JPH02204215A - Device for stopping work at specific position - Google Patents

Abstract

PURPOSE:To improve operational efficiency of a robot with two work hands by installing second and third stoppers, which have operational/non-operational positions in response to a reciprocating movement of a first stopper, upstream of the first stopper which moves back and forth between two points in a device illustrated here for work to be conveyed on a belt. CONSTITUTION:Work W located at a first position D and an interwork space specifying position G is moved onto a pallet by means of a robot, not shown. As a first stopper 14 at position D moves to position E, second and third stoppers 17, 18 are placed into a transfer-stop cancellation position Q by pressing means 19, 20, respectively, through the action of cam followers 21, 22 and a cam member 23, causing two pieces of work at position F to be moved to position E. Subsequently, as the first stopper 14 returns to position D, the stopper 17 is placed into a stop position P, stopping third work and producing a work clearance with the stopper 18 placed between two preceding pieces of work W, W. In this manner, improved efficiency can be obtained.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention is directed to a fixed positioning method for stopping a workpiece, such as a piston of an automobile engine, at a fixed position at a predetermined interval in the workpiece transfer direction of a conveyor. This relates to a stopping device.

[Conventional technology]

Most of the pistons of the above-mentioned automobile engines (which are an example of the workpieces targeted by the present invention, and hereinafter referred to as pistons or workpieces as necessary) are plated, except for special ones. Conventionally, the pistons that are irregularly transferred by the conveyor are stored at the end of the conveyor, and the pistons are manually transferred one by one to predetermined positions on the pallet so that they do not touch each other. Pallets are being delivered to the metsuki facility.

[Problem to be solved by the invention]

However, such manual work is extremely inefficient, and there are problems in that it is not possible to achieve automation such as incorporating a mesh line into the piston transfer line.

Alternatively, in order to solve the above-mentioned inconvenience, it is conceivable to adopt a self-study form in which the pistons sequentially transferred by the conveyor are transferred to a predetermined position on the pallet using an automatic transfer device, so-called a robot.

However, the pistons transferred by the conveyor are transferred in a state in which they are in contact with each other in the transfer direction or in an irregular state such that the intervals are irregular. Therefore, it is not possible to take out two pistons at once and transfer them to a pallet at a predetermined interval, which is an efficient transfer method. Then, place the piston at the removal position! The robot has no choice but to transfer the pistons to predetermined positions on the pallet one by one, which is more efficient than manual work, but
It would be desirable to be able to transfer the piston more efficiently.

The present invention has been made in view of the above circumstances, and
By providing a device that can stop two of the workpieces sequentially transferred by a conveyor at a fixed position at a predetermined interval, efficient workpiece transfer work can be performed by a robot equipped with two workpiece hands. The purpose is to make it possible.

(Means for Solving the Problems) A fixed position stopping device for a workpiece according to the present invention, which achieves the above object, has the following configuration.

That is, a first stopper for positioning the workpieces to be transferred on the conveyor is provided so as to be movable back and forth from the first position to a second position on the upstream side in the workpiece transfer direction, and the workpieces to be transferred side by side in the workpiece transfer direction are provided. a second stopper for stopping the transfer of the second workpiece to a work waiting position upstream of the second position, and a third stopper for stopping the latter of the two workpieces to be transferred when the second stopper releases the transfer stoppage. stoppers are swingably provided at respective work interval prescribed positions between the first position and the second position;
Furthermore, first and second biasing means are provided for biasing and swinging the second stopper to the transfer stop position and the third stopper to the transfer stop release position, and cam followers attached to the second and third stoppers are provided. A cam member is connected to the first stopper and swings the second stopper to the transfer stop release position and the third stopper to the transfer stop position by acting on the first stopper. The second and third stoppers are switched to a transfer stop release posture when the first stopper is moved back to the first position, and the third stopper is inserted between the two workpieces when the first stopper is moved back to the first position. , is configured to switch the third stopper and the second stopper to a transfer stop position.

[Effect]

According to the characteristic configuration described above, by moving the first stopper forward, the stoppage of transfer of the workpieces by the second stopper is released, and two of the workpieces located in the workpiece waiting position in line in the workpiece transfer direction are moved to the second stopper. It is transferred to the second position.

Then, when the first stopper is moved back, the second stopper is moved back.
While the stopper is switched to the transfer stop position, and while the two workpieces are being transferred toward the first position, the third stopper is inserted between the two workpieces, and the third stopper is moved to the second position.
The rear workpiece is stopped by the third stopper at the work spacing prescribed position, and the front workpiece is stopped at the first position.

That is, by moving the first stopper one reciprocation,
Two of the workpieces at the workpiece standby position are taken out to the workpiece interval prescribed position and the first position, which are located at a predetermined interval.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

Figure 1 shows workpiece W transfer equipment B for plating equipment 6fA.
2 and 3 show details of the work transfer installation 11B.

In the figure, l is a double work transport conveyor for transporting the work W to the pallet stand 3 side, which is transported along the plating material hanging line 2. Two sets of seesaw-type stoppers 5 are provided for sequentially sending out the workpieces W, which are continuously transferred in the transfer direction, two by two, to the downstream side.

Reference numeral 6 denotes a double conveyor for carrying out workpieces, and the workpieces W transferred by the workpiece transfer conveyor 1 do not require internal plating processing, or the workpieces W transferred by the workpiece transfer conveyor 1 are removed from the plating object suspension line 2. The workpiece W after plating is completed is transferred.

7 is a so-called robot that automatically transfers the workpiece W, and an arm 8 equipped with two workpiece hands at a predetermined pitch is moved in the X-axis direction (in FIG. 1) along the workpiece transfer direction of the conveyor 1. (left-right direction), a Y-axis direction (front-back direction in FIG. 1) along the parallel arrangement direction of the work transfer conveyor 1, and a Y-axis direction (orthogonal to the plane of the paper in FIG. 1) perpendicular to the X and Y-axis directions. direction).

This robot 7 chucks two workpieces W at a time that are taken out to a fixed position at a predetermined interval by a workpiece W fixed-position stopping device 9, which will be described later. In this case, the two workpieces W are transferred to the pallet 10 provided on the pallet stand 3, and if the two workpieces W do not require plating, the two workpieces are The workpieces W are transferred to the conveyor 6 for transporting the workpieces, and if one of the workpieces W does not require plating processing, the other workpiece W is transferred to the conveyor 6 for transporting the workpieces. At the same time, the other workpiece W is then transferred to the pallet IO, and the plating material suspension line 2
The finished work W on the pallet 10 that has been taken out is transferred to the conveyor 6 for transporting the work.

Next, the specific structure of the fixed position stopping device 9 for one of the two parallel work transfer conveyors 1 will be explained.

That is, as shown in FIGS. 2 to 4, the conveyor I
A pair of workpiece guides 1 are installed at the upper part of the downstream side in the workpiece transfer direction.
1, and a guide loft 12 is provided on the sideways part of the conveyor l along the work transfer direction, and a base 13 is installed so as to be movable back and forth along the guide rod 12.
A first stopper 14 for positioning the workpiece W to be transferred by the conveyor I is provided in series, and the first stopper 14 is moved from a first position near the end of the conveyor I in the workpiece transfer direction upstream in the workpiece transfer direction. It is configured to be able to freely move back and forth across the second HE.

Then, a vertical axis 1.5. 16
The second and third stoppers i7.1B are pivotally connected via the cylinder 2 and the third stopper I7.1B. . A first biasing means (a coil spring is exemplified) 19, which is configured to be switchable and urges and swings the second stopper 17 to a transfer stop position P, and a first biasing means (a coil spring is exemplified) to move the third stopper 18 to a transfer stop release position. A second biasing means (also exemplified by a coil spring) 20 is provided for biasing Q to swing.

Further, a roller type cam follower 21.22 is provided in each of a portion of the stopper on the upstream side of the second stopper 17 in the workpiece transfer direction and a portion of the stopper on the downstream side of the third stopper 18 in the workpiece transfer direction. 22, said second strike, 7 bar 17
A cam member 23 for changing the posture is connected to the first stopper 14 to swing the third step 18 to the transfer stop release posture Q and the third step 7 parr 18 to the transfer stop posture P.

Specifically, during the movement of the first stopper 14 from the first ID toward the second device E, the third stopper 14
The stopper 18 is switched to the transfer stop release posture Q by the urging force of the second urging means 20, and a little later, the second stopper 17 is also switched against the urging force of the first urging means 19. While the first stopper 14 is moving back from the second position WE to the first position, the second stopper 17 is reversely moved to the first position. The biasing force of the biasing means 19 switches the transfer stop position P, and subsequently, the third stop bar 18 is switched to the transfer stop position P against the bias force of the second biasing means 20. It is configured to switch to .

The first stopper 14 is provided so as to be freely changeable in position in the workpiece transfer direction with respect to a member 24 connected to the base 13, and the distance between the first position and the workpiece spacing regulation position G is adjusted as described above. In order to match the work hand interval of the robot 7, or when the work hand interval of the robot 7 is changed or replaced with one with a different interval,
The configuration is such that the first rank 1jD can be changed according to the interval.

Hereinafter, based on FIGS. 5 to 10, the operation of taking out the workpiece W to the first position and the specified workpiece interval position 1c under the situation where the workpiece W is being taken out in a predetermined cycle will be explained. .

First, as shown in FIG. 5, a predetermined workpiece W is taken out from the first ID and workpiece interval prescribed position G, and is lined up in the workpiece transfer direction at the workpiece waiting position F of the second stopper 17. Under the situation where two workpieces W are waiting at , the two workpieces W taken out at both values IFD and G are chucked to -r by the workhand of the robot 7 shown in FIG. Then, the two workpieces W are transferred to predetermined positions on the pallet 10 on the valet stand 3.

When transferring this workpiece W, the two workpieces W
If neither of the workpieces W requires plating, the two workpieces W are transferred to the conveyor 6 for transporting the workpieces, or if one of the workpieces W does not require plating, for example, First, one of the workpieces W is transferred to the conveyor 6 for transporting the workpiece, and then the other workpiece W is transferred to a predetermined position on the balent 10.

Next, as shown in FIG. 6, when the workpiece W present at the first position and the workpiece spacing regulation position G is taken out, the first stopper 14 moves to the second position together with the cam member 23. When it is moved towards the third stopper 1
By releasing the action of the cam member 23 on the cam follower 22 of No. 8, first, the third stopper 18 is switched to the transfer stop release position Q by the urging force of the second urging means 20, and the further forward movement of the cam member 23 causes the third stopper 18 to be switched to the transfer stop release position Q. Due to the cam action of the second stopper I7 on the cam follower 21,
As shown in FIG. 7, the second stopper 17 is switched to the transfer stop release posture Q against the urging force of the first urging means I9, and the two workpieces located at the workpiece standby position F are W is transferred to the second device E.

Here, as shown in FIG. 8, the cam member 23 is moved back toward the first position together with the first stopper 14, and the cam follower of the second stopper 17 is caused by the back movement of the cam member 23. By releasing the cam action on 21, the second stroke/bar 17 is moved toward the first biasing means 19.
The second stopper 17 prepares to wait for the next two workpieces W, and the workpiece W, which had been positioned by the first stopper 14, moves toward the first position. will be transferred.

As shown in FIG. 9, during the transfer of the two workpieces W due to the further backward movement of the cam member 23 and the first stopper 14, the front one of the two workpieces W meets the workpiece interval regulation. Immediately before passing through position G, the cam member 23 acts on the cam follower 21 of the third stopper 18 to push the third stopper 18 between the two points against the urging force of the second urging means 20. By switching the third stopper 18 to the transfer stopping position P so that the third stopper 18 enters between the works W, the rear of the two works W is transferred and stopped at the work interval defined position G.

Further, as shown in FIG. 1O, the backward drive is stopped when the first stopper 14 reaches the first position, so that the front of the two works W is moved to the first position. At the same time, the second stopper 17 is switched to the transfer stop position P, and the seesaw-type stone bar 5 is rocked in a subsequent process, so that it is positioned side by side with the works dock section 4. The two workpieces W in the front are taken out, and the two workpieces W are transferred to the workpiece waiting position 1fF by the second stopper 17. This completes one cycle of workpiece transfer. The state when the cycle is completed is the state shown in FIG.

That is, the first stroke bar 14 and the cam member 23 are
By reciprocating, the two workpieces W located at the workpiece standby position F are taken out to the workpiece interval prescribed position G and the first position at a predetermined interval, and two other workpieces are newly taken out. The structure is such that the workpiece W is taken out to the workpiece standby position F of the second stopper 17.

Thus, the two workpieces W taken out at both values [G and D with a predetermined interval apart can be chucked at once by one robot 7 equipped with two workpiece hands. These two workpieces W are transferred to the barren H, 0 or the conveyor 6 for transporting the workpieces, or the two workpieces W are transferred one by one to the conveyor belt 6 and the pallet 10 for transporting the workpieces. It can be transferred to.

In FIG. 4, 25 and 26 in the figure are sensors for detecting the presence or absence of the workpiece W at the first position and workpiece interval regulation position G, and 27.28 are sensors for the second and third stoppers 17.18. This is a stopper member for positioning the transferred stopped state IeP.

〔Effect of the invention〕

As explained above, the workpiece localization 1 stop device according to the present invention reciprocates the first stopper and the cam member connected thereto, and also moves the second and third stoppers in conjunction with this.
The stopper is switched between a posture for stopping work transfer and a posture for canceling the transfer stop, so that two of the workpieces located at the workpiece standby position are taken out at a predetermined interval between the workpiece interval prescribed position and the first position. There is a special attack on the point.

That is, since two of the workpieces transferred by the workpiece transfer conveyor in a state of contact with each other or a state of uneven spacing can be taken out one after another at a predetermined interval between the workpiece interval specified position and the first position, the present S It is now possible to perform work such as chucking two workpieces at once by a robot equipped with two workhands, and the workpieces transferred by the conveyor can be placed on a pallet or the like. It has become possible to carry out tasks such as loading and unloading efficiently, which in turn can play a role in improving productivity.

[Brief explanation of the drawing]

FIG. 1 is a schematic plan view showing a work transfer facility for plating equipment, FIG. 2 is a front view of the work transfer facility, and FIG. 3 is a side view of the facility. FIG. 4 is a detailed view of the device for stopping the workpiece at a fixed position, and FIGS. 5 to 10 are explanatory diagrams of the operation of taking out the workpiece to the first position and the workpiece interval prescribed position. DESCRIPTION OF SYMBOLS 1... Work transfer conveyor, 14... First stopper 17... Second stopper, 1st... Third stopper, 19... First biasing means, 20... Second biasing Means, 21.22...Cam follower, 23...Cam member, D...First position, E...Second position, F...Work standby position, G...Work interval regulation position, P...Transfer stop posture, Q...Transfer stop release posture, W...Workpiece. Applicant Shinmei Kogyo Co., Ltd. Representative Patent Attorney Hideo Fujimoto

Claims (2)

[Claims] (1) A first stopper for positioning the workpieces to be transferred on the conveyor is provided so as to be movable back and forth from the first position to a second position on the upstream side in the workpiece transfer direction, and the workpieces are transferred side by side in the workpiece transfer direction. A second stopper for stopping the transfer of the work is placed at a work waiting position upstream of the second position, and a second stopper for stopping the latter of the two works to be transferred when the transfer stop of the second stopper is released. three stoppers are provided swingably at respective workpiece interval prescribed positions between the first position and the second position,
Furthermore, first and second biasing means are provided for biasing and swinging the second stopper to the transfer stop position and the third stopper to the transfer stop release position, and cam followers attached to the second and third stoppers are provided. A cam member is connected to the first stopper and swings the second stopper to the transfer stop release position and the third stopper to the transfer stop position by acting on the first stopper. The second and third stoppers are switched to a transfer stop release posture when the first stopper is moved back to the first position, and the third stopper is inserted between the two workpieces when the first stopper is moved back to the first position. . A workpiece fixed position stopping device, characterized in that the third stopper and the second stopper are configured to switch to a transfer stopping posture. (2) The device for stopping a workpiece in a fixed position according to claim (1), wherein the distance between the first stopper and the cam member in the workpiece transfer direction can be changed and set.