JPH02109651A - Transfer method for commodity and the body to be worked and gripper - Google Patents

Abstract

PURPOSE:To simplify working stages by holding the commodity being transferred on a circulating feeding base by a gripper at specified position and transferring the commodity to the other specified position by driving a gripper fitting member and a vertical lever. CONSTITUTION:The body 3 to be worked placed on a pallet 24 is held by the gripper 7 being moved to the place of the body 3 to be worked by a vertical lever 5 and fitting member 8 and transferred to the working position 42 of a drilling machine 1. Then, in the state of being held on the gripper 7 it is worked by being placed on the table of the drilling machine 1, after the working, returned to the original position of the pallet 24 in the reverse procedure, the unworked body 3 to be worked is similarly worked and returned to the original. On completion of the working of all of the body 3 to be worked the pallet 24 is transferred and similar working is executed. When the pallet 24 placing the working completed body 3 to be worked on is moved to the end part of a pallet changer, the pallet thereof is changed with the pallet 24 placing the unworked body 2 to be worked on.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for transporting articles or workpieces to assembly equipment or processing machines, etc., in which horizontal and vertical rods are used to accurately move the article without changing its orientation. In addition, to transport the workpiece, a holding frame is provided on the processing table so that it can be moved in the horizontal direction via a sliding tool, and the workpiece is held by a gripping tool. The tool is held in the holding frame while being gripped by the tool, moved to a predetermined height on the processing table to a processing position, such as directly below the drill of a drilling machine, and then processed as it is and returned to the original predetermined position. This eliminates the need to place and change the workpiece on the processing table, thereby simplifying the processing process.

Further, in the present invention, auxiliary claws are further provided in the claws of the gripping tool to press the article against the rear reference plane between the claws, thereby increasing the accuracy of positioning.

Next, the details will be explained with reference to the illustrated embodiment.

In the figure, a drilling machine (1) is shown as an example of the processing means, but the present invention can be applied to various other processing means or assembly devices. a base (2) on which the drilling machine (1) is placed;
), a horizontal rod (4) is fixed to the side of the transported workpiece (3). A vertical rod (5) extending in a direction transverse to the workpiece is movably attached to the horizontal rod (4), and the vertical rod (5) is connected to a pulse motor ( 6) (FIG. 2) to move a predetermined amount along the horizontal rod. A mounting member (8) for the grip (7) is movably attached to the vertical rod (5), and the mounting member (8) is connected to a pulse motor (9) provided on the vertical rod (5). When driven, it moves a predetermined amount along the vertical rod.

Therefore, by the pulse motors (6) and (9), the screws driven by these, and the nuts (not shown) screwed into the screws through the balls,
The mounting member moves precisely towards or away from the drilling machine (1). The other end of the vertical rod (5) on the processing means side is connected to the support (10) of the drilling machine (1).
A guide rail (
11) via a bearing (12) so as to be movable. The mounting base (13) of the guide rail (11), (1
4) is fixed on a base (2) remote from the drilling machine.

The means for transporting the workpiece (3) to a predetermined position on the base (2) is a horizontal pallet changer (
15), and the pallet changer (15) includes a sprocket (18) that drives a chain (17) on a pedestal (16), and a sprocket (20) that drives a chain (19) opposite to the chain (17). ) are installed in parallel (Figure 3). The center position of the sprocket (18) and the sprocket (20) is between the mounting claw (22) provided on the front left side of the pallet pedestal or feed base (21) and the mounting claw (23) provided on the rear right side. They are separated by the same amount as the distance, and one mounting claw (22) is pivotally supported by the chain (17), and the other mounting claw (23) is pivotally supported by the chain (19). The pallet holder (21) is supported at the front and rear by chains (17) and (19) provided on both sides, so it can be circulated along the chain by driving the sprockets (1B) and (20). However, since the sprockets (1B) and (20) are provided as described above, the pedestal moves in circulation with its upper surface always facing upward. A pallet (24) on which a workpiece (3) is placed is placed on the pallet pedestal (21). In addition, the sprockets (1B) and (20) are 1
The machine stops until processing of the workpieces (3) on one pallet is completed, and after the processing is completed, the pallet with the unprocessed workpieces placed on it is driven intermittently to transport one piece at a time to a predetermined position. .

The gripping tool (7) is attached to the attachment member (8) so as to be movable up and down. FIG. 4 shows a plan view, and FIG. 5 shows a side view. The mounting member (8) is an inverted mounting plate (25).
having a guide (26) fixed to the mounting plate (25),
The rear part of the base body (27) of the gripper is slidably engaged with the guide (26). A lifting cylinder (28) such as an air cylinder is fixed to the mounting plate (25), and a bearing (3) is attached to the rod of the cylinder via a bracket (29).
0) is the installation. The bearing (30) is connected to the gripping tool (7).
), the yoke (31) provided on the side of the base (27) of (
32) is slidably fitted into the guide rod (33) installed between the lower yoke (32) and the spring (34)
) is installed as shown in Figure 0, the cylinder (28
) when the rod (not shown) is rising, the above bearing (
30) Located in a raised position along the guide rod (33) by the spring (34), and connected to the base (2) via the yoke (31).
7) is lifted upward. Then, when the rod of the cylinder descends, the bearing (30) and the yoke (31)
The base body (27) descends via (32).

In addition, when descending, etc., the bottom surface of the base etc., for example, a pallet (24
) etc., the base body (27) stops descending, but the bearing (30) descends to a predetermined position and is buffered by the spring (34), causing no trouble.

The base body (27) has a pair of claws (35) protruding from the front.
), (35), and the claws (35), (35) are
The article is opened and closed by a cylinder, cam, gear, link, screw, or other appropriate opening/closing means (not shown) to clamp the article. When holding an item, use the claws (
35) and (35) is provided with a pressing means that has a reference surface (36) at the rear and presses the article so that it comes into close contact with the reference surface. The pressing means can be configured in various ways, but in the one shown in the figure, an auxiliary claw (37) is provided at the tip of the claw (35). The auxiliary claw (37) is
It has an arm (38) at one end to engage the front surface of the article, a middle part pivoted (39) on the upper surface of the claw (35), and an arm (40) at the other end. Means are provided for expanding the arms outwardly. The expansion means uses expansion cylinders (41), (41) such as air cylinders, and when the cylinders (41), (41) are operated, the arm (38) of the auxiliary claw Rotate as shown by the arrow in the figure to press the front of the item. In addition, as an expanding means, the other end of the auxiliary claw may be appropriately extended to engage with a proper position of the base body, or a spring may be tensioned at an appropriate position to expand the claw (35).
(35) may be rotated in the direction of the above arrow when it moves in the closing direction (not shown). Further, as a pressing means, an auxiliary claw having a downwardly facing retaining end may be provided on the upper surface of the base body (27) so as to be movable in the front and back direction, and this may be operated rearward by a cylinder.

(24) The workpiece placed on the pallet (
3) is the horizontal rod (4), vertical rod (5) and mounting member (8).
), the gripping tool (
7) and transferred to the processing position (42) of the drilling machine (1). Then, it is placed on the table of the drilling machine (1) while being gripped by the gripper and processed. After processing, the pallet is returned to its original position by reversing the above procedure. Then, the unprocessed workpiece is processed in the same manner as above and returned to its original state. When all the workpieces have been processed, the pallet (24) is transported and the same processing is performed thereafter. When the pallet (24) carrying the processed workpiece (3) moves to the end of (15) during pallet change, the pallet is placed on the unprocessed workpiece (3).
(24).

In FIGS. 6 to 8, (43) shows an example of a jig mounted on the processing table (1') of the drilling machine (1). The jig (43) includes a base (44) fixed to a processing table (1°) and a lower movable body (46) that slides laterally on a horizontal rail (45) fixed on the base (44). ), and an upper movable body (48) that slides on a vertical rail (47) fixed to a lower movable body (46). (48)
A holding frame (50) for the workpiece (3) is provided on the upper surface of the machine. The upper and lower movable bodies (48) and (46) are stopped at the illustrated positions by return springs (51) and (52), respectively. (53) is a cover of the slide unit.

The lower part of the workpiece (3) transported by the gripper (7) is fitted and held in the holding frame (50), and the vertical rod (
5) and the grip attachment member (8), the workpiece (3) is returned together with the holding frame (50) by the spring (51);
(52), moves a predetermined height above the processing table (1゛) and is transported to the processing position under the drill (42), and the gripping tool (
7), and after machining, the drill (42)
) from the holding frame (50),
It can be returned to its predetermined position on the pallet (24). Further, the holding frame (50) is returned to its original position by springs (51) and (52).

In the figure, (54) is a groove provided in the plate portion of the holding frame (50) for removing facets and the like by blowing air or the like.

As described above, the article conveying method of the present invention uses the horizontal and vertical rods to convey the gripping tool from a predetermined position to another predetermined position. It is possible to accurately move multiple items arranged vertically and horizontally to a desired position without changing their orientation, and it is also possible to firmly hold and transport the items using the horizontal and vertical rods, as well as to circulate them. By using the feed stand (21),
In the case of reciprocating conveyance back onto the original feed platform (21) using the gripping tool (7), it is possible to exchange old and new articles at a predetermined location, which is convenient.

In addition, in the method for transporting the workpiece, as described above, a holding frame is further provided on the processing table via a sliding unit (49) that freely moves vertically and horizontally, and the workpiece is held by the gripper (7). ), it is held in this holding frame, moved to a predetermined height on the processing table, moved to a processing position such as directly below the drill, processed as it is, and returned to the original position. This eliminates the need to place and change the workpiece on the processing table, and the processing process can be significantly simplified.

In addition, in the gripping tool of the present invention, as described above, the auxiliary claws are further provided on the claws of the main body to press the article against the reference surface behind the claws, so that the article can be positioned accurately in the vertical and horizontal directions. This has the advantage that, in combination with the transportation by the horizontal rod (4) and vertical rod (5), it becomes possible to accurately position the workpiece during processing.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a side view showing the arrangement of each component, FIG. 2 is a plan view of the same, and FIG. 3 is an explanatory view of one end side of the pallet changer. , FIG. 4 is a plan view of the gripping tool, FIG. 5 is a side view showing a part of the side portion of the guide rod in cross section, FIG. 6 is a plan view showing the processing jig, and FIG. 7 is the same. The front view and FIG. 8 are the same side views. (1)... Drilling machine, (2)... Base, (3
)...workpiece, (4)...horizontal rod, [5)...vertical rod, (6), (9)...pulse motor (7).
...Gripper, (8)...Mounting member, (10)
... Drilling machine support, (11) ... Guide rail, (15
)...Pallet changer (21)...Pallet pedestal (feeding stand), (24)...Pallet, (35)...
...Claw, (37)...Auxiliary claw, (41)
... Expansion cylinder, (43) ... Jig, (49)
...Sliding tool, (50) ...Holding frame, (51
), (52)...Return spring, (53)...Cover. Patent Applicant Tae Toku Co., Ltd. Patent Attorney Dai Katayama Figure 1 Figure 6 Figure 8

Claims (6)

[Claims] (1) Attach the vertical rod to the horizontal rod fixed on the base so that it can move along the horizontal rod, and at the same time, attach the mounting member of the grip to the vertical rod so that it can move, and attach the grip to this, and circulate. The article is characterized in that the article conveyed on the feed table is gripped by the gripper at a predetermined position, and the article is conveyed to another predetermined position by driving the vertical rod and the gripper attachment member. transportation method. (2) A sliding tool (49) is attached to the processing table and the upper movable body (48) that slides in the vertical and horizontal directions is attached to the holding frame (
50) is fixed, and the holding frame (50) is moved to a predetermined position away from the processing position by using a spring, while the vertical rod (4) is fixed to the horizontal rod (4) fixed on the base (2). 5
) is attached so as to be movable along the horizontal rod (4), and a gripper attachment member (8) is attached to the vertical rod (5), and the gripper (7) is attached to this so as to be movable up and down, thereby creating a circulating feed platform. (21
) The workpiece conveyed above is grabbed by the gripper (7) at a predetermined position, and the vertical rod (5) and the gripper attachment member (8) are driven to move the workpiece onto the processing table. Upper holding frame (
The workpiece is held in the holding frame (50) by driving the vertical rod (5) and the grip attachment member (8) to hold the workpiece in the holding frame (50).
50) is moved to a predetermined height on the processing table to a processing position, processed in that state, further removed from the holding frame (50), and returned to a predetermined position on the feed table (21). A method for transporting workpieces. (3) A pair of claws (35) protruding from the front of the base (27)
, (35), which engages the front surface of the article with the base (27) to hold the article between the claws (35) and the rear reference plane (35). 36) A gripping tool characterized by being provided with an auxiliary claw (37) that presses against the gripping tool. (4) The auxiliary claw (37) has an arm (38) at its front end that should engage with the front surface of the article, and the auxiliary claw (37)
3. A gripping tool according to claim 3, which is pivotally attached to the upper surface of the arm (39) and has means for expanding the arm outwardly on the other end of the arm (40). (5) The expansion means is connected to the arm (40) at the other end and the claw (3).
5) The gripping tool according to claim 4, further comprising expansion cylinders (41), (41) between them. (6) The grip according to claim 4, wherein the expanding means comprises an arm (40) at the other end of the auxiliary claw that engages with the grip base (27).