JPH02307684A - Method and device for controlling operation in parts supplying device - Google Patents

Abstract

PURPOSE:To surely supply parts by utilizing the electric signal generated by the contract conduction when parts are held on a supplying rod. CONSTITUTION:The device is so constituted that current flows through an electric wire 26 - a sliding plate 23 - a main rod 14 - a nut 1 of the parts to be supplied - a stop plate (s) to an electric wire 27 and the 1st electric signal is generated when the supplying rod 2 advances and a guide rod 13 passes the threaded hole of the nut 1 until a pressing surface 15 comes into tight con tact with the front surface of the nut 1 and that the 2nd signal is generated when a piston in an operating cylinder 16 passes the front of a proximity switch 28. The electric signal is generated by the contact conduction when the nut 1 is heed to the supplying rod 2, by which the supplying rod 2 is advanced to a normal supplying position. In addition, the advance progression thereof can be stopped by the 2nd signal when the nut 1 is not held. The sure supplying of the parts is executed in this way.

Description

DETAILED DESCRIPTION OF THE INVENTION A) Industrial Application Field The present invention detects whether or not a component is securely held in a component supply device that holds and supplies components with a supply rod. It concerns something that performs telekinetic control according to the detection results.

(2) Conventional technology In a system in which a component is held on a supply rod and delivered to a destination location, Ia verification is performed to determine whether the component is present at a predetermined location. As a method for this purpose, there are known methods such as one in which a microswitch is activated by the gravity of a component, as disclosed in Japanese Utility Model Application Laid-open No. 60-99086, and one in which detection is performed using a phototransistor or the like.

(Problem that invention S aims to solve) In the conventional example described above, it is possible to detect whether a component is in a predetermined position, but it is difficult to detect whether the component is correctly held on the supply rod. cannot be detected.

At the same time, it is also impossible to fully control the operation of the supply rod depending on the state in which the component is held on the supply rod.

Furthermore, since precision parts such as microswitches and phototransistors must be attached to a part of the supply device, the structure becomes complicated, and since it is a precision product, there is a risk of malfunction due to impurities. Something happened unexpectedly.

A very important point is that the operator must be able to intuitively recognize abnormalities.

In other words, as a typical example of parts supply, a projection nut is often supplied by a worker operating a foot switch, but when the projection nut is being supplied normally, the supply ront The operating noise and stroke time are constant.

However, if the operating noise, stroke time, etc. remain unchanged even in the case of an abnormality, the worker may transfer the steel plate parts to the next process without realizing that the nut is in short supply, resulting in defective products. This is the cause of the outbreak. With conventional techniques, it is impossible to obtain the above-mentioned sensory abnormality recognition.

Means for solving the problem and its operation The present invention is intended to solve the above-mentioned problem. The first electric signal generated by the conduction and the second electric signal generated at a predetermined stroke position of the supply rod cause the supply rod to advance to the normal supply position, and also because the component is not held by the supply rod. Said t4
If the first electric signal is not generated, the second electric signal is used to stop the advance of the supply rod in the middle of advance. When the first electric signal is not used or the first electric signal is not generated, the stroke of the supply iron is controlled only by the second electric signal.

The second invention is an air cylinder that operates a supply rod by a first electric signal generated by contact conduction when a component is held on a supply rod and a second electric signal generated at a predetermined stroke position of the supply rod. If the first electrical signal is not generated because the component is not held in the supply iron, the second signal causes the operating air to advance to the normal supply position. The present invention is characterized by supplying return air to the cylinder to forcibly return the supply rod from the position in the middle of its advance, and air supply control to the air cylinder is added to the first invention. .

The sixth invention provides a first electric signal generated by contact conduction when the component is held on the supply rod, and a second electric signal generated at a predetermined stroke position of the supply rod. Along with advancing to
If the first electric signal is not generated because the part is not held by the supply rod, the second electric signal is used to stop the advance of the supply rod midway through its advance or force it to return. Moreover, the second electric signal is generated at a stroke position where the time-keeping engagement of the supply rod with the component is sufficiently achieved, and the supply rod and the component are properly engaged. A second electrical signal is generated at the stroke position where this state occurs, thereby preventing erroneous detection due to the electrical signal when a part is splashed off at the tip of the supply rod.

The fourth invention detects that the component is normally held on the supply rod by an electric signal generated by contact conduction when the component is held on the supply rod, wherein at least the tip of the supply rod is insulated. All of these features are designed to prevent energization from occurring due to the above-mentioned splashing.

(E) Embodiments Now, to explain the embodiments shown in the drawings, the apparatuses shown in FIGS. 1 and 2 are used as shown in FIGS. 6 and 4. In this example, the parts are projection nut 1.
In this case, the nut is supplied by passing the supply cond 2't through the screw hole, and the component supply device 6
The device itself is installed in an inclined state as shown in FIGS. 6 and 4.

The steel plate part 5 of the other party is placed on the fixed electric coffin 4, and the same '!
[In i4, the id pin 6 passes through a hole (not shown) in the steel plate component 5 and protrudes as shown. Figure 6 shows
The nut 1 is in a state where it is normally held by the supply rod 2, and the supply rod 2 penetrates the screw hole of the nut, and the nut 1 moves over the supply rod 2 which has advanced to the normal supply position, that is, close to the guide pin A. It is about to move to the guide pin 6 side while sliding down. If the nut 1 is not held on the supply rod 2, the supply rod 2
The operation is controlled so that the robot is stopped in the middle of its forward movement or forced to return from the middle.

Explanation of the structure of the parts supply device B shown in Figures 1 and 2.
Then, at the end of the component supply pipe 7 having a rectangular cross section,
An opening 8 is provided on the lower side, and a temporary fixing chamber 2 for the nut 1 is formed on the upper side. The right end of the temporary locking chamber 9 is closed by a stop plate S.

A metal fixing ring 11 with a female thread 1o cut on the inside is welded to the upper surface of the component supply pipe 7, and an outer cylinder 12 made of an insulating material such as synthetic resin is firmly screwed into the fixing ring 11. A supply rod 2 is housed in this outer circumference of 12 circles, and the rod 2 consists of a thin guide rod 16 that passes through a threaded hole in the nut 1 and a main rod 14 that is thicker than the thin guide rod 16, and is pushed out at the boundary between both rods 16 and 14. Surface 15 is provided.

The supply rod 2 is connected to the working air cylinder 1 connected to the outer cylinder 12.
The main rod 14 is the piston rod of the working air cylinder. A through hole 17 is provided in the upper surface of the component supply pipe 7 to allow the main rod 14 to pass therethrough.

A magnet (permanent magnet) 18 is fitted into the stop plate S, and both sides of the magnet are covered with protective plates 19 and 20. An arm 21 is welded to the fixing ring 11, and a bolt 22 screwed into the arm 21 is used to press and fix the stop plate S against the end of the component supply pipe 7.

A sliding plate 26 that serves as an electrical contact is elastically in constant contact with the main rod 14, and this sliding plate 26 is bent outward through a hole 24 formed in the outer cylinder 12. , is fixed to the outer cylinder 12 with bolts 25. And wire 2
6 is joined to the sliding plate 26. On the other hand, the other t-mount 27 is connected to the stop plate S.

When the supply rod 2 moves forward and the guide rod 16 passes through the screw hole of the nut 1, and the extrusion surface 15 comes into close contact with the upper surface of the nut 1, the current flows through the electric wire 26, the sliding plate 25, and the main rod 1.
4, the nut 1, and the stop plate S to the other electric wire 27, and in this way the first electric signal is generated.

The second electric signal is generated after the first electric signal is generated at a predetermined stroke position of the supply condo 20, and there are various ways to generate the signal.
Here, a proximity switch 28 is attached to the outer surface of the operating air cylinder 16 with a fixing band 29. A second electrical signal is generated as the piston (not shown) of the actuating air cylinder 16 passes in front of the proximity switch 28. Another method is to use the limit switch 6 as shown in the diagram.
0 may be attached to the outer cylinder 12 and the operating contact 61 may be moved by the protrusion 62 to obtain the second electric signal.

In FIG. 1, the nut 1 is attracted by the magnet 18, so that it is temporarily locked in the temporary locking chamber 9, and the supply rod 2 is at the most retracted position.

Here, when the supply rod 2 starts moving forward due to the action of the actuating air cylinder 16, the nut 1 is held by the supply rod 2 as described above (that is, the guide rod 13 reliably passes through the threaded hole of the nut 1 and is pushed out). A first electric signal is generated by contact conduction when the surface 15 is in close contact with the upper surface of the nut 1, and this is stored as a memory. A second electrical signal is then generated as described above;
the first and second electrical signals act as an AND condition;
As a result, the supply rod 2 advances to the normal supply position as shown in FIG. 6, and the nut 1 slides down on the guide rod 16 and is transferred to the guide bin 6 side. When the nut 1 is thus placed on the copper plate part 5 and the supply rod 2 is retreated, the movable electrode 66 is subsequently lowered and energized to complete the welding (11) welding.

The above-mentioned operation is performed when the nut 1 is temporarily locked normally, but if the nut in the parts feeder (not shown) is missing or the nut is clogged in the parts supply pipe 7 for some reason. In this case, the first electric signal 46 is not generated and only the second electric signal is generated, so that the second electric signal at this time is used to stop the forward movement of the supply rod 2 midway through its advance.

The operation sequence described above when the nut is normally held on the supply rod or when the nut is missing can be easily realized by normal sequence control, but as shown in Fig. 5. This is an example of a typical flowchart. When the operator steps on the foot sw'l and turns it on, the air cylinder SQL turns on (that is, the air valve opens).
As a result, the supply rod 2 starts to advance, and on the way, when contact continuity is established between the nut and the supply rod, the first electric signal indicating that the nut is present is emitted, and the subsequent proximity SW causes the second electric signal to be transmitted. An electric signal is generated to cause the supply rod to continue advancing until it reaches the position shown in FIG. 6, and the nut supply ends. When the timer measures a certain period of time, the air cylinder SQL is turned off, return air is supplied to the air cylinder, and an electric signal is sent again from the proximity SW (although it is a signal similar to the second electric signal). is emitted, and when the welding machine starts and welding energization is completed, the operator stops depressing the switch (2) to turn it off.

If there is no nut at the point where it is determined whether there is a nut or not, then the proximity S
Since W only emits a second electrical signal, near @
Air cylinder SQ at the stroke position where the signal is output from Sw.
Since L is turned OFF, the supply rod 2 only advances to the position shown in Figure 4 due to the supply of return air.
I'll be back from here immediately.

The second electric signal must be generated only after the nut 1 is securely and sufficiently held by the supply rod 2. This holding engagement must not be such that it fails for some reason, in other words, the nut must not come off from the supply rod midway through. Therefore, the second electric signal must be generated at a stroke position where the guide rod 16 has fully entered the threaded hole of the nut 1, for example at a stroke position as shown in FIG. For that purpose, proximity switch 2
8 and limit switch 60 are selected.

In the structure examples shown in Figs. 1 and 2, the component is a projection nut with a hole, so it is held in place by a supply rod in a skewered manner, but this nut may be a nut with a lid or In the case of parts without holes, the shape of the feed rod 2 must be changed. This is the structural example shown in FIGS. 6 and 7. That is, the supply rod 2 has two protrusions 34, 34 provided at its tip, forming a bifurcated shape, and the component 1 is accommodated between them. In this case, the advancement speed of the supply rod 2 is controlled. If the part 1 is advanced at a speed equal to or higher than the falling speed of the part 1, the part can be held during the advance stroke.

As shown by the two-dot chain line in FIG. 8, when the nut 1 is tilted for some reason, the guide rod 16 advances but does not enter the screw hole.
There is a risk that the nut 1 may be thrown off by the tip of the nut.

Even if such a phenomenon occurs, since the first electric signal is generated in the conduction path 5 as shown by the two-dot chain line, a so-called erroneous signal is generated, and the nut 1
Even though it is not held by the supply rod 2, it makes a stroke at the normal supply position.

In order to prevent all such problems, an insulating coating 65 made of ceramic or synthetic resin is provided on the surface of the guide rod 16 as shown in Fig. 8, or only the guide rod 16 is made of an insulating material such as synthetic resin. It is appropriate to produce. By doing so, a first electrical signal is generated at the stroke stage when the nut 1 is in contact with the extrusion surface 15.

Furthermore, it is only necessary that the guide rod 16 enters into the threaded hole of the nut 1 sufficiently and conduction is established between the guide rod 16 and the fleshy surface of the threaded hole at the stroke stage where there is no risk of the nut coming off. In this case, the insulating coating 65 is applied only to the tip portion of the guide rod 16.

(f) Effects According to the present invention, the first electric signal obtained when all parts are held on the supply rod is combined with the second electric signal to stroke to the normal supply position, so that the parts are supplied. Since the supply is performed after completely confirming that the part is held in the rond, problems such as so-called erroneous confirmation and normal strokes even though the part is not held do not occur.

Since the first electrical signal is obtained by the conduction phenomenon described above, if the component is not held, the first electrical signal will not be reliably generated and only the second electrical signal will be supplied. Since Rondo's advance is halted and his forced return is completed, the response to the problem is completely achieved.

When the parts are normally held in the supply rod, they make a full stroke as shown in Figure 6, so the operator can feel the operating noise and stroke time with a certain periodicity. If a part is not held in the supply rond, the stroke may be stopped midway through advance as shown in Figure 4, or it may be forcibly returned to its original position. I noticed that my sense of purpose had suddenly changed. Therefore, the operator immediately becomes aware that parts are not being supplied normally, and the operator stops operating the foot switch and performs other operations such as replenishing the parts and repairing the jammed parts. It is definitely preventable.

The second electric signal is generated at stroke position 1 when the holding force of the supply iron for the part has been sufficiently achieved. There is no possibility that a second electric signal is generated at any stage, and highly reliable operation control is possible.

By insulating at least the tip of the supply rod, if a component is thrown off by the tip of the supply rod, the first electrical signal will not be generated, even if the component is not held. Regardless of the situation, it is possible to prevent the generation of erroneous signals that indicate that the component is being held normally.

[Brief explanation of the drawing]

The drawings show embodiments of the present invention; FIG. 1 is a longitudinal side view, FIG. 2 is a plan view of FIG. 1 viewed from the side, FIGS. 6 and 4 are side views, and FIG. Figure 6 is a side view;
FIG. 7 is a front view, and FIGS. 8 and 9 are side views. DESCRIPTION OF SYMBOLS 1... Parts, 2... Supply rod, 6... Parts supply device, 16... Operating air cylinder, 65... Insulating coating or insulating material.

Claims (4)

[Claims] (1) The supply rod is normally supplied by the first electric signal generated by contact conduction when the component is held on the supply rod and the second electric signal generated at a predetermined stroke position of the supply rod. When the part is advanced to the position and the first electric signal is not generated because the part is not held by the supply rod, the second electric signal is used to stop the advance of the supply rod in the middle of advancement. An operation control method for a parts supply device, characterized in that: (2) The operating air of the supply rod is activated by the first electric signal generated by contact conduction when the component is held on the supply rod and the second electric signal generated at a predetermined stroke position of the supply rod. While continuing to supply advance air to the cylinder to advance it to the normal supply position, if the first electric signal is not generated because the part is not held by the supply rod, the second signal is activated. An operation control method for a component supply device, characterized in that the supply rod is forcibly returned from a position in the middle of its advance by supplying returning air to the operating air cylinder. (3) The supply rod is normally supplied by the first electric signal generated by contact conduction when the component is held on the supply rod and the second electric signal generated at a predetermined stroke position of the supply rod. When the part is advanced to the position and the first electric signal is not generated because the part is not held by the supply rod, the second electric signal causes the supply rod to stop advancing in the middle of advancement. Alternatively, the operation control in a component supply device is characterized in that the return is forcibly performed, and the second electric signal is generated at a stroke position where the supply rod is fully engaged with the component. Method. (4) A device that detects that a component is normally held on a supply rod by an electric signal generated by contact continuity when the component is held on the supply rod, at least at the tip of the supply rod. An operation control device for a parts supply device characterized by being insulated.