, and the suction holding means 6 held by the first slide mechanism 51 is located 50 mm from the reference position (time points t5 to t6).
[0043]
Then, the first brake unit 54 is released, the second brake unit 55 is operated, and the first slide mechanism 51 is moved backward 20 mm from the reference position. Since the second slide mechanism 52 is prevented from moving by the second brake unit 55 and the first brake unit 54 is released, only the first slide mechanism 51 is separated from the 20 mm reference position, and the second slide mechanism 52 is It remains stopped (time t7 to t8).
[0044]
By the above operation, the suction holding means 5 of the first slide mechanism 51 is located 70 mm from the reference position, and the suction holding means 6 of the second slide mechanism 52 is located 650 mm from the reference position, and is optimal for gripping the vehicle type B. The position of the suction cup 17 can be obtained.
[0045]
The operations of the first and second slide mechanisms 51 and 52, and the first and second brake units 54 and 55 are performed according to the distance between the current position of the suction cup 17 and the position of the suction cup 17 to be positioned next. The number of reciprocations of one slide mechanism 51 changes. As the stroke of the first slide mechanism 51 is increased, the idle movement is reduced, and as the stroke is reduced, the idle movement is required more. Setting the stroke of the first slide mechanism 51 to be small can reduce the size of the driving device 53 and can be expected to save the weight on the frame 8 of the hand 1.
[0046]
In addition, the position change from the vehicle type B to the vehicle type A, the vehicle type A to the vehicle type C, the vehicle type C to the vehicle type A, the vehicle type B to the vehicle type C, and the vehicle type C to the vehicle type B can be operated similarly. If any of the operations is stored in an unused axis control program of the robot, for example, the operation program for the seventh axis, the suction pad 17 corresponds to the type of B / S-OTR as the workpiece to be loaded. The position can be changed automatically.
[0047]
FIGS. 13 to 15 show another embodiment of the positioning means, which can return the origin automatic confirmation or the origin automatic return of the second slide mechanism 52 holding the second suction holding means 6 which is the driven shaft. is there. 13 is a front view of the positioning means, FIG. 14 is a plan view of the positioning means, and FIG. 15 is a plan view for explaining the operation of the positioning means from the (A) state to the (B) state. 13 and 14, the suction holding means 5, 6, the first and second slide mechanisms 51, 52, the distance holding mechanism 7, and the second brake unit 55 are configured as positioning means shown in FIGS. 9 to 11. It is configured in the same way.
[0048]
13 and 14, the second slide mechanism 52 has an axial position (sliding direction) of the origin position (hereinafter referred to as the origin) of the second suction holding means 6 on the slide rail 52A or on the side of the slide rail 52A. Magnets 60 </ b> A and 60 </ b> B (origin index magnets) made of permanent magnets as the origin index for the front and rear positions are installed. Further, when the second suction holding device 6 is located at the origin on the slider 52B of the second slide mechanism 52, the position is opposed to the origin 60 between the pair of magnets 60A, 60B which is the origin display index of the slide rail 52A. A magnet 61 (position index magnet) made of a permanent magnet as an index is installed. The position index magnet 61 moves as the second suction holding means 6 moves by the second slide mechanism 52, and when the second suction holding means 6 approaches the origin 60, any one of the pair of origin index magnets 60A, 60B. After facing directly without contacting one of them, it is moved to face the origin 60 between the pair of origin index magnets 60A, 60B. The pair of origin index magnets 60A and 60B and the position index magnet 61 are installed on the slide rail 52A and the slider 52B, respectively, with different polarities so as to repel each other.
[0049]
When the magnetic field strength set for the pair of origin index magnets 60A, 60B and the position index magnet 61 is set small and the repulsive force is small, the first and second brake units 54, 55 are deactivated. In this case, the slider 52B cannot be moved in the direction of the origin 60 or in the direction away from the origin 60 by the repulsive force, and its use is limited to the confirmation of the origin position by the magnetic flux. However, when the magnetic field strength set for the pair of origin index magnets 60A and 60B and the position index magnet 61 is set high and the repulsive force is large, the first and second brake units 54 and 55 are not connected. When activated, the slider 52B can be moved in the direction of the origin 60 or in the direction away from the origin 60 by the repulsive force, and its use has a function of returning to the mechanical origin in addition to confirming the origin position by the magnetic flux. Can do.
[0050]
That is, FIG. 15 shows an example of the operation of returning the origin of the driven shaft, which will be described below with reference to FIG.
[0051]
FIG. 15A controls the second suction holding means of the second slide mechanism by slidingly driving the first slide mechanism 51 while performing the brake operation and the brake release of the first and second brake units 54 and 55. The state returned to the upper origin is shown. In the illustrated example, the control origin is deviated by a dimension L from the mechanical origin 60 of the second slide mechanism 52. In this way, the deviation of the control origin from the mechanical origin 60 is caused by some influence such as deviation of control timing and hysteresis due to friction.
[0052]
In such a case, as described above, the second suction holding means 6 of the second slide mechanism 52 is first returned to the control origin.
[0053]
Next, the first and second brake units 54 and 55 are simultaneously brought into a brake release state. As in the illustrated example, when the control origin is not greatly deviated, the position index magnet 61 is opposed to the pair of origin index magnets 60A and 60B. Accordingly, when the first and second brake units 54 and 55 are simultaneously released, the second slide mechanism 52 is free to slide, and the position index magnet 61 and the pair of origin index magnets 60A and 60B are repelled. Due to the force, the position index magnet 61 is moved together with the slider 52B (second suction holding means 6) of the second slide mechanism 52 so as to face the origin 60, and the repulsive force between the pair of origin index magnets 60A and 60B is balanced. It can be stopped at a position relative to the origin 60 (position returned to the mechanical origin position).
[0054]
Further, when the position index magnet 61 is not positioned between the pair of origin index magnets 60A and 60B and is opposed to the outside of the pair of origin index magnets 60A and 60B when it is returned to the control origin by some influence. In some cases, the position index magnet 61 and the pair of origin index magnets 60A and 60B are moved in a direction away from the mechanical origin 60 due to the repulsive force.
[0055]
In this case, in the brake-released state of the first and second brake units 54 and 55, the position indicator magnet 61 can be manually returned to the position between the pair of origin indicator magnets 60A and 60B while visually confirming the position. For example, as described above, the position index magnet 61 is moved relative to the origin 60 by the repulsive force between the position index magnet 61 and the pair of origin index magnets 60A and 60B. It can be stopped at a position relative to the origin 60 where the repulsive forces are balanced (position returned to the mechanical origin position).
[0056]
Accordingly, in this embodiment, the origin position of the second suction holding means 6 can be automatically confirmed by providing the pair of origin index magnets 60A and 60B with the position index magnet 61 and the mechanical origin interposed therebetween. In addition, since the origin can be confirmed in a non-contact state using a magnet, the actuator, power, and control for returning the origin are unnecessary, and the origin of the second suction holding means 6 becomes unknown due to some influence. Even when the second suction holding means 6 is manually returned to the vicinity of the origin, the control origin and the mechanical origin can be aligned.
[0057]
In the other positioning means described above, the position index magnet 61 and the pair of origin index magnets 60A and 60B are configured using a magnet made of a permanent magnet. However, although not shown, the position index magnet 61 is made of an electromagnet. You may comprise these using a magnet. However, in this case, it is economical to generate a magnetic force only when it is necessary to return to the origin. In the present embodiment, the following effects can be achieved.
[0058]
(A) When the suction pad 17 is supported by the frame 8 so as to be able to move forward and backward while being urged in the forward position direction, and to be swingable, the suction pad 17 is moved to the B / S-OTR as a workpiece. The suction holding means 5 and 6 are configured so that the forward / backward movement and swinging of the suction and holding positions are restricted by the lock means 20 and the restraining means 30, and the suction holding means 5 and 6 are positioned by a robot arm RA as a multi-axis transport means. The frame 8 that is transported and moved is arranged so as to be slidable. For this reason, the suction pad 17 can be imitated in the shape of the workpiece in the forward / backward direction and the swinging direction, can be appropriately held even for workpieces of different types and shapes, and can be easily generalized. In addition, since additional gauge clamps are not required for different types of workpieces, there is no increase in the weight of the hand even when a plurality of types of workpieces are selectively conveyed.
[0059]
(A) A plurality of suction holding means 5 and 6 are arranged on the frame 8, and the suction holding means 5 and 6 are a first slide mechanism 51 as a drive shaft for slidingly moving one suction holding means 5 and one suction. And a second slide mechanism 52 as a driven shaft for sliding the other suction holding means 6 following the holding means 5, and a driving device 53 of the first slide mechanism 51 is used for a robot as a multi-axis conveying means. It is controlled by the axis controller that is not. For this reason, the positions of the two suction pads 17 can be changed by a single drive unit 53, and can be controlled by, for example, a seventh-axis controller of a robot that is a multi-axis transport means. It becomes unnecessary. In addition, since the drive device 53 is set to one set, it is possible to reduce the cost and weight.
[0060]
(C) One suction holding means 5 and the other suction holding means 6 are connected by a first brake unit 54 as an interval restraining mechanism capable of restraining the distance between the two, and the other suction holding means 6 is connected to the first suction holding means 6. The first brake unit 54 includes a second brake unit 55 that operates when the brake unit 54 is inactive and is inactive when the brake unit 54 is in operation and restricts the movement of the other suction holding means 6. The suction holding means 5 and the other suction holding means 6 can slide together, and only one suction holding means 5 can slide when the first brake unit 54 is not operated. For this reason, the positions of the two suction holding means 5 and 6 can be arbitrarily adjusted by reciprocating the one suction holding means 5 in conjunction with the operation of the first brake unit 54 and the second brake unit 55. The operation stroke of the slide mechanism 51 of the suction holding means 5 can be shortened, and the driving device 53 and the slide mechanisms 51 and 52 can be made cheaper and lighter.
[0061]
(D) The second slide mechanism 52 as a driven shaft is positioned around the origin position 60 of the second suction holding means 6 and is installed on a slide rail 52A that is a fixed shaft, and a slide It is disposed on a slider 52B that is a movable shaft that moves on an axis with respect to the rail 52A, and includes a pair of magnets 60A and 60B on the slide rail 52A and a repelling magnet 61, and is a first as a distance restraining mechanism. Since the slider 52B can be returned to the origin 60 by using the repulsive force of the magnets 60A, 60B, 61 when the restraint by the brake unit 54 and the second brake unit 55 as the brake means is released, the control origin and the mechanical The operation for confirming the alignment of the origin 60 is controlled to return to the origin, and then the first and second brake units are controlled. Can only automatically opens the door Tsu 54 and 55. Even if the position of the second slide mechanism 52 becomes unknown due to some influence, the return to origin can be easily performed only by manually returning to the vicinity of the origin. The magnets 60A, 60B, and 61 may be composed of permanent magnets or electromagnets. In the case of the electromagnets, the magnets 60A, 60B, and 61 may be operated at a point in time when the origin confirmation is necessary, which is economical.
[0062]
(E) If each of the magnets 60A, 60B, 61 on the slide rail 52A, which is a fixed shaft, and the slider 52B, which is a movable shaft, is composed of a permanent magnet, a new actuator, power, No control is required.
[0063]
(F) The workpiece is a body side outer panel B / S-OTR that integrally includes the opening edges of the front and rear doors and the rear fender, and the general-purpose hand 1 is a gauge clamp that positions and holds the flanges SF and PF of the opening edge of the door. 2 and 4, the suction holding means 5 and 6 hold the suction pad 17 by sucking it on the inner surface of the rear fender RF. For this reason, by sharing the positions of the flanges SF and PF at the opening edges of the front and rear doors between the vehicle types, the suction holding means 5 and 6 follow the difference in the shape of the rear fender RF between the vehicle types. The structure can be made very simple, and the weight can be significantly reduced.
[0064]
In the embodiment described above, the two suction holding means 5 and 6 having the suction pad 17 are described. However, although not shown, one suction holding means is slidably provided together with other gauge clamps. It may be a thing, and may be provided with three or more suction holding means by sliding a part of the suction holding means. Further, a plurality of suction holding means may be provided without providing a gauge clamp, and a part of the suction holding means may be slid corresponding to the workpiece.
[0065]
Moreover, in the said embodiment, although the general purpose hand which makes object the body side outer panel B / S-OTR was demonstrated as a workpiece | work, although not shown in figure, it can apply also to the hand which conveys another panel-shaped or block-shaped workpiece | work. .
[Brief description of the drawings]
FIG. 1 is a plan view of a general-purpose hand showing an embodiment of the present invention.
FIG. 2 is a front view of the general-purpose hand.
FIG. 3 is a side view of a gauge clamp.
FIG. 4 is a side view of the suction holding means.
FIG. 5 is a circuit diagram showing a pneumatic circuit.
FIG. 6 is a partial cross-sectional view of a slide guide.
FIG. 7 is a side view of the suction holding means in a return limit state.
FIG. 8 is a partial sectional view of the swing restraining means.
FIG. 9 is a plan view of positioning means.
FIG. 10 is a front view of positioning means.
FIG. 11 is a side view showing a state in which the suction holding means is in contact with the body side outer.
FIG. 12 is a time chart for explaining the operation of the positioning means.
FIG. 13 is a front view of another embodiment of the positioning means.
14 is a plan view of another positioning means shown in FIG.
15 is a plan view for explaining the operation of the other positioning means shown in FIGS. 13 and 14 from the (A) state to the (B) state. FIG.
[Explanation of symbols]
Body side outer panel as B / S-OTR work
RA Robot arm as multi-axis transport means
1 General-purpose hand
2-4 gauge clamp
5, 6 Adsorption holding means
7 Positioning means
8 frames
15 Slide axis
16 Slide guide
17 Suction pad
20 Locking means
30 Swing restraint means (restraint means)
40 Pneumatic circuit as adsorption actuating means
51 First slide mechanism as drive shaft
52 Second slide mechanism as driven shaft
53 Drive device as drive shaft
54 1st brake unit as interval restraint mechanism
55 Second brake unit as brake means
60 Origin
60A, 60B Magnet as origin index
61 Magnet as position indicator

Claims (4)

A frame positioned and transported by a multi-axis transport means;
A suction pad that can move forward and backward with respect to the frame only within a predetermined range, is urged in the forward position direction by the urging means, and is supported in a swingable manner; A pair of suction holding means configured to include a lock means for restraining the advancing and retreating movement of the suction pad when the suction operation means is operated; and a restraining means for restraining the swing of the suction pad when the suction action means is operated ; With
One of the pair of suction holding means is arranged so that the slide position can be adjusted by a drive shaft with respect to the frame, and the other suction holding means is supported so as to be slidable on a driven shaft provided on the frame,
One suction holding means and the other suction holding means are connected by an interval restraining mechanism capable of restraining the distance between the two, and the other suction holding means is activated when the interval restraining mechanism is inactive, and is deactivated when activated. Brake means for restricting the movement of the other suction holding means, and when the interval restraining mechanism is operated, one suction holding means and the other suction holding means can be slid together, and the interval restraining mechanism is inoperative. A general-purpose hand characterized in that sometimes only one suction holding means can slide . The driven shaft is disposed on a fixed shaft that is positioned before and after the origin position of the other suction holding means, and is disposed on a movable shaft that moves on the fixed shaft. The general-purpose hand according to claim 1, further comprising a pair of upper magnets and a repelling magnet, wherein the driven shaft can be returned to the origin by utilizing the repulsive force of these magnets . The general-purpose hand according to claim 2, wherein each of the magnets on the fixed shaft and the movable shaft is composed of a permanent magnet . The work is a body side outer panel integrally including an opening edge of a front and rear door and a rear fender,
The general-purpose hand includes a gauge clamp for positioning and holding the flange at the opening edge of the door,
The general-purpose hand according to any one of claims 1 to 3, wherein the suction holding means holds the suction pad on the inner surface of the rear fender .

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