JP5686257B2 - Holding head structure of component feeder - Google Patents

Description

  The present invention relates to a holding head structure for a component supply device in which a holding recess for a component is formed at the tip of a supply rod that moves forward and backward.

  In Japanese Patent No. 2824739, a holding recess for accommodating a projection nut is formed at the tip of the supply rod, and at the bottom of the holding recess, a plurality of air injection ports for sending nuts and a plurality of magnets for holding nuts are provided. It is described that when the supply rod is advanced to the electrode guide pin that is the target location, air injection is performed and the nut is locked to the guide pin.

  In Japanese Patent No. 4277929, a holding recess for holding the projection bolt is formed at the tip of the supply rod, and an air injection port for feeding the bolt is provided at the bottom of the holding recess. It is described that air is injected when inserted into a receiving hole, which is a location, and the bolt is inserted to the back of the receiving hole.

Japanese Patent No. 2824739 Japanese Patent No. 4277929

  The technique described in the above-mentioned patent document is to send bolts and nuts in the vicinity of a target location and then send out by air injection. No mention is made of technical considerations related to transmission output reduction during transmission.

  The present invention is provided to exhaust the above technical considerations, and provides a holding head structure of a component supply device that can effectively utilize the suction force at the time of component introduction and the power output at the time of component delivery. Objective.

  According to the first aspect of the present invention, there is provided a holding head in which a holding recess for a component is formed at the tip of a supply rod that moves forward and backward. And a release opening for sending the component from the holding recess to the target location is formed, and a holding wall for enclosing the component in the holding recess and a bottom surface on which the component is seated and connected to the component supply passage are provided, The holding head is provided with delivery means for delivering a part from the holding recess to the target location via the delivery opening, and a magnet that introduces the part from the introduction opening to the holding recess is provided with an attractive force of the magnet. It is arranged at a place acting between the center of gravity of the part and the bottom surface so as to generate the suction force of the part against the holding wall for receiving the part and the suction force of the part against the bottom surface on which the part is seated. A head structure holding the component supply device, characterized in that configuration was.

  A magnet that introduces a component from the introduction opening portion into the holding recess is disposed at a location where an attractive force of the magnet acts between the center of gravity of the component and the bottom surface. The suction force and the suction force of the component against the bottom surface on which the component is seated are generated.

  With the above configuration, when the component is introduced into the holding recess, the attractive force of the magnet acts between the center of gravity of the component and the bottom surface of the holding recess. Acts below the point. Thereby, the posture when the component enters while sliding on the bottom surface becomes stable along the bottom surface.

  By such stable introduction of the components, the components are received by the holding wall of the holding recess and stopped at a predetermined position of the holding recess, so that the output of the sending means acts on the correct part of the component. Accordingly, the introduction of parts can be achieved accurately, and the parts can be delivered accurately, and a holding head structure with high operational reliability can be obtained. When the feed output of the feed means acts on the correct position of the component, the posture when the component is sent out does not tilt abnormally, and is supplied correctly to the target location. Alternatively, if the part enters in a state where the part is lifted from the bottom surface during the transition period when the part is introduced into the holding recess, the part is immediately received by the holding wall and then seated on the bottom surface, and is held at the normal position of the holding recess. The

  The magnet's attractive magnetic force is the force in the direction of pulling the part into the back of the holding recess, that is, the attractive force of the part against the holding wall that receives the part, and the force that attracts the part toward the bottom, that is, the part against the bottom surface where the part is seated The suction power is generated. When the component is separated from the magnet even a little by the sending means from the state where it is stopped by receiving such force, the attraction force in the two directions is rapidly reduced. Therefore, even if a large sending power is required at the beginning of the sending movement, that is, even if there is a large sending resistance at the beginning of the sending movement, once the parts move, the sending power may be greatly reduced. Become.

  Such a sudden decrease in the attractive magnetic force is obtained because the attractive magnetic force of the magnet is inversely proportional to the square of the distance between the magnet and the component, and this inverse proportional phenomenon is transmitted from the holding recess. By applying the method, the parts are smoothly delivered and accurate parts supply is achieved. For example, when the operation of the delivery means is performed by air injection, the component tends to be inclined in the transition period at the initial stage of delivery, but since the attractive magnetic force decreases rapidly, there is an element for inclining the component. Immediately after the parts are transferred, the parts substantially disappear, and the parts posture can be prevented from being abnormally deteriorated.

  For example, when one magnet is arranged in front of the stop front end of the component in the approach direction and at a position lower than the bottom surface, the separation distance between the magnet and the component can be set longer. Therefore, even if the amount of movement at the initial stage of delivery is small, it is possible to ensure a significant decrease in attractive magnetic force. In the case where the separation distance is short and the movement amount at the initial stage of delivery is the same as the movement amount described above, the decrease in the attractive magnetic force does not decrease as described above. This is because, as described above, the attractive magnetic force is inversely proportional to the square of the distance between the magnet and the object to be attracted. Such a phenomenon prevents the abnormal deterioration of the component posture as described above.

  The present invention is an invention having the structure as described above, but as can be clearly understood from the embodiments described below, it can exist as a method invention that specifies a part delivery process and the like.

It is a side view of the whole component supply apparatus. It is (2)-(2) sectional drawing of FIG. It is the top view which looked at FIG. 2 from the top. It is a side view which shows the example of attachment of a components supply apparatus. It is a perspective view, a plan view, and a sectional view showing a holding head. It is sectional drawing which shows the holding state of components. It is sectional drawing which shows another holding head. It is sectional drawing which shows another holding head. It is a perspective view of components.

  Next, a mode for carrying out the holding head structure of the component supply apparatus of the present invention will be described.

  1 to 7 show Embodiment 1 of the present invention.

  First, components to be supplied will be described.

  FIG. 9 is a perspective view of components to be supplied. FIG. 9A shows an iron projection nut, which is denoted by reference numeral 1. The main body 2 having a predetermined thickness has a square shape, and a screw hole 3 is formed in the center thereof. The welding projections 4 are formed at the four corners on one side of the main body 2. The upper side of the main body 2 is the upper end surface 5, and the lower side is the lower end surface 6. The dimensions of each part are such that one side of the main body 2 is 12 mm, the thickness of the main body 2 is 7 mm, and the inner diameter of the screw hole 3 is 6 mm. In this embodiment, the nut 1 shown in FIG. 9A will be described as a supply target. In the following description, the projection nut may be simply expressed as a nut.

  In addition to the nut shown in FIG. 9A, an iron nut 1 as shown in FIG. 9B can be supplied. The main body 2 is circular and a circular flange 11 is formed on the lower side. Although not shown, three welding protrusions are formed on the lower surface of the flange 11 at intervals of 120 degrees. In addition to the circular nut 1, it is also possible to supply a part having a shape such as a distance piece with a hole.

  Next, the component supply device will be described.

  The entire component supply apparatus is denoted by reference numeral 100. The stationary member 7 is composed of a machine frame or a wall plate of the apparatus. As will be described later, this stationary member 7 can be replaced with an arm member of an electric resistance welder or an arm member of an X gun or C gun type welder. An elevating air cylinder 8 as elevating means is fixed to the stationary member 7, and the piston rod 9 is arranged so as to advance and retract in the vertical direction.

  A base member 10 is fixed to the lower end of the piston rod 9. The base member 10 is formed of a member such as a thick rectangular stainless steel, and is arranged in a horizontal posture. A passage member 13 for guiding the nut 1 is attached to the lower surface of the base member 10. The passage member 13 is a metal pipe member having a rectangular passage, and is made of, for example, stainless steel, and is attached to the lower surface of the base member 10 by welding or bolting. A supply hose 14 made of flexible synthetic resin is connected to the passage member 13, and the other end is connected to a parts feeder (not shown).

  A bracket 15 is fixed to the lower surface of the base member 10 in a state of being arranged next to the passage member 13. This fixing is performed by bolting or welding indicated by a one-dot chain line. The bracket 15 is formed of a thick and elongated member such as stainless steel, and a drive means mounting member 16 is formed by bending a portion protruding from the base member 10. Therefore, the bracket 15 is in a posture in which a portion protruding from the base member 10 is inclined, and the inclination angle is 45 degrees with respect to the horizontal plane. This angle is set in the range of, for example, 25 degrees to 60 degrees in consideration of alignment with the outlet opening 23 of the passage member 13 as described later.

  As described above, the drive means for moving the supply rod 18 back and forth, that is, the air cylinder 17 is attached to the drive means attachment member 16 of the bracket 15 fixed to the base member 10, and the holding head 19 for holding the nut is attached to the supply rod 18. A passage member 13 that is provided and that allows the nut 1 to reach the holding head 19 is attached to the adjacent base member 10 of the bracket 15.

  An end of an air cylinder 17 which is a driving means is coupled to the driving means mounting member 16. A piston rod 18 of the air cylinder 17 functions as a supply rod, and the supply rod is also indicated by reference numeral 18. A holding head 19 is attached to the tip of the supply rod 18.

  In the above embodiment, both the bracket 15 and the passage member 13 are coupled to the lower surface of the base member 10, but both may be coupled to the upper surface of the base member 10. Alternatively, the bracket 15 and the passage member 13 may be arranged side by side with the base member 10, and one may be fixed to the upper surface of the base member 10 and the other may be fixed to the lower surface of the base member 10.

  Next, an outline of the holding head will be described.

  When viewed from the side as shown in FIG. 1, the holding head 19 has an inverted “<” shape. When viewed in plan, the holding head 19 is formed with a square holding recess 21 that matches the square shape of the nut 1. Has been. The holding recess 19 is provided with an introduction opening portion 22 opened on one side, and the outlet opening 23 of the passage member 13 matches the introduction opening portion 22 in a state where the holding head 19 is most retracted, so that the nut 1 is held. It can enter the recess 21. The introduction opening portion 22 is expanded outward as shown in FIGS. 5B and 5C so that the nut 1 can be easily inserted.

  Thus, in order to match the introduction opening 22 and the outlet opening 23, the inclination angle of the driving means mounting member 16 and the protruding length from the base member 10 are selected. At the same time, as shown in FIG. 3, the length by which the passage member 13 protrudes from the base member 10 and the curved shape of the curved portion 24 formed on the distal end side thereof are selected. As described above, the inclination angle and size of the drive means mounting member 16 and the protruding length from the base member 10 are selected so that the outlet opening 23 of the passage member 13 and the introduction / opening portion 22 of the holding recess 21 are accurately matched. It is. By selecting the inclination angle of the drive means mounting member 16 and the projection length from the base member 10, the movement trajectory of the holding head 19 is set appropriately, and the outlet opening 23 and the introduction opening 22 are accurately matched.

  For ease of understanding, in FIG. 3, the base member 10, the elevating air cylinder 8, the air cylinder 17, and the like are indicated by two-dot chain lines.

  There are various places where the nut 1 is supplied. Here, it is a guide pin of an electrode for electric resistance welding. A guide pin 26 is incorporated in the central portion of the movable electrode 25 that is advanced and retracted by driving means such as an air cylinder, and the nut 1 is supplied thereto. A fixed electrode 27 is disposed coaxially with the movable electrode 26, and a steel plate component 28 is placed thereon.

  Next, the operation of the component supply device will be described.

  FIG. 1 shows a state where the piston rod 18 of the air cylinder 17 is most retracted and the piston rod 9 of the elevating air cylinder 8 is most advanced. In this state, as described above, the outlet opening 23 of the passage member 13 and the introduction / opening portion 22 of the holding recess 21 match, and the nut 1 that has passed through the passage member 13 enters the holding recess 21.

  Here, the holding head 19 advances by the operation of the air cylinder 17 and the advancement of the holding head stops at a position where the screw hole 3 is coaxial with the guide pin 26. Next, the lifting / lowering air cylinder 8 is contracted, whereby the nut 1 is held by the guide pin 26. This holding will be described later. Thereafter, the elevating air cylinder 8 and the air cylinder 17 perform reverse operations and return to their original positions.

  In this way, the nut 1 is held by the guide pin 26 of the movable electrode 25, the movable electrode 25 is lowered, the welding protrusion 4 of the nut 1 is pressurized to the steel plate part 28, and then the welding current is energized to complete the welding. To do.

  Next, another installation example of the component supply device will be described.

  In the case of FIGS. 1 to 3, the component supply device 100 is attached to the stationary member 7, but in FIG. 4, the component supply device 100 is attached to another member.

  FIG. 4A shows an X gun type welding apparatus 31 that is moved by the robot apparatus 30.

  As shown in FIG. 4A, in the X-type welding machine 32, the lower arm member 33 and the upper arm member 34 are coupled by a shaft 35 so that the upper arm member 34 swings with respect to the lower arm member 33. It has become.

  Protruding pieces 36 and 37 are provided at the rear ends of both arm members 33 and 34, and an air cylinder 38 is attached therebetween. When the air cylinder 38 outputs, the upper arm member 34 swings about the shaft 35. The aforementioned movable electrode 25 and fixed electrode 27 are attached to the distal end portion of the upper arm member 34 and the distal end portion of the lower arm member 33, respectively.

  The robot apparatus 30 is of a general type such as a 6-axis type, and is coupled to the lower arm member 33. By the operation of the robot apparatus 30, the X-type welder 32 moves in the direction of up / down, left / right, rotation, and the like according to the shape of the steel plate part. The above-described component supply apparatus 100 is attached to the upper arm member 34 by fixing the elevating air cylinder 8 to the lateral side surface of the upper arm member 34 or to the lower side surface of the upper arm member 34. Although not shown, even in the case of a C-type welder, the arrangement of the component supply device 100 is the same as that of the X-type.

  On the other hand, the example shown in FIG. 4B is a case of the stationary welding machine 40, where a lower arm member 33 and an upper arm member 34 are provided. The same as in the case of a welder.

  Next, details of the holding head will be described.

  As shown in FIG. 5, the holding head 19 is configured by combining an upper member 41 and a lower member 42 due to circumstances of processing and assembly of each part. The upper member 41 and the lower member 42 are manufactured by machining a block-shaped stainless steel member, and the holding recess 21 is formed in the upper member 41. The holding recess 21 is an accommodation space having three surfaces surrounded by holding walls 43, 44, 45 and a bottom surface 46 on which the nut 1 is seated, and is held by the introduction opening portion 22 into which the nut 1 enters. The shape is open to the side of the recess 21. The bottom surface 46 is disposed in the horizontal direction. The bottom surface 46 is continuous with the passage member 13 which is a component supply passage. Further, the holding wall 44 on the back side of the introduction opening portion 22 is a stopper surface of the nut 1 that has entered.

  Further, a delivery opening 47 for delivering the nut 1 to the target location is formed in the upper part of the holding recess 21. Accordingly, the nut 1 enters from the lateral side of the holding recess 21 through the introduction opening 22 and is sent out to the target location through the delivery opening 47 opened upward.

  Four air injection ports 48 are opened on the bottom surface 46, and the jet flow from each air injection port 48 is sprayed to four locations on the upper end surface 5 or the lower end surface 6 of the nut 1. There are a plurality of spray locations, and the position of the air injection port 48 is selected so that the nut 1 does not tilt. That is, the dynamic pressure of the blast air acts uniformly on the upper end surface 5 or the lower end surface 6 of the nut 1. Here, air injection is performed aiming at locations near the four corners of the upper end surface 5 or the lower end surface 6.

  In order to uniformly inject air from the four air injection ports 48, an air passage is formed in the lower member 42. As shown in FIGS. 5D and 5E, an air passage opened in the lower member 42 opens into the distribution chamber 50, and a distribution passage 51 extending from the distribution chamber 50 in four directions is formed. The distribution chamber 50 is circular and is formed at a location that coincides with the center of the bottom surface 46 of the holding recess 21. The distal end of the distribution passage 51 is formed at a position that matches the air injection port 48.

  Since the positional relationship between the air injection port 48 and the distal end portion of the distribution passage 51 is set as described above, the upper member 41 and the lower member 42 are overlapped as shown in FIG. When integrated by bolting or the like, the jet air is jetted from the air jet port 48 through the distribution chamber 50 from the air passage 49. An air hose 52 is connected to the air passage 49.

  As shown in FIG. 3, the air hose 52 is expanded and contracted in accordance with the advance and retreat of the holding head 19, and is formed into a telescopic coil shape. The air hose 52 is fastened to the air cylinder 17 with a fastener 53, and the other end is an air switch. Connected to a valve (not shown).

  As the delivery means for delivering the nut 1 from the holding recess 21, the air injection method has been described as described above. However, instead of this, it is possible to use an extrusion member as described below.

  Next, the introduction magnet will be described.

  A magnet 55 for introducing the nut 1 into the holding recess 21 from the introduction opening 22 is disposed at a location S where the attractive force of the magnet 55 acts between the center of gravity G of the nut 1 and the bottom surface 46, It is configured to generate a suction force of the nut 1 against the holding wall 44 that receives the nut 1 and a suction force of the nut 1 against the bottom surface 46 on which the nut 1 is seated.

  One magnet 55 is disposed in front of the stop front end of the nut 1 in the approach direction and at a position lower than the bottom surface 46. That is, as is apparent from FIGS. 5 and 6A, the magnet 55 is disposed in front of the holding wall 44 of the holding recess 21 and below the bottom surface 47. By selecting the arrangement position of the magnet, the action point S of the attractive magnetic force F is set below the center of gravity G of the nut 1. The lower side of the center of gravity point G means an area between the center of gravity G and the bottom surface 46. As apparent from FIG. 5, when viewed in plan, one magnet 55 is disposed on the nut introduction center line of the passage member 13 and the holding recess 21.

  The attractive magnetic force F is decomposed into forces F1 and F2. The force F1 acts as a force in a direction in which the nut 1 is pulled into the depth of the holding recess 21, that is, a suction force of the nut 1 against the holding wall 44 that receives the nut 1. The force F2 acts as a force for attracting the nut 1 toward the bottom surface 46, that is, a suction force of the nut 1 against the bottom surface 46 on which the nut 1 is seated.

  Next, the electrode guide pins will be described.

  The direction of the guide pin 26 of the electrode to which the nut 1 is supplied is all directions such as up and down, left and right, and diagonal directions by the robot device 30 of FIG. May face. In preparation for such a case, a holding means for holding the nut 1 on the guide pin 26 is employed. As this holding means, various types such as those using magnets and those using air suction can be adopted. Although not shown here, a permanent magnet is embedded in the guide pin 26 shown in FIGS. 6 (B) and 6 (C).

  In the electrode shown in FIG. 6D, the guide pin 26 is provided with an advance / retreat function. The figure is shown sideways for the convenience of the page, but in reality, the right side of the figure is the upper side. The movable electrode 25 has a hollow shape, and a receiving tube 56 is inserted therein so as to be slidable. A guide pin 26 is slidably inserted into the receiving tube 56. The guide pin 26 is configured by a sliding portion 57 having a large diameter and housed in the housing tube 56, and an engaging portion 58 having a small diameter and protruding from the electrode end surface, and a permanent magnet 60 is embedded therein. In order to exert a large attractive magnetic force on the nut 1, it is desirable that the entire guide pin 26 is made of stainless steel, which is a nonmagnetic material.

  A compression coil spring 61 is inserted between the sliding portion 57 and the accommodating tube 56, and the tension of the step formed at the boundary between the sliding portion 57 and the engaging portion 58 strikes the inner end surface of the accommodating tube 56. It is accepted by joining. An air cylinder 62 is fixed to the end of the movable electrode 25, and its piston rod 63 is coupled to the receiving tube 56. An operating arm 64 is coupled to the movable electrode 25, and the movable electrode 25 is advanced and retracted by an advance / retreat driving means (not shown).

  Next, the injection operation from the air injection port will be described.

  As described above, the holding head 19 holding the nut 1 with the magnet 55 advances into the holding recess 21, and the advancement of the holding head 19 stops at the position where the screw hole 3 is coaxial with the guide pin 26. Then, when the piston rod 9 is pulled up by the operation of the elevating air cylinder 8, the base member 10 is also lifted and the guide pin 26 enters relatively into the screw hole 3 of the nut 1 in the holding head 19. As shown in FIG. 6 (B), when the entry length becomes a slight length, the reduction operation of the elevating air cylinder 8 is stopped. After this stop, air is injected from the air injection port 48. By this injection, it operates so as to extrude the four places on the lower end surface 6 with an air flow.

  By this injection, the nut 1 attracted to the holding wall 44 and the bottom surface 46 by the magnet 55 makes a slight initial movement while the front end (welding protrusion 4) of the nut 1 rubs the holding wall 44. At the same time, the lower end surface 6 of the nut 1 is also slightly separated from the bottom surface 46. Even in such a slight displacement, the attractive magnetic force is inversely proportional to the square of the separation distance between the magnet and the object to be attracted, so that the attractive magnetic force rapidly decreases at the initial stage of movement. At the initial stage of the movement, the welding protrusion 4 slides on the holding wall 44 on the left side of the nut 1 shown in FIG. 6A, while the right side has nothing to resist. Accordingly, in the initial stage of movement, the nut 1 is slightly inclined such that the left side is lowered. However, since the attractive magnetic force is suddenly reduced immediately after the start of the movement, such inclination is immediately disappeared by continuing the air injection, and the guide pin 26 enters relatively with no inclination.

  Alternatively, when the distance between the upper end surface 5 of the nut 1 and the tip of the guide pin 26 becomes a slight length L as shown in FIG. The reduction operation is stopped, and then air is injected from the air injection port 48. Also in this case, even if the initial inclination occurs as described above, the inclination disappears.

  Next, the operation of the electrode shown in FIG.

  In this example, when the holding head 19 advances and the screw hole 3 becomes coaxial with the guide pin 26, the holding head 19 stops. The guide pin 26 protrudes into the stopped position by the advancing operation of the air cylinder 62 and slightly enters the screw hole 3, where the advancing operation of the air cylinder 62 stops. Thereafter, when the air injection is performed and the guide pin 26 completely enters the screw hole 3, the air injection stops, and this time, the nut 1 is held by the guide pin 26 by the attractive force of the permanent magnet 60. Thus, the elevating air cylinder 8 can be removed by providing the guide pin 26 with an advance function.

  FIG. 7 shows a case where the structure of the holding head is changed.

  FIG. 6A shows a single holding head member 66 provided with a holding recess 21, a magnet 55, an air injection port 48, etc., and air is injected from the air injection port 48 through a joint member 67. The other configuration is the same as that of the previous example including a portion not shown, and the same reference numerals are described for members having similar functions.

  FIG. 5B shows the air passage 49 extending from the supply rod 18. The rest of the configuration is the same as the previous examples, including the parts not shown, and the same reference numerals are used for members having similar functions.

  As described above, the electrode shown in FIG. 6D has a specific structure and has a specific function and effect, and can therefore exist as another independent invention.

  In the first embodiment, the direction of the nut in which the welding projection 4 of the nut 1 is in contact with the bottom surface 46 is reversed, but even if the nut is introduced so that the upper end surface 5 is in close contact with the bottom surface 46 by reversing this. Good.

  It should be noted that an electric motor that performs forward / backward output can be employed instead of the various air cylinders. It is also possible to replace the various permanent magnets with electromagnets.

  The above-described advance / retreat operation of the supply rod and the air injection operation can be easily performed by a generally adopted control method. A predetermined operation can be ensured by combining an air switching valve that operates with a signal from the control device or the sequence circuit, a sensor that emits a signal at a predetermined position of the air cylinder, and transmits the signal to the control device.

  The operational effects of the first embodiment described above are as follows.

  A magnet 55 for introducing the nut 1 into the holding recess 21 from the introduction opening 22 is disposed at a location S where the attractive force of the magnet 55 acts between the center of gravity G of the nut 1 and the bottom surface 46, It is configured to generate a suction force of the nut 1 against the holding wall 44 that receives the nut 1 and a suction force of the nut 1 against the bottom surface 46 on which the nut 1 is seated.

  With the above configuration, when the nut 1 is introduced into the holding recess 21, the attractive force of the magnet 55 acts between the center of gravity G of the nut 1 and the bottom surface 46 of the holding recess 21. It acts on the bottom surface 46 side, that is, the position S lower than the center of gravity G of the nut 1. As a result, the posture when the nut 1 enters while sliding on the bottom surface 46 becomes stable along the bottom surface 46.

  By such a stable nut introduction, the nut 1 is received by the holding wall 44 of the holding recess 21 and stops at a predetermined position of the holding recess 21. Act on. Therefore, the nut introduction is accurately achieved, and the nut delivery is also accurately performed, so that a holding head structure with high operation reliability can be obtained. When the dynamic pressure of the air injection acts on the correct position of the component, the posture when the nut 1 is delivered does not tilt abnormally and is supplied correctly to the target location. Alternatively, when the nut 1 enters in a state of floating from the bottom surface 46 during the transition period when the nut 1 is introduced into the holding recess 21, the nut 1 is seated on the bottom surface 46 immediately after being received by the holding wall 44, and the holding recess 21 in a normal position.

  The attractive magnetic force of the magnet 55 is the force in the direction in which the nut 1 is pulled into the holding recess 21, that is, the attractive force of the nut 1 against the holding wall 44 that receives the nut 1, and the force that attracts the nut 1 toward the bottom surface 46. A suction force of the nut 1 against the bottom surface 46 on which the nut 1 is seated is generated. When the nut 1 is slightly separated from the magnet 55 by air injection from a state where it is stopped by receiving such force, the attraction force in the two directions is rapidly reduced. Therefore, even if a large sending power is required at the beginning of the sending movement, that is, even if there is a large sending resistance at the beginning of the sending movement, once the nut 1 moves, the sending power may be greatly reduced. It becomes.

  Such a sudden decrease in the attractive magnetic force is obtained because the attractive magnetic force of the magnet 55 is inversely proportional to the square of the distance between the magnet 55 and the nut 1, and such an inversely proportional phenomenon is observed from the holding recess 21. By applying the nut 1 when it is delivered, the nut 1 is smoothly delivered and accurate parts supply is achieved. For example, when the operation of the delivery means is performed by air injection, the nut 1 is likely to be inclined in the transition period at the initial stage of delivery, but the attractive magnetic force is rapidly reduced, so that the nut 1 is inclined. The element substantially disappears immediately after the nut transfer, and the nut posture can be prevented from being abnormally deteriorated.

  For example, when one magnet 55 is disposed in front of the front end of the nut 1 in the approach direction and at a position lower than the bottom surface 46, the magnet 55 and the nut 1 are separated from each other. Since the distance can be set longer, even if the amount of movement at the initial stage of delivery is small, it is possible to ensure a significant decrease in attractive magnetic force. In the case where the separation distance is short and the movement amount at the initial stage of delivery is the same as the movement amount described above, the decrease in the attractive magnetic force does not decrease as described above. This is because the attractive magnetic force is inversely proportional to the square of the distance between the magnet 55 and the attracted object 1 as described above. Such a phenomenon prevents the abnormal deterioration of the nut posture as described above.

  FIG. 8 shows a second embodiment of the present invention.

  In this second embodiment, the delivery means by air injection is replaced with an extrusion member. A guide hole 68 is provided in the bottom surface 46 of the holding recess 21, and the pushing member 69 is inserted in a state where the pushing member 69 can advance and retreat. The guide hole 68 is a circular hole, and its inner diameter is set slightly larger than the inner diameter of the screw hole 3. The pushing drive means 70 is attached to the lower side of the holding head member 66 by pushing out the pushing member 69. The driving means 70 may be any one that can advance and retreat, and an air cylinder, an electromagnetic solenoid, or the like is employed. It is preferable that the push-out member 69 advances at a high speed, and an impulsive extrusion is imparted to the nut 1 and the transition to the guide pin 26 is performed. Other configurations are the same as those of the first embodiment including the portions not shown, and members having the same functions are denoted by the same reference numerals.

  The operational effects of the present embodiment are the same as those of the first embodiment.

  As described above, according to the apparatus of the present invention, it is possible to effectively utilize the suction force at the time of component introduction and the feed output at the time of component delivery. Therefore, it can be used in a wide range of industrial fields such as automobile body welding processes and home appliance sheet metal welding processes.

DESCRIPTION OF SYMBOLS 1 Projection nut 2 Main-body part 3 Screw hole 4 Welding protrusion 8 Lifting air cylinder 10 Base member 13 Passage member 15 Bracket 16 Drive means attachment member 18 Supply rod, piston rod 19 Holding head 21 Holding recessed part 22 Introducing opening part 23 Outlet opening 24 Curved portion 25 Movable electrode 26 Guide pin 30 Robot device 31 Welding device 32 X-type welder 40 Stationary type welder 44 Holding wall 46 Bottom surface 47 Delivery opening 48 Air injection port 49 Air passage 55 Magnet G Center of gravity point S Attraction force acts Location 66 Holding head member 69 Extruding member

Claims (1)

A holding head in which a holding concave portion of a part is formed at the tip of a supply rod that performs advancing and retreating operation is provided,
The holding recess is formed with an introductory opening portion for allowing the component to enter the holding recess from the component supply passage, and a delivery opening portion for sending the component from the holding recess to a target location. The holding recess surrounds the component. A bottom surface is provided in which the wall and the component are seated and connected to the component supply passage,
The holding head is provided with delivery means for delivering the component from the holding recess to the target location via the delivery opening,
A magnet that introduces a component from the introduction opening portion into the holding recess is disposed at a location where an attractive force of the magnet acts between the center of gravity of the component and the bottom surface. A holding head structure of a component supply apparatus, wherein the holding force structure is configured to generate a suction force and a suction force of the component against the bottom surface on which the component is seated.

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