JP4900210B2 - General-purpose handling jig - Google Patents

Description

  The present invention relates to a general-purpose handling jig capable of gripping a plurality of types of workpieces, and a handling method using the handling jig.

  Usually, the sub-assemblies constituting the automobile body are shaped differently for each vehicle type, and therefore a dedicated handling jig for each vehicle type must be used in order to stably hold and transport them. Therefore, in order to produce a plurality of vehicle types in the same line, it is necessary to change the handling jig every time the vehicle types are changed, which causes a problem that the cycle time is prolonged and the line capacity is remarkably lowered. In addition, each time a new vehicle type is added to the line, an investment for designing and manufacturing a dedicated handling jig is required, which is disadvantageous in terms of cost. Therefore, the demand for general-purpose handling jigs that can handle a plurality of vehicle types is increasing.

  In relation to this, the following Patent Document 1 describes a component gripping hand that can move in three axial directions, but the gripped component is large in size and weight, such as an automobile subassembly. In some cases, the component cannot be stably gripped unless there are at least three such hands. That is, even if the technique described in Patent Document 1 is applied to obtain a general-purpose handling jig that can handle a plurality of vehicle types, it is necessary to control the three-dimensional arrangement of the three component gripping hands independently. For this reason, it must be a very complicated structure consisting of nine servo axes (even if one of the three hands is fixed to the part in advance, six servo axes are required).

As described above, even if a general-purpose handling jig that can stably hold a workpiece such as an automobile subassembly is manufactured using the conventional technology, the mechanical structure becomes complicated and the manufacturing cost increases. As a result, the control system becomes complicated, increasing the burden on the operator. Furthermore, when such a general-purpose handling jig is mounted on a handling device, there is a problem that the feasibility and reliability of the entire device are lowered because the cable application and the like are complicated.
JP-A-6-300523

  The present invention has been made to solve the above problems, and an object of the present invention is to handle general-purpose handling that can hold a plurality of types of workpieces having different three-dimensional shapes and has a simple mechanical structure. It is to provide a jig and a workpiece handling method using the handling jig.

  The present invention for achieving the above object is a handling jig for gripping a workpiece having at least first to third locating holes, and includes a first servo shaft, a second servo shaft, a driven device, a lock device, And first to third clamp pins.

  Here, the first servo shaft extends in the first direction and can slide and extend in the first direction by a driving source. The second servo shaft extends in a second direction perpendicular to the first direction, and can be advanced and retracted along the second direction by a driving source. The driven device connects the second servo shaft to the first servo shaft in order to drive the second servo shaft to the first servo shaft that expands and contracts. The driven device can be released. The locking device fixes the second servo shaft at an arbitrary position in the first direction. The first and second clamp pins are provided on the first servo shaft so as to protrude in a third direction perpendicular to both the first and second directions, and are inserted into the first and second locate holes. Is done. The third clamp pin is provided on the second servo shaft so as to protrude in the third direction and is inserted into the third locate hole.

  Also, the second and third clamp pins are provided in the second and third locate holes when the second and third clamp pins are inserted into the second and third locate holes in the vicinity of the distal ends of the second and third clamp pins. First and second contact surfaces are provided for contacting the first and second pin receiving surfaces. In the second and third clamp pins, when the first and second abutment surfaces abut against the first and second pin receiving surfaces and receive a rigid reaction force, First and second copying devices that allow the second and third clamp pins to move in the third direction are provided. The first and second copying apparatuses can be locked.

  According to the present invention, since the mechanical structure is simple, a general-purpose handling jig that can be manufactured at low cost and can be easily controlled can be obtained. As a result, productivity improvement and cost reduction can be achieved in the process of sequentially handling a plurality of types of workpieces.

<Configuration of handling jig>
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG.1 and FIG.2 is the front view and side view of the handling jig 1 of this embodiment. As shown in FIG. 1, the handling jig 1 includes a first servo shaft 11 extending in the Y direction (first direction) and a second servo shaft 12 extending in the Z direction (second direction) perpendicular to the Y direction. It has.

  Here, the first servo shaft 11 includes a slide expansion / contraction mechanism that is operated by a drive source (not shown) such as a servo motor, and is slidable in the Y direction. Further, the second servo shaft 12 includes an advance / retreat mechanism that is operated by a drive source (not shown) such as a servomotor, and can advance and retreat in the Z direction.

  Near the both ends of the first servo shaft 11, first and second clamp pins CL1 and CL2 projecting in the X direction perpendicular to the YZ plane are provided, respectively, and near the tip of the second servo shaft 12. Similarly, a third clamp pin CL3 protruding in the X direction is provided. As will be described later, the first to third clamp pins CL1 to CL3 are inserted into first to third locating holes provided in a work gripped by the handling jig 1, respectively. Play a role to fix against. As shown in FIG. 2, the second and third clamp pins are provided near the tip of the second and third clamp pins CL2 and CL3 when the second and third clamp pins are inserted into the locate holes of the workpiece. First and second contact surfaces CL2a and CL3a that contact the pin receiving surface are provided, respectively. This point will be further described later.

  In addition, the handling jig 1 of the present embodiment changes the second servo 12 to the first servo shaft 11 so that the second servo shaft 12 can move in the Y direction in conjunction with the slide expansion / contraction motion of the first servo shaft 11. A follower 13 is provided for temporary connection. The follower 13 can be released at an arbitrary position, and fulfills the function of moving the second servo shaft 12 to a predetermined position in the Y direction as the first servo shaft 11 slides and expands. This point will be further described later.

  Further, the handling jig 1 of the present embodiment includes a lock device 14 for fixing the position of the second servo shaft 12 in the Y direction. The locking device 14 serves to prevent the second servo shaft 12 that has been moved to a predetermined position in the Y direction by the driven device 13 from further moving.

  Subsequently, as shown in FIG. 2, the handling jig 1 of the present embodiment allows the first and second copying to permit the second and third clamp pins CL <b> 2 and CL <b> 3 to move forward and backward flexibly along the X direction. Devices 15 and 16 are provided. The first and second copying devices 15 and 16 are provided so as to be lockable at arbitrary positions, and once in the locked state, the second and third clamp pins CL2 and CL3 are moved to the first and second servo shafts 11, It is fixed with respect to 12, and no further forward / backward movement is allowed. In the first and second copying devices 15 and 16, the second and third clamp pins CL2 and CL3 are inserted into the locating holes of the workpiece, and the workpiece reaction force is applied to the first and second contact surfaces CL2a and CL3a. In this case, the second and third clamp pins are allowed to move in the X direction according to the rigidity reaction force, thereby functioning to adjust the X direction positions of the second and third clamp pins CL2 and CL3. This point will be further described later. The first and second copying apparatuses 15 and 16 do not have a drive source, and are linear guides that can slide in the X direction as an example.

  As described above, the handling jig 1 of the present embodiment is based on the driving force applied to the first and second servo shafts 11 and 12 and the rigid reaction force that the second and third clamp pins CL2 and CL3 receive from the workpiece. By changing the three-dimensional arrangement of the first to third clamp pins CL1 to CL3, it is possible to adapt to a plurality of types of workpieces having different three-dimensional shapes.

  Next, an application example of the handling jig 1 of the present embodiment will be shown. FIG. 3 is a schematic view showing a scene in which the handling jig 1 of the present embodiment is applied to a handling process of a subassembly of automobiles A to D.

  In FIG. 3, the robot R sequentially conveys the sub-assemblies of the automobiles A to D while reciprocating the traveling axis Q. Here, if the handling jig 1 of this embodiment is applied to the robot R, a plurality of types of sub-assemblies of automobiles A to D can be transported without changing the handling jig for each vehicle type.

  Next, the workpiece | work hold | gripped with the handling jig | tool 1 of this embodiment is demonstrated. FIG. 4 is a front view showing an example of an automobile subassembly 2 as a work gripped by the handling jig 1 of the present embodiment, and FIG. 5 is a cross-sectional view taken along line II in FIG. is there. As shown in FIGS. 4 and 5, the subassembly 2 in this example is a front door of a passenger car. In addition, each direction of XYZ in FIG.4 and FIG.5 corresponds with it in FIG.1 and FIG.2.

  As shown in FIG. 4, the subassembly 2 includes first to third locating holes H <b> 1 to H <b> 3 for inserting the first to third clamp pins CL <b> 1 to CL <b> 3 of the handling jig 1. Here, in the example of FIG. 4, if the YZ coordinate is (0, 0) with the first locate hole H1 among the first to third locate holes H1 to H3 as a reference point, the coordinates of the second locate hole H2 Becomes (Y2, 0), and the coordinates of the third locate hole H3 become (Y3, Z3).

  Here, the positions of the first to third locating holes H1 to H3 can be arbitrarily selected. However, in order to stably hold the subassembly 2, it may be arranged so as to surround the center of gravity of the subassembly 2. preferable. Moreover, it is preferable that the diameter of the locating holes H1 to H3 is appropriately larger than the diameter of each clamp pin for smooth insertion of the first to third clamp pins CL1 to CL3.

  Subsequently, as shown in FIG. 5, the first and second locating holes H2 and H3 are provided in the vicinity of the tip ends of the second and third clamp pins CL2 and CL3 inserted in the second and third locating holes H2 and H3, respectively. First and second pin receiving surfaces H2a and H3a for receiving the contact surfaces CL2a and CL3a are provided. As described above, after the first and second servo shafts 11 and 12 are driven to adjust the positions of the first to third clamp pins CL1 to CL3 in the YZ plane, the handling jig 1 is brought close to the subassembly 2. The first and second contact surfaces CL2a and CL3a are in contact with the first and second pin receiving surfaces H2a and H3a, respectively. When the handling jig 1 is further moved closer to the subassembly 2 from there, the first and second contact surfaces CL2a and CL3a are moved in accordance with the rigidity reaction force of the subassembly 2 received from the first and second pin receiving surfaces H2a and H3a. The first and second copying devices 15 and 16 are operated to allow the second and third clamp pins CL2 and CL3 to move in the X direction. That is, the second and third clamp pins CL2 and CL3 move in the direction of the arrow in FIG. For smooth operation of the first and second copying devices 15 and 16, the first and second contact surfaces CL2a and CL3a and the first and second pin receiving surfaces H2a and H3a are both YZ planes. It is preferable to make it parallel.

  Next, a handling method using the handling jig 1 of the present embodiment will be described with reference to FIG. Specifically, the handling method includes the following procedures (1) to (7).

  (1) The handling jig 1 is directly opposed to the subassembly 1 that is a workpiece. At this time, the handling jig 1 is arranged so that the positions of the first clamp pin CL1 and the first locating hole H1 in the ZY plane coincide with each other and the positions of the second clamp pin CL2 and the second locating hole H2 in the Z direction coincide with each other. Place. That is, the coordinate of the first clamp pin CL1 on the YZ plane is (0, 0), and the Z coordinate of the second clamp pin CL2 is 0 (see (1) in FIG. 6).

  (2) The second servo shaft 12 is driven and moved until the positions of the third clamp pin CL3 and the third locate hole H3 in the Z direction coincide. That is, the Z coordinate of the third clamp pin CL3 is set to Z3 (see (2) in FIG. 6).

  (3) The first servo shaft 11 is driven in a state where the second servo shaft 12 is connected to the first servo shaft 11 by the driven device 13, and the positions of the third clamp pin CL3 and the third locate hole H3 in the Y direction are changed. Move until they match. That is, the Y coordinate of the third clamp pin CL3 is set to Y3 (see (3) in FIG. 6).

  (4) The position of the second servo shaft 12 in the Y direction is fixed by the lock device 14 (see (4) in FIG. 6). As a result, the coordinates of the third clamp CL3 in the YZ plane are fixed at (Y3, Z3).

  (5) The first servo shaft 11 is further driven in a state where the driven device 13 is released, and is moved until the positions of the second clamp pin CL2 and the second locate hole H2 in the Y direction coincide. That is, the coordinates of the second clamp pin CL2 in the YZ plane are set to (Y2, 0) (see (5) in FIG. 6). As a result, the positions of the first to third clamp pins CL1 to CL3 and the first to third locating holes H1 to H3 in the YZ plane coincide with each other.

  (6) With the first and second copying devices 15 and 16 unlocked, the handling jig 1 is moved in the X direction to approach the subassembly 2, and the position of the first clamp pin CL1 in the X direction is set in advance. Match the determined gripping position. Here, after the first and second contact surfaces CL2a and CL3a contact the first and second pin receiving surfaces H2a and H3a, the first and second copying devices 15 and 16 are operated, and the second The third clamp pins CL2 and CL3 are allowed to move in the X direction (in the direction of the arrow in FIG. 2) according to the rigid reaction force received from the subassembly 2.

  (7) After fixing the positions of the second and third clamp pins CL2 and CL3 in the X direction by locking the first and second copying devices, the second and third clamp pins CL2 and CL3 are respectively connected to the second and third clamp pins CL2 and CL3. Fix to the 3rd locate hole. As a result, the subassembly 2 is fixed to the handling jig 1, so that the robot R as shown in FIG.

  Next, effects of the present embodiment having the above-described configuration will be described.

  As described above, the handling jig 1 of the present embodiment is based on the driving force of the first and second servo shafts 11 and 12 and the rigid reaction force that the second and third clamp pins CL2 and CL3 receive from the subassembly 2. The three-dimensional arrangement of the first to third clamp pins CL1 to CL3 can be changed. That is, the handling jig 1 of this embodiment can be adapted to a plurality of types of workpieces having different three-dimensional shapes by only driving two servo axes.

  Therefore, according to this embodiment, since the mechanical structure is simple, it is possible to realize a general-purpose handling jig that can be manufactured at low cost and can be easily controlled. As a result, significant productivity improvement and cost reduction can be achieved in the process of sequentially handling a plurality of types of workpieces.

  In the present embodiment, the first and second contact surfaces CL2a and CL3a of the handling jig 1 and the first and second pin receiving surfaces H2a and H3a of the subassembly 2 are both provided in parallel to the YZ plane. Thus, the handling jig 1 can be adapted to the subassembly 2 more smoothly. As a result, further productivity improvement and cost reduction can be achieved.

  In the present embodiment, the first to third locating holes H1 to H3 of the subassembly 2 gripped by the handling jig 1 are arranged so as to surround the center of gravity of the subassembly 2, so that the subassembly 2 is It can be gripped more stably. As a result, further productivity improvement and safety improvement can be achieved.

  In addition, this invention is not limited only to embodiment mentioned above, A various change can be made within a claim. For example, in the above-described embodiment, the work gripped by the general-purpose handling jig of the present invention is an automobile subassembly, but the present invention is not necessarily limited thereto. That is, the general-purpose handling jig of the present invention can be applied to any articles that are sequentially conveyed in various work processes.

It is a front view of the handling jig of this embodiment. It is a side view of the handling jig of this embodiment. It is the schematic which shows the example of application of the handling jig | tool of this embodiment. It is a front view of a subassembly as a work which a jig of this embodiment grasps. It is sectional drawing along the II direction of FIG. It is the schematic which shows the handling method using the handling jig | tool of this embodiment.

Explanation of symbols

1 Handling jig,
11 First servo axis,
12 Second servo axis,
13 Follower,
14 Locking device,
15 first copying apparatus,
16 Second copying apparatus,
2 Subassembly (work),
CL1 first clamp pin,
CL2 second clamp pin,
CL2a first contact surface,
CL3 third clamp pin,
CL3a second contact surface,
H1 1st locate hole H2 2nd locate hole,
H2a first pin receiving surface,
H3 3rd locate hole,
H3a second pin receiving surface,
Q traveling axis,
R Robot.

Claims (5)

A handling jig for gripping a workpiece having at least first to third locating holes,
A first servo shaft extending in the first direction and slidable in the first direction by a driving source;
A second servo axis extending in a second direction perpendicular to the first direction and capable of moving back and forth in the second direction by a drive source;
A releasable follower for connecting the second servo shaft to the first servo to cause the second servo shaft to follow the first servo shaft to expand and contract;
A locking device for fixing the second servo shaft at an arbitrary position in the first direction;
First and second clamp pins provided on the first servo shaft and projecting in a third direction perpendicular to both the first and second directions and inserted into the first and second locating holes; A third clamp pin provided on the second servo shaft and projecting in a third direction perpendicular to both the first and second directions and inserted into the third locating hole;
Near the tip of the second and third clamp pins, the second and third clamp pins are provided in the second and third locate holes when the second and third clamp pins are inserted into the second and third locate holes. First and second contact surfaces are provided for contacting the first and second pin receiving surfaces, respectively.
In the second and third clamp pins, when the first and second abutment surfaces abut against the first and second pin receiving surfaces and receive a rigid reaction force, A handling jig characterized in that lockable first and second copying devices are provided to allow the second and third clamp pins to move in the third direction.   Each of the first and second clamp pins is provided in the vicinity of both ends of the first servo shaft, and the third clamp pin is provided in the vicinity of a tip portion of the second servo shaft. The handling jig according to claim 1.   The first and second pin receiving surfaces and the first and second contact surfaces are both parallel to a plane formed by the first and second directions. Handling jigs.   The handling jig according to any one of claims 1 to 3, wherein the first to third locating holes are arranged so as to surround a center of gravity of the workpiece. A workpiece handling method using the handling jig according to any one of claims 1 to 4,
The positions of the first clamp pin and the first locate hole on the plane formed by the first and second directions coincide with each other, and the positions of the second clamp pin and the second locate hole in the second direction are the same. Directing the handling jig to the workpiece so as to match,
Driving the second servo shaft to match the positions of the third clamp pin and the third locate hole in the second direction;
The first servo shaft is driven in a state where the second servo shaft is connected to the first servo shaft by the driven device, and the positions of the third clamp pin and the third locating hole in the first direction are matched. Steps,
Fixing the position of the second servo shaft in the first direction by the locking device;
Further driving the first servo shaft in a state in which the driven device is released to match the positions of the second clamp pin and the second locate hole in the first direction;
Bringing the handling jig closer to the workpiece while the first and second copying devices are in operation, and matching the relative position of the first clamp pin with respect to the first clamp hole to a predetermined gripping position;
And a step of fixing the second and third clamp pins to the second and third locating holes, respectively, after locking the first and second copying devices.

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