JP7002173B2 - Transfer device - Google Patents

Description

The present invention relates to a transfer device.

For example, in an automobile assembly line, a door is removed from a car body that has undergone a painting process, various parts are assembled to the door, and then the door is reattached to the car body. At this time, the transport device for transporting the door may differ between the mounting process for mounting parts on the door, the loading process for transporting the door to the mounting process, and the loading process for transporting the door carried out from the mounting process. .. In this case, it is necessary to transfer the work (door) conveyed by the transfer device in the previous process to the transfer device in the next process.

For example, in Patent Document 1 below, it is shown that a door removed from a vehicle body is transferred to a hanger conveyor by a robot arm.

Japanese Unexamined Patent Publication No. 2007-145561

However, if there are variations in the positions of the workpieces conveyed by the transfer device in the previous process, the holding state of the workpieces (relative positions between the hand portions and the workpieces) by the hand portion of the robot arm will vary. There is a risk that the work cannot be transferred smoothly.

Therefore, an object of the present invention is to smoothly transfer a work by a robot arm.

In order to solve the above problems, the present invention is a transfer device provided with a robot arm having a hand portion at the tip, and the conveyed object is lowered while the hand portion allows movement in all directions in the horizontal direction. The support portion supported by the support portion and the positioning means for positioning the conveyed object supported by the support portion in the first horizontal direction and the second horizontal direction orthogonal to the hand portion are provided. Provide a transfer device.

As described above, the support portion provided on the hand portion of the robot arm supports the conveyed object from below (so-called floating support) in a state where movement in all directions in the horizontal direction is allowed, and in this state, the conveyed object is conveyed by the positioning means. By positioning the objects in two orthogonal horizontal directions, it is possible to correct the variation in the positions of the conveyed objects in the previous process. As a result, the hand portion of the robot arm can always hold the conveyed object in the same state (relative position), and the conveyed object can be smoothly transferred to the next process.

The positioning means is provided, for example, at a holding portion for holding the conveyed object from both sides in the first horizontal direction and a contact portion between the sandwiched portion and the conveyed object, and the conveyed object is provided in the second horizontal direction with respect to the hand portion. It can be configured to have a guide mechanism for guiding with. According to this configuration, by sandwiching the conveyed object floatingly supported by the support portion of the hand portion by the sandwiching portion, the conveyed object is positioned in the sandwiching direction (first horizontal direction) with respect to the hand portion at the same time. , The guided object is positioned in the horizontal direction (second horizontal direction) orthogonal to the holding direction with respect to the hand portion by the guide mechanism provided at the contact portion between the sandwiched portion and the conveyed object.

For example, when the transported object is provided with a work to be transferred to the transport device in the next process and a jig for supporting the work from below, it is necessary to hold the work and the jig by the hand portion. In this case, if the hand portion is provided with a locking member that presses the work from above, the work and the work can be pressed by pressing the work from above with the locking member while the jig is supported from below by the support portion of the hand portion. The transported items including the jig can be collectively held by the hand unit.

As described above, according to the transfer device of the present invention, since the transported object can be held in a state of being accurately positioned by the hand portion of the robot arm, the transferred object can be smoothly transferred.

It is a top view of the assembly equipment of a car door. It is a plan view of a dolly. FIG. 2 is a cross-sectional view taken along the line XX of FIG. It is a side view of the assembly equipment of FIG. (A) is a side view of the hanger, and (B) is a front view of the hanger. (A) is a side view of the jig, (B) is the same front view, and (C) is the same plan view. (A) is a plan view of the hand portion of the transfer robot, and (B) is the same side view. (A) and (B) are plan views of a guide mechanism for positioning a conveyed object (jig) with respect to the hand portion in the conveyed direction. It is a front view which shows how the hand part of a transfer robot and the jig held by this access a work (hanger and a door) from below. It is a front view which shows the state of holding a work through a jig in the hand part of a transfer robot.

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

FIG. 1 shows an automobile door assembly facility. This assembly equipment includes a door fitting line L1 for assembling various parts to the door, a carry-in line L2 for carrying the door before various parts are attached to the door fitting line L1, and a door fitting line L1 for carrying the door to which various parts are attached. It is provided with a carry-out line L3 to be carried out from. In the following description, the transport direction of each line is referred to as "transport direction", and the horizontal direction orthogonal to the transport direction is referred to as "width direction".

The door fitting line L1 has a transport device for transporting the door, and an operator assembles various parts to the door transported by the transport device. In the present embodiment, a plurality of carts 200 are provided as the transport device. The dolly 200 is, for example, an automatic guided vehicle (AGV), and travels in a loop along a magnetic tape 210 attached to a floor surface. Specifically, as shown in FIG. 2, the bogie 200 includes a main body 201 (only the outer frame is shown), wheels provided on the bottom surface of the main body 201 (driving wheels 202, steering wheels 203a, and driven wheels 203b). It has a reader 204. By driving the drive wheels 202 and the steering wheels 203a while reading the magnetic tape 210 with the reader 204, the carriage 200 travels along the magnetic tape 210. The transport device for the door fitting line L1 is not limited to the carriage 200 (AGV), but may be a floor conveyor or the like.

The door fitting line L1 is provided with a carriage positioning means for positioning the carriage 200 at a predetermined position. In the present embodiment, of the door fitting line L1, the carry-in area L1a in which the door before various parts are attached is carried in, and the carry-out area L1b (see FIG. 1) in which the door to which various parts are attached are carried out. A dolly positioning means is provided. In the present embodiment, a first carriage positioning means for positioning the carriage 200 in the width direction and a second carriage positioning means for positioning the carriage 200 in the transport direction are provided.

The first trolley positioning means is composed of a locked portion provided on the trolley 200 and a locking portion provided on the floor surface side (stationary side), and the width of the locking portion and the locked portion is wide. By engaging in the direction, the dolly 200 is positioned in the width direction. As shown in FIG. 2, the first bogie positioning means of the present embodiment includes a rail 220 as a locking portion provided on the floor surface and a locked portion 205 provided on the main body 201 of the bogie 200. It is composed. As shown in FIG. 3, the locked portion 205 has a pair of wheels 205a that can be fitted to the rail 220. By fitting the pair of wheels 205a of the locked portion 205 of the trolley 200 with the rail 220, the movement of the locked portion 205 to both sides in the width direction is restricted, whereby the trolley 200 is positioned in the width direction. .. The first carriage positioning means is not limited to the above, and for example, the first carriage positioning means may be configured by a pair of guide rails that abut on the main body 201 of the carriage 200 from both sides in the width direction.

The second trolley positioning means is composed of a locked portion provided on the trolley 200 and a locking portion provided on the floor surface side (stationary side), and the locking portion and the locked portion are conveyed. By engaging in the direction, the dolly 200 is positioned in the transport direction. As shown in FIG. 2, the second carriage positioning means of the present embodiment has a locked portion 206 provided on the main body 201 of the carriage 200 and an abutting portion 230 provided on the floor surface side (stationary side). Consists of. The contact portion 230 has a first contact member 231 capable of contacting the locked portion 206 from the downstream side in the transport direction (right side in FIG. 2) and an upstream side in the transport direction to the locked portion 206 (in FIG. 2). A second contact member 232 that can be contacted from the left side) is provided. Both abutting members 231 and 232 have a position where they can abut on the locked portion 206 (see the solid line in FIG. 2) and a position retracted from the movement path of the locked portion 206 (see the dotted line in FIG. 2). It is possible to move between.

A hanger conveyor is provided on the carry-in line L2 and the carry-out line L3, and in the present embodiment, a hanger conveyor 100 common to the carry-in line L2 and the carry-out line L3 is provided (see FIG. 1). That is, from the hanger conveyor 100, the door before parts assembly is transferred to the door fitting line L1, various parts are assembled to the door at the door fitting line L1, and then the door after parts assembly is hung from the door fitting line L1. Transfer to the conveyor 100. Separate hanger conveyors may be provided on the carry-in line L2 and the carry-out line L3.

As shown in FIG. 4, the hanger conveyor 100 includes a rail 101 and a hanger carrier 102 as a transport device traveling along the rail. The hanger carrier 102 is provided with a hook 102a, and by hooking the upper portion of the hanger W1 on the hook 102a, the hanger W1 and the door W2 mounted on the hanger W1 (hereinafter, these are collectively referred to as a work W) are suspended and held. The door.

As shown in FIGS. 5A and 5B, the hanger W1 includes an upper frame W11 locked to the hook 102a of the hanger carrier 102, a pair of lower frames W12 provided apart from each other in the width direction, and an upper portion. It includes a pair of connecting frames W13 that connect the frame W11 and the lower frame W12, and an intermediate frame W14 that horizontally connects the vertical intermediate portions of the pair of connecting frames W13. A support portion W15 that supports the lower portion of the door W2 is attached to the lower frame W12. In the present embodiment, as shown in FIG. 5B, support portions W15 are provided on both sides of the lower frame W12 in the width direction, and the lower portion of the door W2 is placed on each support portion W15. The support portion W15 is provided with a V groove on the upper surface thereof, whereby the lower portion of the door W2 is positioned in the width direction. The vertical intermediate portion of the door W2 is held by the hanger W1 by a holding means (not shown).

The door assembly equipment is provided with a transfer device for transferring the work W between the hanger conveyor 100 and the door fitting line L1. In the present embodiment, as shown in FIG. 1, a carry-in robot 11 is provided as a transfer device for transferring the work W from the hanger conveyor 100 (carry-in line L2) to the door mounting line L1, and the hanger conveyor is provided from the door dressing line L1. The unloading robot 12 is provided as a transfer device for transferring the work W to (the unloading line L3). A temporary placement table 30 for mounting the jig 40 used when transferring the work W is provided between the carry-in robot 11 and the carry-out robot 12.

As shown in FIGS. 6A to 6C, the jig 40 includes a rectangular base 41, a support column 42 extending upward from the base 41, and a holding portion 43 provided on the upper part of the support column. The columns 42 are provided at two locations separated in the transport direction. The holding portion 43 has a recess 43a provided in the center in the width direction, a pair of inner guide surfaces 43b that are continuous with the upper end of the recess 43a and are inclined outward in the width direction as they go upward, and a pair of inner guide surfaces 43b on the outside in the width direction of the holding portion 43. It is provided with a pair of outer guide surfaces 43c provided on the side surface and inclined inward in the width direction toward the upper side. A through hole 44 penetrating in the vertical direction is provided in the central portion of the base 41. A support portion 45 that supports the hanger W1 from below is provided on the upper surface of the base 41.

In the present embodiment, the carry-in robot 11 and the carry-out robot 12 have the same configuration, and both include a robot arm 20 having an articulated arm 21 and a hand portion 22 provided at the tip thereof (see FIG. 4). As shown in FIG. 7, the hand portion 22 includes a support portion 22a that supports the conveyed object (work W and the jig 40) from below, a positioning means for positioning the conveyed object on the hand portion 22 in a horizontal plane, and a conveying object. It has a fixing means for fixing an object to the hand portion 22.

The support portion 22a supports the conveyed object from below (so-called floating support) while allowing movement in all directions in the horizontal direction. In the present embodiment, the support portions 22a are provided at three or more locations (three locations in the illustrated example) that are not on a straight line. As the support portion 22a, for example, a ball bearing having a freely rotatable ball is used. By placing the conveyed object on the balls of a plurality of ball bearings, the conveyed object is float-supported. The support portion 22a may be one that slides and supports the conveyed object. However, a ball bearing or the like that rolls and supports the transported object is preferable because the resistance to horizontal movement of the transported object is small.

As the positioning means, the hand portion 22 of the present embodiment includes a holding portion that holds the conveyed object from both sides in the width direction with respect to the hand portion 22, and a guide mechanism that guides the conveyed object with respect to the hand portion 22 in the conveying direction. Have.

The sandwiching portion has a fixed contact portion 22b that abuts on the base 41 of the jig 40 from one side in the width direction, and a movable contact portion 22c that abuts on the base 41 of the jig 40 from the other side in the width direction. The movable contact portion 22c is driven in the width direction by the cylinder 22d as a driving portion.

The guide mechanism is provided at the contact portion between the holding portion and the conveyed object. In the present embodiment, the guide mechanism is configured by the guide portion 22b1 provided on the fixed contact portion 22b of the hand portion 22 and the guided portion 46 provided on the base 41 of the jig 40 (see FIG. 8). ). The guide portion 22b1 has a guide surface 22b10 inclined with respect to the width direction and the transport direction in the plan view shown in FIG. In the illustrated example, a pair of guide surfaces 22b10 arranged in a V shape in a plan view are provided on the inner side surface of the guide portion 22b1 in the width direction. The guided portion 46 is provided at a position facing the guide portion 22b1 in the width direction. In the illustrated example, a pair of guided surfaces 46a arranged in a mountain shape having the same shape as the guide surface 22b10 of the guide portion 22b1 is provided on the outer side surface of the guided portion 46 in the width direction.

As the fixing means, for example, a locking member 22e and a cylinder 22f as a driving unit for driving are provided. The cylinder 22f rotates the locking member 22e by 90 ° and drives it in the vertical direction (direction orthogonal to the base 41).

Hereinafter, a method of transporting the work W in the above door assembly equipment will be described.

First, the jig 40 mounted on the temporary stand 30 is mounted on the hand portion 22 of the carry-in robot 11. As shown in FIG. 4, since the recess 31 is formed in the intermediate portion of the temporary stand 30 in the transport direction, the space G1 is provided below the base 41 of the jig 40 mounted on the temporary stand 30. The hand portion 22 of the carry-in robot 11 is arranged in this space G1, and the hand portion 22 is raised to lift the jig 40. At this time, the jig 40 is lifted with the hand portion 22 horizontal, specifically, with the upper ends of all the support portions 22a provided on the hand portion 22 arranged in the same horizontal plane. As a result, as shown in FIGS. 7A and 7B, the base 41 of the jig 40 is floatly supported from below in the horizontal state by the support portion 22a of the hand portion 22. At this time, the locking member 22e of the hand portion 22 is inserted into the through hole 44 of the base 41 of the jig 40 and protrudes upward from the base 41.

In this state, the base 41 of the jig 40 is sandwiched from both sides in the width direction by the sandwiching portions (fixed contact portion 22b and movable contact portion 22c) of the hand portion 22. Specifically, by pulling the movable contact portion 22c of the hand portion 22 inward in the width direction by the cylinder 22d, the base 41 of the jig 40 is pulled from both sides in the width direction by the movable contact portion 22c and the fixed contact portion 22b. It is sandwiched and the jig 40 is positioned in the width direction (first horizontal direction) with respect to the hand portion 22. At this time, as shown by an arrow in FIG. 8A, the guided portion 46 provided on the base 41 of the jig 40 is the guide surface of the guide portion 22b1 provided on the fixed contact portion 22b of the hand portion 22. It is pressed against 22b10 and guided in the transport direction (left-right direction in FIG. 8) while sliding with the guide surface 22b10. Then, as shown in FIG. 8B, the mountain-shaped guided surface 46a and the V-ordered guide surface 22b10 are fitted so that the jig 40 moves with respect to the hand portion 22 in the transport direction (second). (Horizontal direction of). As described above, the jig 40 is mounted on the hand portion 22 in a state of being positioned in two horizontal directions (width direction and transport direction) orthogonal to the hand portion 22. As described above, in the present embodiment, by providing the guide mechanism (guide portion 22b1 and guided portion 46) at the contact portion between the sandwiching portion (fixed contact portion 22b) and the conveyed object (jig 40), the sandwiching portion is held. The conveyed object can be positioned in the width direction and the conveyed direction on the hand portion 22 only by the operation of sandwiching the conveyed object between the portions.

Next, the hand portion 22 of the carry-in robot 11 equipped with the jig 40 is moved to the work W conveyed by the hanger conveyor 100, and the work W is transferred from the hanger carrier 102 to the hand portion 22 (FIGS. 1 and FIG. See arrow A1 in 4). Specifically, as shown in FIG. 9, the hand portion 22 and the jig 40 mounted on the hand portion 22 are raised from below the work W conveyed by the hanger conveyor 100. At this time, the outer guide surface 43c provided on the holding portion 43 of the jig 40 comes into contact with the pair of lower frames W12 of the hanger W1 from the inside, so that the hanger W1 is positioned in the width direction with respect to the jig 40. To.

After that, by further raising the jig 40, as shown in FIG. 10, the intermediate frame W14 of the hanger W1 is fitted into the recess 43a of the holding portion 43 of the jig 40, and the support portion 45 of the jig 40 is fitted. However, the lower frame W12 of the hanger W1 is supported from below. In this way, not only the lower part of the work W (lower frame W12) is held, but also the vertical intermediate portion (intermediate frame W14) of the work W is held in the width direction by the jig 40 to stabilize the work W. Can be held in a state. In this state, the locking member 22e is rotated by 90 ° by the cylinder 22f, and {see the dotted line in FIGS. 7A and 7B}, and the locking member 22e is pulled downward to lower the lower frame W12 of the hanger W1. Hold it from above. As a result, the base 41 and the support portion 45 of the jig 40 and the lower frame W12 of the hanger W1 are sandwiched from above and below by the support portion 22a and the locking member 22e of the hand portion 22, and the work W and the jig 40 (conveyance) are held. The object) is fixed to the hand portion 22.

Next, the jig 40 and the work W held by the hand portion 22 of the carry-in robot 11 are transferred to the trolley 200 arranged in the carry-in area L1a of the door fitting line L1 (see arrows A2 in FIGS. 1 and 4). .. The carriage 200 is stopped in a state of being positioned at a predetermined position in the carry-in area L1a by the carriage positioning means. Specifically, when the empty trolley 200 enters the carry-in area L1a, as shown in FIG. 2, the pair of wheels 205a of the locked portion 205 of the trolley 200 fits with the rail 220. As a result, the movement of the locked portion 205 to both sides in the width direction is restricted, and the carriage 200 is positioned in the width direction. Further, the first contact member 231 is projected into the traveling path of the dolly 200, and the locked portion 206 of the dolly 200 is brought into contact with the first contact member 231 from the downstream side. After that, the second contact member 232 is brought into contact with the locked portion 206 from the downstream side. In this way, the locked portion 206 of the trolley 200 is sandwiched by both contact members 231 and 232 from both sides in the transport direction, so that the trolley 200 is positioned in the transport direction. As described above, the carriage 200 is positioned in both the width direction and the transport direction.

The carriage 200 has a recess 200a in the middle portion in the transport direction (see FIG. 4). Therefore, when the conveyed object (work W and jig 40) held by the hand portion 22 is placed on the trolley 200, a space G2 is formed below the conveyed object, and the hand of the carrying robot 11 is formed in this space G2. The unit 22 is housed. After that, the locking member 22e is raised by the cylinder 22f and rotated by 90 °, and {see the solid line in FIGS. 7A and 7B}, and the movable contact portion 22c of the hand portion 22 is retracted outward in the width direction by the cylinder 22d. Then, the fixing between the hand portion 22 and the conveyed object (work W and jig 40) is released. In this state, the hand portion 22 is lowered to separate it from the jig 40. As described above, the conveyed object (work W and jig 40) is transferred from the carry-in robot 11 to the carriage 200 of the door fitting line L1.

Next, in the door fitting line L1, various parts are assembled to the door W2 while the work W is conveyed in a loop by the carriage 200 (see FIG. 1). Then, the dolly 200 on which the door W2 to which the predetermined parts are assembled intrudes into the carry-out area L1b and stops in a state of being positioned at the predetermined position by the dolly positioning means. Since the method of positioning the carriage 200 in the carry-out area L1b is the same as the method of positioning the carriage 200 in the carry-in area L1a, detailed description thereof will be omitted.

Then, the unloading robot 12 integrally holds the transported object (work W and jig 40) mounted on the trolley 200 stopped at a predetermined position in the unloading area L1b. Specifically, the hand portion 22 of the unloading robot 12 is arranged in the space G2 below the conveyed object mounted on the trolley 200 and raised, and the conveyed object (work W and the jig) is raised by the support portion 22a of the hand portion 22. Lift the tool 40) slightly to support it in a floating manner. In this state, as shown in FIG. 7A, the base 41 of the jig 40 is sandwiched from both sides in the width direction by the sandwiching portions (movable contact portion 22c and fixed contact portion 22b) of the hand portion 22, and at the same time, the guide. By fitting the portion 22b1 and the guided portion 46, the work W is positioned on the hand portion 22 in the width direction and the transport direction. Then, the locking member 22e is rotated by 90 ° and then pulled downward, and the jig 40 and the hanger W1 are sandwiched between the support portion 22a and the locking member 22e from above and below, whereby the conveyed object (work W and jig). 40) is fixed to the hand portion 22. Since the procedure for positioning the jig 40 on the hand portion 22 of the carry-out robot 12 is the same as the procedure for positioning the jig 40 on the hand portion 22 of the carry-in robot 11, detailed description thereof will be omitted. do.

At this time, the conveyed object (work W and jig 40) is only placed on the trolley 200, and is not accurately positioned on the trolley 200. In the present embodiment, as described above, the hand portion 22 of the unloading robot 12 once lifts and supports the transported object in a floating manner, and in this state, the conveyed object is horizontally (width direction and transport direction) with respect to the hand portion 22. By positioning, even if the position of the conveyed object on the trolley 200 varies, the conveyed object can be accurately positioned on the hand portion 22. In this way, by accurately holding the transported object at a predetermined position by the hand unit 22, the work W can be smoothly transferred to the transport device (hanger conveyor 100) in the next step.

The work W held by the hand portion 22 of the unloading robot 12 in this way is transferred to the hanger carrier 102 of the hanger conveyor 100 (see arrows B1 in FIGS. 1 and 4). Specifically, the upper frame W11 of the hanger W1 is hooked on the hook 102a of the hanger carrier 102. After that, the locking member 22e is raised by the cylinder 22f and then rotated by 90 ° {see the solid line in FIG. 7 (A)} to release the fixing between the hand portion 22 and the work W. In this state, the hand portion 22 and the jig 40 are separated from the work W by lowering the hand portion 22 and the jig 40 mounted on the hand portion 22.

Next, the jig 40 attached to the hand portion 22 of the unloading robot 12 is placed on the temporary stand 30 (see arrows B2 in FIGS. 1 and 4). Specifically, as shown in FIG. 4, the base 41 of the jig 40 is placed on the temporary stand 30. At this time, the hand portion 22 for holding the jig 40 is arranged in the space G1 provided below the base 41. Then, the movable contact portion 22c of the hand portion 22 is retracted outward in the width direction by the cylinder 22d, and then the hand portion 22 is lowered to separate the hand portion 22 from the jig 40. After that, the jig 40 mounted on the temporary stand 30 is held again by the carry-in robot 11 and used for transferring the work W from the hanger conveyor 100 to the door fitting line L1. At this time, the jig 40 mounted on the temporary stand 30 is not accurately positioned on the temporary stand 30, but the jig 40 is temporarily floated by the hand portion 22 of the carry-in robot 11 as described above. After supporting, the jig 40 can be accurately held in a predetermined position by the hand portion 22 of the carry-in robot 11 by positioning the jig 40 in the horizontal direction with respect to the hand portion 22. By repeating the above, the assembly process of the door W2 is sequentially performed.

As described above, when the work W is held and transferred by the transfer device (carry-in robot 11 and carry-out robot 12), the work W is held by the hand portion 22 of the robot arm 20 via the jig 40. As a result, not only the lower portion of the work W is supported, but also the vertical intermediate portion of the work W is positioned in the width direction by the holding portion 43, so that the work W can be stably held. In particular, when the work W is transferred from the trolley 200 to the hanger conveyor 100 by the carry-out robot 12, the upper end of the work W (upper frame W11 of the hanger W1) is positioned by holding the work W at a plurality of points in the vertical direction. The upper frame W11 of the hanger W1 can be smoothly hooked on the hook 102a of the hanger carrier 102.

For example, if the hand portion 22 of the robot arm 20 is integrally provided with a jig 40 having a holding portion 43 and a support column 42, the hand portion 22 becomes large, so that when the work W is mounted on the trolley 200, the trolley When the work W is picked up from the 200, the support column 42 or the like provided on the hand portion 22 may interfere with the work W or the trolley 200 or the like. Therefore, in the present embodiment, as described above, the jig 40 and the hand portion 22 of the robot arm 20 are attached and detached so that the jig 40 and the work W are mounted on the trolley 200 in an integrated state. .. This facilitates the handling of the hand portion 22 when the work W is mounted on the trolley 200 and when the work W on the trolley 200 is held. In this case, it is necessary for the hand portion 22 of the robot arm 20 to integrally hold the jig 40 and the work W. In the present embodiment, as described above, the jig 40 and the hanger W1 are collectively fixed to the hand portion 22 by sandwiching the jig 40 and the hanger W1 from above and below between the support portion 22a of the hand portion 22 and the locking member 22e. Can be done.

The present invention is not limited to the above embodiment. For example, the positioning means for positioning the conveyed object on the hand portion 22 of the robot arm 20 of the transfer device (carry-in robot 11, unloading robot 12) is not limited to the above, and for example, the first position for sandwiching the conveyed object in the width direction. The positioning means may be configured by the sandwiching portion and the second sandwiching portion that sandwiches the conveyed object in the conveying direction.

Further, the guide mechanism for guiding the conveyed object in the conveyed direction on the hand portion 22 is not limited to the above. For example, in the above embodiment, the case where the guide surface 22b10 of the guide portion 22b1 and the guided surface 46a of the guided portion 46 have the same shape is shown, but the present invention is not limited to this, and for example, the guided portion 46 is cylindrical. The guide mechanism may be configured by forming a polygonal columnar shape and fitting the guided portion 46 into the V-shaped guided surface 46a. Further, in the above embodiment, the guided portion 46 is provided only on the fixed contact portion 22b, but the guided portion 46 is not limited to this, and the guided portion 46 can be provided only on the movable contact portion 22c or the fixed contact portion. It may be provided on both the 22b and the movable contact portion 22c. In this case, the guide portions 22b1 are provided at positions of the jig 40 facing each of the guided portions 46 in the width direction. Further, in the above embodiment, the case where the V-shaped guide surface 22b10 is provided on the holding portion (fixed contact portion 22b) and the mountain-shaped guided surface 46a is provided on the conveyed object (jig 40) is shown. However, on the contrary, a V-shaped guide surface is provided on the conveyed object (jig 40), and a guided portion such as a chevron is provided on the holding portion (fixed contact portion 22b or movable contact portion 22c). You may.

Further, the transfer device of the present invention is not limited to the transfer of the work in the door assembly equipment, and can be applied regardless of the type of the work or the process as long as the transfer is performed using a robot.

11 Carry-in robot (transfer device)
12 Carry-out robot (transfer device)
20 Robot arm 22 Hand part 22a Support part 22b Fixed contact part (pinching part)
22b1 Guide section (guide mechanism)
22c Movable contact part (pinching part)
22e Locking member 40 Jig 41 Base 46 Guided part (guide mechanism)
100 Hanger Conveyor 200 Cart 210 Magnetic Tape 220 Rail L1 Door Fitting Line L2 Carry-in Line L3 Carry-out Line W Work (Door and Hanger)
W1 hanger W2 door

Claims (1)

It is a transfer device for transferring a transported object having a robot arm having a hand portion at the tip and having a work and a jig for holding the work from a first place to a second place .
The hand portion and the jig can be attached and detached, and the hand portion and the jig can be attached and detached.
A plurality of ball bearings that support the conveyed object from below while the hand portion allows movement in all directions in the horizontal direction, and the conveyed object supported by the plurality of ball bearings with respect to the hand portion. , A positioning means for positioning in a first horizontal direction and a second horizontal direction orthogonal to the first horizontal direction.
The positioning means is provided at a holding portion for holding the conveyed object from both sides in the first horizontal direction and a contact portion between the sandwiched portion and the conveyed object, and the conveyed object is provided with respect to the hand portion. It has a guide mechanism for guiding in the second horizontal direction.
After attaching the jig to the hand portion, the work arranged in the first place is held by the jig.
A transfer device that removes the hand portion from the jig after transferring the conveyed object to the second place by the robot arm .

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