JP5375190B2 - Work transfer method and work transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and apparatus for transporting a workpiece suppressing facility costs and surely performing bidirectional transfer of the workpiece between a hand and a fixing tool. <P>SOLUTION: The apparatus for transporting the workpiece includes a locating pin 120 disposed in the fixing tool 110 and insertable into an opening disposed in the workpiece 10; a workpiece transportation hand 130 approachably and separatably disposed with respect to the fixing tool 110; a telescoping locating pin 140 disposed in the hand 130 and insertable into the opening of the workpiece 10 and positioned coaxially with the locating pin 120 of the fixing tool 110; a knockout mechanism 150 for pushing the workpiece 10 with the locating pin 140 of the hand 130 inserted into the opening, toward the fixing tool 110 to which the workpiece 10 is delivered. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a work transfer method and a work transfer apparatus.

  For example, when transporting a panel-shaped work constituting an automobile body between a hand and a fixing jig in a stacked state, an extendable hand side locating pin is inserted into a locating hole arranged in the work, After positioning so as to be concentric with the fixing jig side locating pin, the workpiece is transferred to the fixing jig by contracting (retracting) (for example, refer to Patent Document 1). However, with this configuration, it is difficult to transfer the workpiece in both directions between the hand and the fixing jig. For this reason, by providing a selection means for selectively moving the fixing jig side locating pin and the hand side locating pin backward, the workpiece can be transferred in both directions between the hand and the fixing jig (for example, Patent Documents). 2).

Japanese Patent No. 2924322 JP 2007-152473 A

  However, there is a shift or variation in the stacked workpieces. For example, when galling occurs between the locating pins, there is a possibility that the workpieces cannot be transferred between the hand and the fixing jig. Moreover, since both the fixing jig side locating pin and the hand side locating pin are configured to be extendable and need to be provided with a selection means, it is difficult to suppress the equipment cost.

  The present invention has been made to solve the problems associated with the above-described conventional technology, and suppresses the equipment cost and reliably implements bidirectional transfer of the workpiece between the hand and the fixing jig. It is an object of the present invention to provide a workpiece transfer method and a workpiece transfer apparatus that can perform the above-described process.

In order to achieve the above object, the uniform phase of the present invention includes a workpiece receiving step for receiving and transporting a workpiece placed on a fixing jig, and the workpiece received and conveyed for the fixing jig or another A workpiece transfer method having a workpiece transfer step of transferring to a fixing jig. And, in the workpiece transfer step, the telescoping locating pin disposed in the workpiece transfer hand and inserted into the opening of the workpiece is concentric with the locating pin disposed in the fixing jig to which the workpiece is delivered. After positioning and contacting, the workpiece is moved toward the fixing jig, and when the locating pin of the fixing jig is inserted into the opening of the workpiece, the locating pin of the hand is contracted The workpiece is pushed out toward the fixing jig by bringing an annular member of a knockout mechanism , which is slidably arranged on the outer periphery of the locating pin of the hand and is concentric with the locating pin, into contact with the workpiece.

Another uniform phase of the present invention for achieving the above object is a work conveying apparatus that receives and conveys a work placed on a fixing jig and delivers it to the fixing jig or another fixing jig. The workpiece conveying device is disposed on the fixing jig and is a locating pin that can be inserted into an opening arranged on the workpiece, a workpiece conveying hand that is arranged to be close to and away from the fixing jig, A telescopic locating pin disposed in the hand and freely inserted into the opening of the workpiece and positioned to be concentric with the locating pin of the fixing jig, and the locating pin of the hand inserted into the opening A knockout mechanism for pushing the workpiece toward the fixing jig to which the workpiece is delivered; The knockout mechanism is slidably disposed on the outer periphery of the locating pin of the hand, and has an annular member that is concentric with the locating pin, and the annular member has the locating pin of the hand inserted into the opening. By contacting the workpiece, the workpiece is pushed out toward the fixing jig.

According to the workpiece conveyance method according to the uniform phase of the present invention and the workpiece conveyance device according to another uniform phase, for example, even if the workpiece has variations and galling occurs between the workpiece and the locate pin, Since the work is pushed out toward the fixing jig by bringing the annular member of the knockout mechanism , which is slidably arranged on the outer periphery and concentric with the locating pin, into contact with the work , the work is pushed between the hand and the fixing jig. The possibility that the workpieces cannot be transferred is eliminated. Further, the fixing jig does not require a telescoping locating pin, so that it can be made inexpensive. That is, it is possible to provide a work transfer method and a work transfer apparatus that can suppress the equipment cost and can reliably carry out bidirectional transfer of the work between the hand and the fixing jig.

It is a perspective view for demonstrating the workpiece conveyance apparatus which concerns on embodiment of this invention. It is a side view for demonstrating the knockout mechanism shown by FIG. It is sectional drawing for demonstrating the knockout mechanism shown by FIG. It is a perspective view for demonstrating the workpiece | work receiving process in the workpiece conveyance method which concerns on embodiment of this invention, and has shown positioning of the hand. It is sectional drawing for demonstrating the workpiece | work receiving process in the workpiece conveyance method which concerns on embodiment of this invention, and has shown positioning of the hand. It is a perspective view for demonstrating descent | fall of a hand following positioning of a hand. It is sectional drawing for demonstrating the fall of a hand following positioning of a hand. It is a perspective view for demonstrating holding | grip of the workpiece | work following descent | fall of a hand. It is sectional drawing for demonstrating holding | grip of the workpiece | work following descent | fall of a hand. It is a perspective view for demonstrating the raise of a hand following the holding | grip of a workpiece | work. It is sectional drawing for demonstrating the raise of a hand following the holding | grip of a workpiece | work. It is a perspective view for demonstrating the workpiece delivery process in the workpiece conveyance method which concerns on embodiment of this invention, and has shown positioning of the hand. It is sectional drawing for demonstrating the workpiece delivery process in the workpiece conveyance method which concerns on embodiment of this invention, and has shown positioning of the hand. It is a perspective view for demonstrating descent | fall of a hand following positioning of a hand. It is sectional drawing for demonstrating the fall of a hand following positioning of a hand. It is a perspective view for demonstrating the grasp release of a workpiece | work following the descent of a hand. It is sectional drawing for demonstrating the holding | grip cancellation | release of a workpiece | work following descent | fall of a hand. It is a perspective view for demonstrating the raise of a hand following the grip cancellation | release of a workpiece | work. It is sectional drawing for demonstrating the raise of a hand following the holding | release release of a workpiece | work.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a perspective view for explaining a workpiece transfer device according to an embodiment of the present invention, and FIGS. 2 and 3 are a side view and a cross-sectional view for explaining a knockout mechanism shown in FIG.

  A workpiece transfer apparatus 100 according to an embodiment of the present invention includes a pallet (fixing jig) 110, a workpiece transfer hand 130, and a robot arm 190, and receives and transfers the workpiece 10 placed on the pallet 110. Used to deliver to the same or another pallet 110. The work 10 is a laminate of thin sheet-like secondary batteries, and locate holes (openings) 16 are arranged at four corners. The robot arm 190 is a multi-joint (multi-axis) type and is used to move the hand 130.

The pallet 110 includes a substantially rectangular mounting table 112 on which the workpiece 10 is disposed, and locate pins (pallet side locating pins) 120 disposed at four corners of the mounting table 112. As shown in FIG. 2, the width W ₁ of the mounting table 112 is set to be smaller than the width W _{2 of the} workpiece 10 so that the side surface of the workpiece 10 protrudes from the mounting table 112. The pallet side locating pin 120 can be freely inserted into the locating hole 16 of the workpiece 10, and a concave portion 128 is formed on the upper end surface.

  The hand 130 is disposed so as to be able to approach and separate from the pallet 110, has a substantially rectangular base 132 facing the workpiece 10 placed on the pallet 110, and locate pins (hand side locating pins) 140 disposed at the four corners of the base 132. And a knockout mechanism 150 and a workpiece gripping mechanism 170.

  The hand side locating pin 140 includes a reduced diameter shaft portion 142 and enlarged diameter shaft portions 141 and 143 located on both sides of the reduced diameter shaft portion. The diameter-expanded shaft portion 143 positioned below can be inserted into the locating hole 16 of the workpiece 10 and is positioned so as to be concentric with the pallet-side locating pin 120, and a tapered convex portion 148 is formed on the lower end surface thereof. Has been. The convex portion 148 is set to be freely engageable with the concave portion 128 of the pallet side locating pin 120, and can be easily positioned and brought into contact with the hand side locating pin 140 and the pallet side locating pin 120.

  Further, as shown in FIG. 3, the reduced diameter shaft portion 142 of the hand side locating pin 140 is slidably inserted into the opening portion 134 formed in the hand base portion 132, and the spring (spring member) 146 is provided around the periphery. Is arranged. The spring 146 is set so that a biasing force is applied in a direction in which the hand side locate pin 140 is separated from the hand base 132. Therefore, the hand side locating pin 140 can be expanded and contracted by the urging force generated by the spring 146. Note that the inner diameter of the opening 134 of the hand base 132 is set to be smaller than the outer diameter of the diameter-expanded shaft portion 141 of the hand-side locating pin 140, and the hand-side locating pin 140 is prevented from falling off the hand base 132.

  The knockout mechanism 150 is used to push the workpiece 10 in which the hand side locating pin 140 is inserted into the locating hole 16 toward the pallet 110 to which the workpiece 10 is delivered, and as shown in FIG. ) 152, a base 154, and a spring (spring member) 156.

  Thereby, there is variation in the stacked workpieces 10, for example, even when galling occurs between the hand side locating pins 140, the workpiece 10 is pushed out toward the pallet 110 by the knockout mechanism 150. The possibility that the workpiece 10 cannot be transferred between the hand 130 and the pallet 110 is eliminated. Further, the pallet 110 does not require a telescoping locating pin, and thus can be made inexpensive. Therefore, it is possible to suppress the equipment cost and reliably carry out the bidirectional delivery of the workpiece 10 between the hand 130 and the pallet 110.

  The collar portion 152 has a hollow cylindrical shape, is slidably disposed on the outer periphery of the hand side locating pin 140, and is set so that the hand side locating pin 140 contacts the workpiece 10 inserted into the locating hole 16. That is, the hand side locate pin 140 is nested with respect to the collar portion 152. In addition, the collar portion 152 has a flange 153 disposed at the upper end facing the hand base 132.

  The knockout mechanism base 154 has a hollow cylindrical shape, is set so that the collar portion 152 can be telescopically accommodated, and has a reduced diameter portion 155 disposed at a lower end portion facing the workpiece 10. The inner diameter of the reduced diameter portion 155 is set to be smaller than the outer diameter of the flange 153 of the collar portion 152, and the collar portion 152 is prevented from falling off from the knockout mechanism base portion 154.

  The spring 156 is disposed around the hand side locating pin 140 and is set so that an urging force is applied in a direction in which the collar portion 152 is separated from the hand base portion 132, and the urging force is applied to the collar portion 152. The workpiece 10 that is in contact with the pallet 110 can be pushed out.

  The driving source of the collar portion 152 for pushing the workpiece 10 toward the pallet 110 is an urging force and does not require a complicated mechanism, so that an increase in equipment cost can be suppressed. In addition, since the collar portion 152 is elastically biased, it can be easily applied even when the thickness and the number of stacked layers of the workpiece 10 with which the collar portion 152 abuts are changed. The diameter of the spring 156 is set larger than the diameter of the spring 146 for generating the urging force applied to the hand side locating pin 140, and avoids interference with the spring 146. That is, the knockout mechanism spring 156 is disposed on the outer periphery of the hand side locate pin spring 146 to form a double spring structure.

  The workpiece gripping mechanism 170 includes an actuator 172, a support plate (receiving member) 178 driven by the actuator 172, and a collar portion 152. The actuator 172 includes a base 173 fixed to the hand base 132, a movable block 174, and a movable shaft 175. The movable block 174 can be moved close to and away from the base 173 in the X direction. The movable shaft 175 is disposed on the movable block 174 and is slidable in the Y direction. The drive source of the actuator 172 is, for example, a servo motor. The X direction is a direction orthogonal to the side surface of the workpiece 10 placed on the pallet mounting table 112, and the Y direction is a direction orthogonal to the surface 12 of the workpiece 10.

  The support plate 178 is a substantially rectangular flat plate and is fixed to the lower end portion of the movable shaft 175. Therefore, by driving the support plate 178 in the X direction and the Y direction by the actuator 172, the back surface of the work 10 protruding from the mounting table 112 (color) without interfering with the work 10 with which the collar portion 152 abuts. It is possible to position and support the back surface 14 by positioning the surface 152 on the opposite side of the surface 12 with which the portion 152 abuts.

  As described above, the collar portion 152 is set so that the hand side locating pin 140 contacts the workpiece 10 inserted into the locating hole 16. Therefore, when the work back surface 14 is supported by the support plate 178 with the collar portion 152 in contact with the work surface 12, the work 10 is gripped. That is, since the collar portion 152 of the knockout mechanism 150 constitutes a part of the workpiece gripping mechanism 170, it is possible to simplify the equipment and suppress an increase in equipment cost. Note that the workpiece gripping mechanism 170 is not limited to a form using the collar portion 152 of the knockout mechanism 150. For example, a clamp mechanism independent of the knockout mechanism 150 or a vacuum cup can be applied.

  Next, the workpiece conveyance method according to the embodiment of the present invention will be described.

  The workpiece transfer method generally includes a workpiece receiving step of receiving and transferring the workpiece 10 placed on the pallet 110, a workpiece transfer step of transferring the received and transferred workpiece 10 to the same or another pallet 110, Have

  In the workpiece receiving step, the hand side locating pin 140 is positioned so as to be concentric with the pallet side locating pin 120 inserted into the locating hole 16 of the workpiece 10, and after contracting while contacting, the workpiece 10 is moved to the pallet. The hand side locate pin 140 is inserted into the locate hole 16 of the workpiece 10 by extending the hand side locate pin 140 while being spaced apart from 110. In the workpiece delivery process, the hand side locate pin 140 is positioned so as to be concentric with the locate pin 120 of the pallet 110 to which the workpiece 10 is delivered, and after the contact, the workpiece 10 is moved toward the pallet 110, and the workpiece 10 When inserting the pallet side locating pin 120 into the locating hole 16, the workpiece 10 is pushed out toward the pallet 110 by the knockout mechanism while the hand side locating pin 140 is contracted.

  Accordingly, there is variation in the stacked workpieces 10. For example, even when galling occurs between the workpiece 10 and the locating pin 140 on the hand side, the workpiece 10 is pushed toward the pallet 110 by the knockout mechanism 150. The possibility that the workpiece 10 cannot be transferred between the pallet 110 and the pallet 110 is eliminated. Further, the pallet 110 does not require a telescoping locating pin, and thus can be made inexpensive. That is, it is possible to suppress the equipment cost and reliably carry out the bidirectional delivery of the workpiece 10 between the hand 130 and the pallet 110.

  Next, the work receiving process will be described in detail.

  4 and 5 are a perspective view and a sectional view for explaining the positioning of the hand in the workpiece receiving process, and FIGS. 6 and 7 are a perspective view and a sectional view for explaining the lowering of the hand following the positioning of the hand. FIGS. 8, 8 and 9 are a perspective view and a cross-sectional view for explaining gripping of the workpiece following the lowering of the hand, and FIGS. 10 and 11 are diagrams for explaining the raising of the hand following the gripping of the workpiece. It is a perspective view and sectional drawing.

  First, as shown in FIGS. 4 and 5, the hand 130 is driven by the robot arm and is disposed above the mounting table 112 of the pallet 110 so that the hand side locating pin 140 is concentric with the pallet side locating pin 120. Positioned. At this time, the pallet side locating pins 120 arranged on the mounting table 112 are inserted into the locating holes 16 of the stacked workpieces 10.

  The movable block 174 of the workpiece gripping mechanism 170 is separated from the base 173 fixed to the hand base 132, and the support plate 178 fixed to the lower end portion of the movable shaft 175 disposed on the movable block 174 10 is retracted to a position where it does not interfere with 10. Since the hand side locating pin 140 and the collar portion 152 of the knockout mechanism 150 are not in contact with the pallet side locating pin 120 and the workpiece 10, they are urged by the springs 146 and 156 (see FIG. 3) and extend toward the workpiece 10. Yes.

  Then, as shown in FIGS. 6 and 7, the hand 130 is lowered in the Y direction, and the hand side locate pin 140 contacts the pallet side locate pin 120. At this time, since the convex portion 148 of the hand side locating pin 140 and the concave portion 128 of the pallet side locating pin 120 are fitted, it is easy to position and abut so as to be concentric.

  The hand side locating pin 140 is nesting with respect to the collar portion 152 of the knockout mechanism 150 slidably disposed on the outer periphery of the hand side locating pin 140 and is extendable and retractable, so that the collar portion is brought into contact with the pallet side locating pin 120. Shrink toward the inside of 152. Thereby, the collar part 152 protrudes relatively, and the hand side locate pin 140 comes into contact with the workpiece 10 inserted into the locate hole 16.

  The collar portion 152 is nested with respect to the knockout mechanism base portion 154, and is provided with a force generated by elastically deforming the spring 156. That is, since the collar portion 152 is elastically biased and can be expanded and contracted, the collar portion 152 can be easily applied even when the thickness and the number of stacked layers of the workpiece 10 change.

  Thereafter, as shown in FIGS. 8 and 9, the movable block 174 of the workpiece gripping mechanism 170 is moved in the X direction to approach the base portion 173, and the movable shaft 175 disposed on the movable block 174 is Raise in Y direction. Thus, the support plate 178 fixed to the lower end portion of the movable shaft 175 is positioned on the back surface 14 of the lowermost work 10 protruding from the mounting table 112 of the pallet 110, and the work 10 is supported from below. To do.

  As a result, the workpiece 10 is gripped by the collar portion 152 of the knockout mechanism 150 and the support plate 178 of the workpiece gripping mechanism 170. That is, since the collar portion 152 of the knockout mechanism 150 constitutes a part of the work gripping mechanism 170, the equipment can be simplified and the increase in equipment cost can be suppressed.

  Then, as shown in FIGS. 10 and 11, the hand 130 is driven by the robot arm and moves up to convey the received workpiece 10.

  Next, the work delivery process will be described in detail.

  12 and 13 are a perspective view and a cross-sectional view for explaining the positioning of the hand in the workpiece transfer process, and FIGS. 14 and 15 are a perspective view and a cross-sectional view for explaining the lowering of the hand following the positioning of the hand. 16, FIG. 16 and FIG. 17 are a perspective view and a cross-sectional view for explaining the release of the workpiece following the lowering of the hand, and FIGS. 18 and 19 explain the raising of the hand following the release of the workpiece. It is the perspective view and sectional drawing for this.

  First, as shown in FIGS. 12 and 13, the hand 130 is driven by the robot arm and disposed above the mounting table 112 of the pallet 110 so that the hand side locating pin 140 is concentric with the pallet side locating pin 120. Positioned. The hand side locate pin 140 is inserted into the locate hole 16 of the stacked workpieces 10. The movable block 174 of the workpiece gripping mechanism 170 is close to the base 173, and the support plate 178 fixed to the lower end portion of the movable shaft 175 disposed on the movable block 174 is the back surface 14 of the lowermost workpiece 10. The workpiece 10 is supported from below.

  Thereafter, as shown in FIGS. 14 and 15, the hand 130 descends in the Y direction, and the hand side locate pin 140 contacts the pallet side locate pin 120. At this time, since the convex portion 148 of the hand side locating pin 140 and the concave portion 128 of the pallet side locating pin 120 are fitted, it is easy to position and abut so as to be concentric.

  The pallet side locating pin 120 is inserted into the locating hole 16 of the work 10 by continuing the descent of the hand 130 and contracting the hand side locating pin 140 while moving the work 10 toward the pallet 110. At this time, the hand side locating pin 140 retreats toward the inside of the collar portion 152 of the knockout mechanism 150. Therefore, the collar portion 152 relatively protrudes, and the hand side locating pin 140 is inserted into the locating hole 16. Abut. Since the urging force is applied to the collar portion 152, the workpiece 10 that is in contact with the collar portion 152 is pushed toward the pallet 110 based on the urging force.

  Therefore, even when the stacked workpieces 10 have variations and, for example, galling occurs between the workpieces 10 and the hand side locating pins 140, the workpieces 10 are reliably pushed out toward the pallet 110 by the knockout mechanism 150.

  The driving source of the collar portion 152 for pushing the workpiece 10 toward the pallet 110 is an urging force and does not require a complicated mechanism, so that an increase in equipment cost can be suppressed. Further, the urging force is generated by elastically deforming the spring 156, and the collar portion 152 is elastically urged, so that the thickness or the number of stacked layers of the workpiece 10 with which the collar portion 152 abuts changes. Even so, it is easy to apply.

  Then, as shown in FIGS. 16 and 17, the movable shaft 175 of the workpiece gripping mechanism 170 is lowered in the Y direction, and the movable block 174 is moved in the X direction to be separated from the base portion 173. Thereby, the support plate 178 fixed to the lower end portion of the movable shaft 175 is released from the support of the workpiece 10 and retracts to a position where it does not interfere with the workpiece 10. Note that the collar portion 152 of the knockout mechanism 150 continues to press the surface 12 of the workpiece 10 delivered to the pallet 110 even when the gripping of the workpiece 10 is released.

  Thereafter, as shown in FIG. 18 and FIG. 19, the hand 130 is driven by the robot arm and moves up to convey the next workpiece 10.

  As described above, according to the workpiece transfer method and the workpiece transfer apparatus according to the embodiment of the present invention, there are variations in the stacked workpieces, for example, when galling occurs between the hand side locating pins. However, since the workpiece is pushed out toward the pallet by the knockout mechanism, the possibility that the workpiece cannot be transferred between the hand and the pallet is eliminated. Moreover, since the pallet does not require a retractable locating pin, it can be made inexpensive. Therefore, it is possible to suppress the equipment cost and reliably carry out the bidirectional delivery of the workpiece between the hand and the pallet. That is, according to the embodiment of the present invention, a workpiece transfer method and a workpiece transfer apparatus that can suppress the equipment cost and can reliably perform bidirectional transfer of the workpiece between the hand and the fixing jig. Can be provided.

  The driving source of the collar portion of the knockout mechanism for pushing the workpiece toward the pallet is an urging force and does not require a complicated mechanism, so that an increase in equipment cost can be suppressed.

  Since the collar portion is elastically biased, it can be easily applied even when the thickness of the workpiece and the number of layers to which the collar portion abuts change.

  Since the collar portion constitutes a part of the workpiece gripping mechanism, it is possible to simplify the equipment and suppress an increase in equipment cost.

  The convex part of the hand side locating pin is set so as to be freely engageable with the concave part of the pallet side locating pin. Therefore, it is easy to position and contact the hand side locate pin and the pallet side locate pin so as to be concentric.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims. For example, the workpiece is not limited to a laminate of thin sheet-like secondary batteries, and a thick sheet-like single member or a laminate of panels constituting an automobile body can also be applied. Moreover, the locating hole of a workpiece | work and the locating pin of a pallet are not limited to the form arrange | positioned in four corners. Furthermore, the hole of the other use arrange | positioned at the workpiece | work can also be utilized for the locate hole of a workpiece | work.

10 works,
12 surface,
14 Back,
16 Locate hole (opening),
100 workpiece transfer device,
110 Pallet (fixing jig),
112 mounting table,
120 Locate pin on pallet side,
128 recesses,
130 hands,
132 base,
134 opening,
140 Hand side locate pin,
141, 143 diameter-expanded shaft,
142 reduced diameter shaft,
146 Spring (spring member),
148 convex part,
150 knockout mechanism,
152 collar part (annular member),
153 flange,
154 base,
155 reduced diameter part,
156 spring (spring member),
170 workpiece gripping mechanism,
172 actuator,
173 base,
174 movable block,
175 movable shaft,
178 Support plate (receiving member),
190 robot arm,
X direction,
Y direction,
W ₁ width of mounting table,
W ₂ Work width.

Claims (8)

A workpiece receiving step for receiving and transporting the workpiece placed on the fixture;
A workpiece transfer step of transferring the received and transferred workpiece to the fixing jig or another fixing jig,
In the workpiece delivery process,
Position and abut a telescoping locating pin that is placed on the workpiece transfer hand and inserted into the opening of the workpiece so as to be concentric with the locating pin that is placed on the fixing jig to which the workpiece is delivered. After that, when the workpiece is moved toward the fixing jig and the locating pin of the fixing jig is inserted into the opening of the workpiece, the locating pin of the hand is contracted, and the outer periphery of the locating pin of the hand is moved. A work conveying method , wherein an annular member of a knockout mechanism that is slidably arranged and concentric with the locate pin is brought into contact with the work, thereby pushing the work toward the fixing jig. In the workpiece delivery process ,
The annular member, the basis of the biasing force applied to the annular member, the workpiece in contact with the annular member, workpiece transfer according to claim 1, characterized in that push towards the fixture Method.   The work conveying method according to claim 2, wherein the biasing force applied to the annular member of the knockout mechanism is generated by elastically deforming a spring member. In the workpiece receiving step and the workpiece delivery step,
The workpiece is gripped by an annular member of the knockout mechanism that is slidably arranged on the outer periphery of the locating pin of the hand, and a receiving member that is opposite to the back surface of the workpiece that is in contact with the annular member. The workpiece transfer method according to claim 2, wherein the workpiece transfer method is performed. A workpiece conveying device that receives and conveys a workpiece placed on a fixing jig and delivers the workpiece to the fixing jig or another fixing jig,
A locating pin which is arranged in the fixing jig and is freely insertable into an opening arranged in the workpiece;
A hand for transferring a workpiece disposed so as to be close to and away from the fixing jig;
An expandable and retractable locating pin that is disposed in the hand, is freely inserted into the opening of the workpiece, and is positioned to be concentric with the locating pin of the fixing jig, and
Said workpiece locating pin is inserted into the opening of the hand, have a knockout mechanism, to push toward the fixing jig which the workpiece is passed,
The knockout mechanism has an annular member that is slidably disposed on the outer periphery of the locating pin of the hand and is concentric with the locating pin,
The annular member pushes the workpiece toward the fixing jig when a locating pin of the hand contacts the workpiece inserted into the opening . It said annular member is a biasing force is applied in a direction away from the hand,
The work conveying apparatus according to claim 5, wherein the biasing force is set so that the work in contact with the annular member can be pushed out toward the fixing jig.   The workpiece transfer device according to claim 6, wherein the knockout mechanism includes a spring member for generating an urging force applied to the annular member. A workpiece gripping mechanism having a receiving member capable of supporting a back surface located on the opposite side of the surface of the workpiece against which the annular member abuts;
The workpiece transfer device according to claim 6, wherein the workpiece gripping mechanism grips the workpiece by the annular member and the receiving member.

Images