JP4281594B2 - Suction type work transfer device - Google Patents

Description

  The present invention relates to a suction-type workpiece transfer device that sucks and transports a workpiece in a workpiece placement unit using a vacuum pad and delivers the workpiece to a workpiece transfer unit.

  In a factory that assembles automobile bodies, a large number of vehicle types are mixed together on a single line. Therefore, in such factories, the plate members (workpieces) of each part of the body produced by press working are classified by specification as one of the setup work for assembling car body parts for each vehicle type so that mixed production can be promoted efficiently. It is a handling device that uses a vacuum pad in the work place (work place part), stacked on (multiple types) and placed in a predetermined place. A plate member necessary for each production is selected, taken out, and sequentially sucked and transported to a temporary placement table (work delivery unit) for each vehicle to be transferred to the next process.

  The transfer of the workpiece from the workpiece take-out to the delivery unit is automatically performed according to the workpiece selection information set in advance by the automobile production plan.

  By the way, the members of each part of the body are considerably different in shape depending on the vehicle type and the mounting location, and are often stacked in a messy manner and greatly inclined in the upper layer part.

For this reason, in the workpiece transfer device, a plate that can be swung freely is used, even if the shape of the plate surface portion (suctioned portion) of the plate member in contact with the vacuum pad is slightly different, or the plate members are randomly stacked. Attempts have been made to allow the plate member to be adsorbed even if the posture of the member changes. Recently, as shown in Patent Document 1 and the like, a spring member is also used to urge the vacuum pad in a certain direction so as to be in a fixed posture.
Japanese Utility Model Publication No. 4-42395

  By the way, even if the vacuum pad is biased by a spring member, it does not return completely after being displaced in the swinging direction, and the displacement tends to remain slightly. This displacement tends to increase as the posture of the vacuum pad increases. For this reason, for example, the posture of the suction surface of the vacuum pad after delivery to the temporary placement table differs greatly depending on the shape of the plate surface and the posture of the plate surface that form the suctioned part of the plate member received at the subsequent work place There is a risk that the next suction of the plate member may be hindered to cause a suction failure.

  However, since the apparatus that conveys the plate member is an automatic machine that automatically operates according to the set selection information, if the adhesion failure occurs as described above when the plate member is adsorbed by the vacuum pad, the vacuum pad and the plate member Air (atmosphere) is sucked in from the space between the plate surfaces, and the suction force required to lift the plate member is not ensured (adsorption failure). For this reason, there is a possibility that problems such as the plate member carrying work not proceeding from that point of time or the plate member being separated from the vacuum pad in the middle.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a suction-type work transport device that can continue suction transport even if a situation occurs in which the shape and posture of the work affect suction by a vacuum pad. .

In order to achieve the above object, the invention according to claim 1 is a work placement unit in which a plurality of types of workpieces are stacked for each type , a plurality of workpiece transfer units respectively provided at predetermined locations, and an adsorption A vacuum pad capable of swinging to give a negative pressure necessary for the operation, and a handling device capable of operating the vacuum pad freely in each direction. A suction-type workpiece transfer device that can be picked up by sucking a pad and transported to the workpiece transfer section in a predetermined place. When the workpiece is picked up, it is judged whether or not the vacuum pad and the workpiece have good adhesion And a posture correction table having a reference surface that defines a posture as a reference of the vacuum pad on the upper surface thereof, and when the adhesion is determined to be negative, Posture of the workpiece by the vacuum pad is temporarily suspended, the suction surface of the vacuum pad is pressed against the reference surface of the posture correction table, and the posture of the vacuum pad is corrected to the posture that follows the reference surface And a measure means for returning to the removal of the workpiece again after adjusting the workpiece to a fixed posture capable of attracting the workpiece.

  According to the second aspect of the present invention, as a determination of the adhesion, a method for determining whether or not the adhesion of the vacuum pad is good or not based on whether or not the negative pressure applied when the workpiece is attracted reaches a predetermined pressure value. It was adopted.

  According to the first aspect of the present invention, when it is detected that an adhesion failure has occurred in the vacuum pad when the workpiece is taken out with the vacuum pad, the removal of the workpiece is temporarily suspended, The posture of the vacuum pad is adjusted to a fixed posture, and the workpiece is again taken out by the vacuum pad. Therefore, even if the vacuum pad has poor adhesion due to the shape and posture of the workpiece, the conveyance work can be continued. .

Therefore, it is possible to operate the work transfer device satisfactorily while preventing the occurrence of poor adhesion of the vacuum pad while being an unmanned automatic machine.
In addition to the above effects, there is an effect that it is possible to correct the posture of the vacuum pad which causes a poor adhesion with a simple structure.

  According to invention of Claim 2, in addition to the said effect, there exists an effect that the adhesion defect of a vacuum pad is detectable with a simple structure.

  According to invention of Claim 3, in addition to the said effect, there exists an effect that the attitude | position of the vacuum pad which becomes a cause of adhesion defect can be correct | amended with a simple structure.

[One Embodiment]
Hereinafter, the present invention will be described based on an embodiment shown in FIGS.

  FIG. 1 shows, for example, an adsorption-type workpiece transfer device that sends a plurality of types of workpieces to the next process in accordance with an automobile production plan. In FIG. 1, reference numeral 1 denotes, for example, a workpiece removal area set on a part of a factory floor. Show. On the workpiece take-out area 1, for example, a plate member that has been molded by a press working system, specifically, for example, rail roof inner members 2a to 2d having different sizes and shapes for each specification (for example, right and left sides of wide vehicles, Standard vehicle right side, left side, etc .: equivalent to the work of the present application) are placed in a state where they are stacked on a dedicated horizontally long cart 2 (corresponding to the work placement part of the present application) for each type. In addition, cross member phosphorus hose members 3a to 3d having different sizes and shapes depending on specifications (for example, standard left-hand drive car, right-hand drive car, wide left-hand drive car, right car, etc .: corresponding to the workpiece of the present application) Separately, it is placed in a state where it is stacked on a dedicated vertically long cart 3 (corresponding to the workpiece placing portion of the present application). These trolleys 2 and 3 are arranged adjacent to each other and occupy the workpiece take-out area 1.

  On the floor surface around the work take-out area 1, for example, temporary storage stands 5a and 5b (for example, on the right side and the left side of a standard + wide vehicle) that are located near the carriage 2 and are classified by vehicle type Equivalent to the work delivery section of Further, for example, on the floor surface near the carriage 3, temporary placement stands 6a and 6b (corresponding to the workpiece transfer section of the present application) for exclusive use of cross member phosphorus hoses classified by vehicle type (for example, wide left and right handle cars, standard left and right handle cars). ) Is installed. Then, a work assembly line (not shown) for each vehicle type in the next process is started from the temporary placement stands 5a, 5b, 6a, 6b installed at these predetermined places.

  Further, as shown in FIG. 1, an adsorption-type handling device 8 is installed on the intermediate floor surface between the temporary placing tables 5a and 5b and the temporary placing tables 6a and 6b. The handling device 8 moves the operation unit 10 in various directions such as front and rear, right and left directions, up and down directions, turning directions, and rotating directions by, for example, a turntable 9a, a pair of turning arms 9b, a telescopic arm 9c, and a rotating arm 9d. A possible industrial robot 11 (corresponding to the handling mechanism of the present application) is used, and a suction part 13 is assembled to the operation part 10 of the industrial robot 11 via a frame member 12. Further, as shown in FIG. 1, for example, the adsorption portion 13 is provided with a support frame 14 that extends in the lateral direction at the lowest position of the frame member 12, and each portion of the support frame 14, for example, at three locations, the middle and both ends. A structure is used in which vacuum pads 15a to 15c are provided, and a vacuum unit 16 for generating a vacuum force is provided in a frame portion 12a disposed in an intermediate portion of the frame member 12. The structure of this vacuum system is shown in FIG.

  Explaining the structure, each of the vacuum pads 15a to 15c is assembled with a support base 17 so that a vacuum pressure supply pipe body 18 is slidable. And a universal joint, for example, a ball joint 20 having a through hole (not shown) is provided, and the ball joint 20 is made of rubber surrounded by parts constituting the vacuum pads 15a to 15c, for example, a skirt portion 21a. A structure in which the suction pad body 21 is supported so as to be able to swing is used. The support pedestals 17 are all supported below the respective parts of the frame member 12, and the suction surfaces 22 of the suction pad bodies 21 are directed downward as shown in FIGS. A spring member 24 is interposed between the base 19 and the suction pad body 21 so that the posture of the suction pad body 21 returns to a fixed position. Reference numeral 25 denotes a spring seat member fixed to the base 19 so as to form a seat for the spring member 24, and 26 denotes a fixing member for sandwiching and fixing the spring seat member 25 between the base 19. A spring member 23 is provided between the support base 17 and the fixing member 26 so as to project the suction pad body 21 downward.

  Of course, the inside of the suction pad body 21 is communicated with the tube body 18 through a through hole (not shown) formed in the ball joint 20.

  The vacuum unit 16 has a vacuum pressure supply system, for example, a circuit connected to a supply port (not shown) of the tube body 18 for each of the vacuum pads 15a to 15c, specifically, a vacuum composed of, for example, a filter 28 and an ejector. A structure in which a vacuum pressure generation path 30 in which generators 29 are sequentially disposed and a pressurized air supply path 32 in which each vacuum generator 29 is connected to an air supply source (not shown) via an air valve 31 is combined. It is used. Further, in the vacuum pressure release system, each of the flow path portions between the filter 28 and the vacuum generator 29 is connected to the air via a pressurized air supply path 35 in which a check valve 33 and an air valve 34 are sequentially inserted. A structure connected to a supply source (not shown) is used. In other words, when each of the pressure supply passages 35 is “closed” and the air valve 31 is “opened” by the air valve 34, negative pressure generated by the pressurized air supplied to the ejector is reduced to each of the vacuum pads 15 a to 15 c ( It is given to the suction pad body 21). Further, when the pressurized air is supplied to the negative pressure outlet of the vacuum generator 29 through the check valve 33 by the switching operation of the air valve 34, the negative pressure of the vacuum pads 15a to 15b is released.

Each part of the vacuum unit 16, each part of the industrial robot 11, and various switches are connected to a control unit 38 (for example, constituted by a microcomputer or a peripheral circuit) housed in a control panel 37. . The control performed by the control unit 38 controls the operations of the vacuum unit 16 and the industrial robot 11 in accordance with the input vehicle type production plan so that the movements necessary for workpiece transfer are executed. ing. For this purpose, for example, the control unit 38 includes:
-A function to select from the rail roof inner members 2a to 2d of the carriage 2 or the cross member phosphorus hose members 3a to 3d of the carriage 3 according to the production status of the vehicle type,
A function for selecting vacuum pads 15a to 15c to be used for sucking the selected member;
A function of bringing the selected vacuum pads 15a to 15c into contact with a predetermined position (position suitable for suction conveyance) on the upper surface of the selected uppermost member by the operation of the industrial robot 11;
-The function of holding the vacuum force after the vacuum pressure is applied to the inside of the adhering vacuum pad by the operation of the air valves 31 and 32 to secure the suction force necessary for conveyance,
-The function of lifting the adsorbed member by the operation of the industrial robot 11 and transporting it to the upper surface of the temporary table, which is the beginning of the next process of the member,
-The function of releasing the vacuum pressure inside the vacuum pad by the operation of the air valve 34 and delivering the member conveyed to the temporary table,
A program that executes is set. As a result, the workpieces currently required for production are attracted and conveyed by the vacuum pads 15a to 15c among the workpieces such as the rail roof inner members 2a to 2d and the cross member phosphorus hose members 3a to 3d on the carriages 2 and 3. Then, it can be delivered to the temporary placement tables 5a, 5b, 6a, 6b which are the starting points of the next process. The points Y and Z on the plate surface of the rail roof inner members 2a to 2d and the points X to Z of the cross member phosphorus hose members 3a to 3d are portions adsorbed by the vacuum pads 15a to 15c (adsorbed portions). ). Here, the rail roof inner members 2a to 2d are all adsorbed by the vacuum pads 15b and 15c, and the cross member phosphorus hose members 3a and 3b are all adsorbed by the vacuum pads 15a and 15b, and the cross member phosphorus hose member 3c. , 3d are adsorbed by the vacuum pads 15a, 15c.

  In order to detect whether or not the vacuum pads 15a to 15c are in contact with the workpiece at this time, the vacuum pads 15a to 15c are displaced by contact on the support frame 14 as shown in FIG. A proximity switch 39 for detecting the rear end position when the pipe body 18 is lifted for a predetermined time is provided. Reference numeral 39a denotes a bracket for supporting the proximity switch 39 on the support frame 14. Further, in order to detect whether or not the suction force necessary for lifting and transporting the workpiece is secured, as shown in FIG. 2, the negative pressure generating side of the vacuum pressure generating path 30 of the vacuum unit 16, for example, the filter 28 is used. A sensor for outputting a signal when the supplied negative pressure reaches a predetermined pressure value, for example, a pressure switch 40 is provided on the inlet side of the.

In addition to the above, the control unit 38 includes:
-Rail roof inner members 2a to 2d, cross member phosphorus hose members 3a to 3d, etc., a function of detecting the adhesion between the vacuum pads 15a to 15c and the workpiece when the workpiece is taken out, specifically, the pressure switch 40 when the workpiece is taken out. A function for determining whether the adhesion of the vacuum pads 15a to 15c is good or not based on the presence or absence of an output signal from
A function of turning on a notification lamp 42 (for example, a red lamp) provided on the control panel 37 when an output signal from the pressure switch 40 is not confirmed even when a predetermined time elapses, for example,
At the same time, the work removal is temporarily suspended, and during that time, the function of adjusting the postures (tilts) of the vacuum pads 15a to 15c, specifically, the operation of the industrial robot 11, for example, between the carriage 2 and the industrial robot 11. The suction surfaces 22 of the three vacuum pads 15a to 15c (suction pad body 21) are pressed from above onto a reference surface 43a (a surface defined as a reference fixed posture) formed on the upper surface of the posture correction table 43 installed in Function (specifically, a function of pressing the vacuum pads 15a to 15c against the reference surface 43a from a direction in which the axial direction of the tube 18 is orthogonal to the reference surface 43a) (corresponding to the measure means of the present application)
-When the pad posture is corrected by pressing, the function returns to the workpiece removal process again and resumes the workpiece suction conveyance (corresponding to the measure means of the present application)
If the pad posture changes due to the shape or posture of the workpiece and a suction failure occurs in the vacuum pads 15a to 15c, the work transfer device is not ready to operate. Measures are not taken to stop.

  The control contents of this suction-type workpiece transfer device are shown in the flowchart of FIG. 3, the status of work during this time is shown in FIGS. 4 to 7, and the operating status of the vacuum pads 15a to 15c during this time is shown in FIGS. 13.

  If the operation of the workpiece transfer device is described according to the flowchart of FIG. 3, it is assumed that the workpiece transfer device is now in a state of transferring, for example, the cross member phosphorus hose member 3d to the temporary table 6b.

  Here, as shown in FIG. 8, the handling device 8 initially includes an origin position confirmation sensor such as a limit switch 44 on the support frame 14 in order to confirm the origin position provided near the industrial robot 11. Waiting at the position to be turned on.

  At this time, as shown in FIG. 3, when a work conveying device activation signal is output from the control unit 38 to convey the workpiece (step S1), the air valves 31, 34 are opened (step S1). S3).

  Next, each part of the industrial robot 11 is controlled, and the vacuum pads 15a to 15c at the standby position are moved as indicated by arrows A and B in FIG. It is led directly above the cross member phosphorus hose member 3d. Of course, the vacuum pads 15a and 15c are positioned at points that coincide with the points X and Z that are the attracted portions of the cross member phosphorus hose member 3d.

  Thereafter, as shown in FIG. 9, the vacuum pads 15 a to 15 c are lowered by the industrial robot 11. As a result, as shown in FIG. 10, the suction surfaces 22 of the vacuum pads 15 a to 15 c begin to contact the plate surface portions at the X and Z points of the uppermost cross member phosphorus hose member 3 d that are stacked. Here, since the vacuum pads 15a to 15c can be swung, the entire skirt portion 21a is in contact with the plate surface portions of the X and Z points while tilting to follow the shape and posture of each of the X and Y points. (Step S5). Thereby, each vacuum pad 15a-15c closely_contact | adheres with a workpiece | work according to the shape of each X, Y point.

  Next, as shown in step S6, the control unit 38 determines the vacuum pads 15a to 15 from the signals output from the proximity switches 39, that is, the signals for detecting the ends of the tubular bodies 18 protruding upward from the support base 17. Confirm that 15c has contacted the workpiece. Thereby, determination of contact OK is performed like step S7.

  Then, in response to the signal, the control unit 38 operates the air valve 34 as shown in step S8, and “opens” only the vacuum pad 15b so that the suction action does not occur only on the vacuum pad 15b. The others are “closed”. Thereby, the negative pressure generated from the vacuum generator 30 acts only on the vacuum pads 15a and 15c.

  At this time, if the vacuum pads 15a and 15c are properly in close contact with the workpiece, the inside of the vacuum pads 15a and 15c is gradually evacuated as shown in step S9. Subsequently, when the evacuation proceeds until the suction force necessary for sucking and conveying the workpiece is generated, a signal is output from the pressure switch 40 as shown in step S10.

  Then, the control unit 38 outputs an OK signal indicating that the adhesion is secured between the vacuum pads 15a and 15c and the work as shown in step S11. When the same signal is received, all of the air valves 31 and 34 are subsequently closed, and the pressure in the vacuum pads 15a and 15c is maintained as shown in step S12. Thereby, the suction | attraction force required for suction conveyance is ensured.

  Next, the vacuum pads 15a to 15c are raised by the industrial robot 11 and lifted while adsorbing the cross member phosphorus hose member 3d as shown in step S13. Thereby, as shown in FIG. 11, only one cross member phosphorus hose member 3 d is taken out from the carriage 3.

  Subsequently, the industrial robot 11 transports the cross member hose member 3d to the temporary placing table 6b as the next step while adsorbing the cross member hose member 3d as indicated by the arrow C in FIG. 4, and temporarily places it as shown in FIG. The cross member phosphorus hose member 3d is positioned immediately above the base 6b. After that, the vacuum pads 15a to 15c are lowered to place the cross member phosphorus hose member 3d on the upper surface of the temporary placing table 6b until the signal is output from the proximity switch 39, that is, the operation opposite to the lifting operation, and then the air The valve 34 is opened and the vacuum pressure in the vacuum pads 15a and 15c is released. Then, the restriction of the cross member phosphorus hose member 3d by the vacuum pads 15a and 15c is released (due to the loss of the adsorption force), and the cross member phosphorus hose member 3d is transferred to the temporary placing table 6b. As a result, the workpiece is transferred to the next process as shown in step S14 in FIG.

  It is assumed that after the cross member phosphorus hose member 3d is transported, a different kind of work is transported, for example, the rail roof inner member 2a is transported to the temporary placing table 5a.

  At this time, the vacuum pads 15a to 15c are moved from the position where the origin is confirmed by the industrial robot 11 as indicated by arrows A and D in FIG. The process of guiding the rail roof inner member 2a directly above, the lowering process, the process of bringing the vacuum pads 15a to 15c into contact with the Y and Z plate surfaces of the rail roof inner member 2a, and the vacuum pads 15b and 15c on the plate surface portions. , The step of securing the suction force necessary for suction conveyance, the step of conveying to the temporary table 5a as indicated by the arrow E in FIG. 5, and the transferred rail roof inner member 2a to the temporary table 5a. A process is performed.

  In this way, various workpieces are sucked and conveyed by one suction-type handling device 8. When such a workpiece is switched (for example, when switching from the conveyance of the cross member phosphorus hose member 3d to the conveyance of the rail roof inner member 2a), in the suction process of steps S9 and S10, for example, poor adhesion occurs in the vacuum pads 15b and 15c, for example. There is. Since the vacuum pads 15a to 15c can be swung, for example, the posture of the vacuum pads 15b and 15c after delivery to the previous temporary placement table 6b is, for example, the delivered cross member phosphorus hose member. Under the influence of the shape and posture of 3d, it does not return to its original position, and it is considerably inclined, or the inclination of the vacuum pads 15b and 15c is greatly different from the posture of the attracted portion of the rail roof inner member 2a to be transported thereafter. For this reason, a part of the skirt portion 22 is folded inward. Of course, even when the spring members 25 are biased in the direction of returning the vacuum pads 15a to 15c, they may not return completely to the original posture, and this may occur.

  If such a poor contact between the vacuum pads 15b and 15c occurs, the vacuum pads 15b and 15c and the workpiece, for example, the rail roof inner member 2a, can be applied to the vacuum pads 15b and 15c even when the vacuum pressure generated from the vacuum generator 29 is applied. Air (atmosphere) is sucked in from between the plate surface portions. For this reason, the vacuum pressure necessary for sucking and conveying the workpiece cannot be secured in the vacuum pads 15b and 15c as it is.

  Here, as shown in step S10, the control unit 38 detects whether or not the inside of the vacuum pads 15b and 15c reaches a pressure value necessary for suction conveyance through the pressure switch 40 for a predetermined time, for example. If the adhesion failure has occurred, the predetermined pressure value is not reached even after a predetermined time has elapsed. Therefore, it is determined that the adhesion is not good, and the process proceeds to step S15, where NG indicating that suction conveyance cannot be performed. Output a signal.

  Then, as shown in step S16, the control unit 38 turns on the notification lamp 42 of the control panel 37 to notify the operator that the suction conveyance cannot be performed. At the same time, the work removal process is temporarily suspended, and the work of correcting the postures of the vacuum pads 15a to 15c is performed as shown in step S17.

  Specifically, first, as shown in FIG. 6, the industrial robot 11 moves the vacuum pads 15a to 15c from the position directly above the rail roof inner member 2a to the posture correction table 43 as indicated by the arrow F in FIG. It moves to the reference plane 43a and positions it just above the reference plane 43a as shown in FIG. The positioning is performed so that the axis of the tubular body 18 is perpendicular to the reference plane 43a extending in the horizontal direction.

Next, the industrial robot 11 lowers the vacuum pads 15a to 15c until they are detected by the proximity switch 39, and as shown in FIG. 13, the tips of the vacuum pads 15a to 15c (suction surface 22 ) become the reference surface 43a. Press. Thereby, the postures of the vacuum pads 15a to 15c that are tilted unnecessarily are corrected to an appropriate posture that matches the reference surface 43a, and the vacuum pads 15a to 15c that have caused poor adhesion are arranged.

  The vacuum pads 15a to 15c, which have been pressed against the reference surface 43a, are again directly above the rail roof inner member 2a from the posture correction table 43 as indicated by the arrow G in FIG. 6 under the control of the industrial robot 11 by the control unit 38. Return to, and resume the work removal process that was paused.

  As a result, the postures of the vacuum pads 15b and 15c, which have caused the suction failure, have been recovered (adjusted) to the postures that provide the original good adhesion. Thereafter, the workpieces are conveyed by the vacuum pads 15a to 15c. Done well. In addition, the notification lamp 42 is extinguished as it is resumed.

Of course, as shown in FIG. 7, when the cross member phosphorus hose member 3d is adsorbed, even if the adhesion failure of the vacuum pads 15a to 15c is detected, the posture is corrected by the posture correction stand 43 as indicated by the H and I arrows. After the correction, the adsorption process of the cross member phosphorus hose member 3d by the vacuum pads 15a to 15c may be resumed.

  Therefore, even if the shape or posture of the work affects the vacuum pads 15a to 15c to cause poor adhesion, the work transfer device does not remain stopped, and the work transfer work can be continued promptly. Therefore, the work transfer device can be operated satisfactorily while being an unattended automatic work transfer device.

  Moreover, the determination of the adhesion of the vacuum pads 15a to 15c is simple because the determination is made based on whether or not the vacuum pressure applied when the workpiece is attracted reaches a predetermined value.

  In addition, how to adjust the posture of the vacuum pads 15 a to 15 c is simple because the suction surface 22 of the vacuum pads 15 a to 15 c is simply pressed against the reference surface 43 a of the posture correction table 43.

  The present invention is not limited to the above-described embodiment, and various modifications may be made without departing from the spirit of the present invention. For example, in one embodiment, an example using a flat workpiece is given, but it is needless to say that the workpiece is not limited to this and may have another shape.

1 is a perspective view showing an overall schematic configuration of an adsorption work transfer device according to an embodiment of the present invention. The figure for demonstrating the vacuum type | system | group of the same apparatus. The flowchart which shows the control which concerns on the workpiece conveyance of the apparatus. The perspective view which shows the path | route which conveys the workpiece | work of a workpiece pick-up part to the workpiece delivery part with the same apparatus. The perspective view which shows the path | route which conveys the workpiece | work of a different workpiece pick-up part to a workpiece | work delivery part. The perspective view for demonstrating the method of recovering the adhesiveness of the vacuum pad which arose when performing conveyance of the workpiece | work. The perspective view which similarly shows the case of a different workpiece | work. The front view which shows the origin state of the handling apparatus when conveying the workpiece | work of a workpiece | work receiving part to a workpiece | work delivery part. The front view which shows the state which a vacuum pad faces to a workpiece taking-out part. The front view which shows the time of adsorb | sucking the workpiece | work of a workpiece taking-out part with a vacuum pad similarly by a handling apparatus. The front view which shows when a workpiece | work is lifted similarly with the handling apparatus. Similarly, the front view which shows when the workpiece | work adsorbed | sucked with the handling apparatus is delivered to a workpiece | work delivery part. The front view for demonstrating when the attitude | position of the vacuum pad which the adhesion defect produced arises.

Explanation of symbols

  2a to 2d, 3a to 3d ... rail roof inner member, cross member phosphorus hose member (work), 2, 3 ... cart (work placing part), 5a, 5b, 6a, 6b ... temporary placing stand (work delivery part), DESCRIPTION OF SYMBOLS 8 ... Handling apparatus, 15a-15c ... Vacuum pad, 38 ... Control unit (determination means), 39 ... Proximity switch, 40 ... Pressure switch, 43 ... Posture correction stand, 43a ... Reference plane.

Claims (2)

A workpiece placement unit in which multiple types of workpieces are stacked for each type;
A plurality of workpiece transfer sections each provided at a predetermined location;
Having a vacuum pad that can swing freely to give a negative pressure necessary for suction, and a handling device that can freely operate the vacuum pad in each direction;
A suction-type workpiece transfer device that takes out a desired workpiece from the workpiece placement unit by suction of the vacuum pad, and enables the workpiece to be transferred to a workpiece delivery unit at a predetermined location,
A determination means for determining whether or not the vacuum pad and the workpiece have good adhesion when the workpiece is taken out;
It has a posture correction table having a reference surface defining a posture as the above vacuum pad reference in its upper surface, when the adhesion is determined to not to pause the extraction of work by the vacuum pad, the attitude After pressing the suction surface of the vacuum pad against the reference surface of the correction table and correcting the posture of the vacuum pad to a posture that follows the reference surface, the posture of the vacuum pad is adjusted to a fixed posture that the workpiece can suck , A suction-type workpiece transfer device comprising: a means for returning to the workpiece removal again. Said determining means, wherein when the work adsorption of the vacuum pad, from whether a negative pressure applied reaches a predetermined pressure value, to claim 1, characterized in that to determine the adhesion of the quality of vacuum pad adsorption workpiece transfer apparatus.

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