JPH03154721A - Work supply device - Google Patents

Abstract

PURPOSE:To allow a work to be taken out and fed positively using a low-priced ordinary box by constructing a work supply device in such a way as to displace a supply head following the position of the work at the time of holding the work with its chuck claws and return the supply head into the stabilized position at the time of taking the work out. CONSTITUTION:At the time of holding a work W accommodated in a work storage part 1 by the chuck claws 4, 5 of a supply head 3, the supply head 3 is displaced from its stabilized position following the position of the work, so that the work can be held positively even if the positioning of the work is inaccurate to some degree. Accordingly, even a low-priced ordinary box lacking in the positioning accuracy of the work W can be used. The supply head 3 then returns to its stabilized position when the work W is taken out of the work supply part 1, so that the positioning of the taken-out work W can be performed on the way of its transfer. The work W can be thereby fed positively to a work supplied part 2 without influencing cycle time.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Field of Application) The present invention relates to a work supply device employed in the field of parts supply of automatic assembly lines, and more specifically, to a work supply device with an improved supply head structure. Regarding equipment.

(Prior art) In recent years, automatic assembly lines for compressors for refrigerators have been put into practical use.
Workpieces such as the discharge muffler are automatically supplied to the discharge muffler number attachment part of the compressor main body that is transported on the assembly line.

Conventionally, a workpiece supply device applied to this type of automatic assembly line has a supply head fixedly attached to an XYZ robot serving as a head transfer means, and works in a packet that is positioned with high precision is clamped and taken out. It is designed to be supplied to the part to which it is attached.

(Problems to be Solved by the Invention) As described above, in the conventional workpiece supply device, since the supply head is fixed, it is necessary to position the workpiece in the workpiece storage portion with high precision.

For this reason, it is necessary to make the bucket as the work storage part from an expensive special material, which increases the cost. If this is used as a joint, there is a problem that the cost will be enormous because there are many. In addition, when cheap packets made of styrofoam or the like are used, there is a serious problem in that the positioning accuracy of the workpiece is poor, which reduces the ease of taking out the workpiece and reduces operating efficiency.

The present invention has been made to solve the above-mentioned problems, and its purpose is to provide a gentle and good positioning accuracy of the workpiece in the workpiece storage section, to enable the use of inexpensive joints, and to ensure that the workpiece is It is an object of the present invention to provide a work supply device that can take out and supply workpieces.

[Structure of the Invention] (Means for Solving the Problems) In order to solve the above-mentioned problems, the present invention provides a workpiece supply device that takes out a workpiece accommodated in a workpiece storage section and supplies it to a workpiece supplied section. a supply head provided with chuck claws for clamping a work; a head moving means for moving the supply head so as to face the work accommodating section and the workpiece supplied section; The head is configured to displace the supply head from the positioning position following the position of the workpiece when the workpiece stored in the storage section is clamped, and to return the supply head to the positioning position when the workpiece is taken out from the workpiece supplying section. The head holding means is configured to hold the head relative to the moving means.

(Function) That is, according to the present invention, when the chuck claws of the supply head clamp the workpiece accommodated in the workpiece storage section, the supply head is displaced from the positioning position following the position of the workpiece, so that the workpiece is slightly displaced. Even if the positioning accuracy is poor, it can be held securely. This makes it possible to use inexpensive articulations with poor workpiece storage position accuracy. In addition, since the supply head returns to the positioning position when the workpiece is taken out from the workpiece supply section, the workpiece that has been taken out is positioned during the transfer, and the workpiece is reliably fed to the workpiece supplying section without affecting the cycle time. It becomes possible to do so.

(Example) Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows the overall configuration of a work supply device of the present invention.

In the figure, 1 is a joint serving as a work storage section that accommodates a plurality of works W..., and 2 is a workpiece attachment body that is a workpiece supply section. Further, reference numeral 3 denotes X-direction chuck claws 4, 4 (only one of which is shown) for clamping two sides of the workpiece W in the front-rear direction (hereinafter referred to as the X-direction) and two sides in the left-right direction (hereinafter referred to as the X-direction). X-direction chuck jaw 5 for
5 (only one of which is shown) is a supply head, and 6 is an XYZ robot as a head moving means for moving the supply head 3 so as to face the articulated joint 1 and the workpiece 2.

The XYZ robot 6 includes a base 10, an X-direction stage 11 installed to be able to reciprocate in the X direction with respect to the base 10, and an X-direction stage 11 installed to be reciprocatable in the X direction with respect to the The stage 12 and the vertical direction with respect to the X direction stage 12 (hereinafter referred to as the Z direction)
It consists of a head mounting block 13 which is reciprocatably mounted on the head. Then, the head mounting block 13
The supply head 3 attached as described later in
direction, the X direction, and the Z direction.

The X-direction stage 11 and the X-direction stage 12 are driven by, for example, a linear motor mechanism which is a known technical means, and the head mounting block 13 uses an actuator mechanism 14 constituted by an air cylinder as its operating source.

Further, the supply head 3 attached to the head mounting block 13 is placed at a positioning position (home) following the workpiece position when the workpiece W accommodated in the carrying box 1 is clamped by the X-direction chuck claws 4, 4. The structure incorporates a head holding means 15 that movably holds the workpiece W in a state displaced from the position (position position) and returns to the positioning position (home position position) when the workpiece W is taken out from the joint 1. There is.

Next, the configuration of the supply head 3 will be explained with reference to FIGS. 2 to 4.

A bracket 20 is attached to the lower surface of the head attachment block 13, and a plate cam 21 having a single-shaped cam surface 21a is attached to the upper side of the bracket 20. Further, a Y-direction movable body 23 is attached to the lower surface of the bracket 20 via a Y-direction guide 22.

A two-direction guide 24' is provided on the lower surface of this Y-direction movable body 23.
is attached, and the holder 25 is held movably up and down. This holder 25 is always urged to the lower limit position of the two-direction guide 24 by a spring 26, and a Y-direction chuck actuator 27 is attached to the lower surface of the holder 25.

The Y-direction chuck actuator 27 opens and closes the Y-direction chuck 4.4. Further, on the lower surface of the Y-direction chuck actuator 27, a workpiece holder is provided which is guided to be movable up and down by a guide stopper 28 and is biased by a spring 29 (see FIG. 8) so that its lower end always protrudes. 30 is installed.

The force for pressing the workpiece W by the workpiece holder 30 is set to be larger than the product of the friction coefficient between the Y-direction chuck jaws 4, 4 and the workpiece W, and the workpiece W is held at the lower end bent portion 4a of the Y-direction chuck jaws 4.4. , 4a.

Further, an arm 35 is attached to the holder 25, and one of the plate cams 21 is attached to the upper end of the arm 35.
A positioning roller 36 is attached to the character-shaped cam surface 21a. The positioning roller 36 is strongly pressed against the trough of the single-shaped cam surface 21a, so that centering of the holder 25 and below in the Y direction can be performed.

Further, an X-direction chuck actuator 38 is attached to the bracket 20, which is fixedly attached to the head attachment block 13, through an actuator mechanism 37 constituted by an air cylinder so as to be movable up and down. The X-direction chuck actuator 38 opens and closes the X-direction chuck 5.5. The clamping force of the X-direction chuck claw 5.5 is the same as that of the Y-direction chuck claw 4.4.
The holding force of the workpiece W held by the workpiece holder 30 is set larger than that of the workpiece W held by the workpiece holder 30.

Thus, when the workpiece holder 29 provided at the lower end of the supply rod 3 configured as described above is pressed against the workpiece W, the spring 29 which urges the workpiece holder 29 first
is first displaced and comes into contact with the stopper surface 28a (see Fig. 8), and then compresses the spring 26 and moves the holder 2
5 moves upward using the Z direction guide 24 as a guide. At this time, the Y-direction chuck actuator 27, the workpiece holder 29, and the Y-direction chuck claw 4.4 move upward together.

On the other hand, as the holder 25 moves upward, the positioning roller 36 attached to the upper end of the arm 35 becomes separated from the single-shaped cam surface 21a of the plate cam 21.

As a result, the Y-direction movable body 23 with the holder 25 attached
becomes movable in the Y direction. Then, when the workpiece W is clamped by the Y-direction chuck jaws 4.4,
The Y-direction movable body 23 and the following are displaced in accordance with the position.

In addition, as shown in FIG. 5, the above-mentioned joint 1 has a partitioning section 41 made of low-foam polystyrene stored in a plastic container 40, and the partitioning section 41 has a plurality of work storage recesses on the upper surface side. 42... are formed.

As shown in FIGS. 6 and 7, the workpiece storage recess 42 has a guide hole 42a for guiding the workpiece W,
It has claw recesses 42b, 42b for inserting the Y-direction chuck claws 49.4.

Next, with reference to FIG. 8, the operations from taking out the workpiece W to positioning it will be explained.

FIG. 8(a) shows a state where the workpiece W in the joint 1 is being picked up.

Even if there is a positional variation Y' in the Y direction and a variation Z' in the Z direction in the workpiece W in the joint 1, the tip bent portions 4a, 4a of the Y direction chuck jaws 4.4 will always clamp the workpiece W. The positional relationship of the Y-direction chuck claws 4, 4 is determined so that they are located below the section. At this time, the work holder 30 comes into contact with the work W. When the workpiece holder 30 hits the workpiece W, the holder 25 moves upward due to the elastic deformation of the springs 29 and 26, as described above, and the arm 3
The positioning roller 36 attached to the upper end of the plate cam 2
1, and the holder 25 and below become movable in the Y direction.

FIG. 8(b) shows a state in which the workpiece W in the joint 1 is clamped by the Y-direction chuck claws 4.4.

The workpiece W in the joint 1 is guided by the workpiece guide hole 42a and therefore does not move in the Y direction. Therefore, when the workpiece W is clamped by the Y-direction chuck claws 4.degree. 4, the holder 25 and the following move in the Y-direction following the position of the workpiece W.

FIG. 8(c) shows that after the workpiece W is clamped by the Y-direction chuck claws 4.4, the supply head 3 is raised by the operation of the actuator mechanism 14, and the workpiece guide hole 42a of the joint 1 is raised.
Shown is the state it was pulled out from.

The workpiece W is held in the Y-direction chuck jaw 4 by the workpiece holder 30.
, 4, and the positioning roller 36 enters the valley of the V-shaped cam surface 21a of the plate cam 21 to be at the positioning position (home position). . Then, positioning is performed in the Y direction and the Z direction.

FIG. 8(d) shows a state in which the workpiece W is held between the X-direction chuck claws 5.5 and positioned in the X-direction.

The X-direction chuck claws 5.5 move inward to clamp the workpiece W after the supply head 3 ascends and descends in the process of attaching the workpiece W to the workpiece attachment body 2, which is the workpiece-supplied section. do. Then, the workpiece W is centered in the X direction.

As described above, in the present invention, when the workpiece W is in the joint 1, the supply head 3 is displaced to follow the position of the workpiece, and even if the positioning accuracy of the workpiece W is somewhat poor, it is possible to reliably hold the workpiece W. Can be done. Therefore, it is possible to use an inexpensive joint 1 with poor precision in the accommodation position of the workpiece W. Also,
After being taken out from the joint 1, the workpiece W is automatically positioned in the XYz directions on the supply head 3 side, and the workpiece W can be reliably supplied to the workpiece 2 without affecting the cycle time. can.

It should be noted that, although the case where the discharge muffler is the workpiece W has been described, it is needless to say that the present invention is not limited to this.

In addition, it goes without saying that the present invention is not limited to the above-mentioned embodiment, and can be modified in various ways without changing the gist.

[Effects of the Invention] The present invention provides a workpiece supply system that allows the positioning accuracy of the workpiece in the workpiece storage section to be gradual and good, allows the use of inexpensive articulations, and allows the workpiece to be reliably taken out and supplied. This has the effect of being able to provide a device.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is a schematic perspective view of the entire device, FIG. 2 is a front view of the supply head,
Fig. 3 is a right side view, Fig. 4 is a side view of the movement of the positioning mechanism in the Y direction, Fig. 5 is a view showing the housing state of the workpiece, and Fig. 6 is a view of the Y direction chuck claw and the joint. FIG. 7 is a plan view showing the positional relationship with the workpiece, FIG. 7 is a longitudinal sectional front view, and FIG. 8 is an explanatory view showing the operating state. 1... Articulation (work storage section) 2... Workpiece attachment object (workpiece supplied section), 3... Supply head, 4...
Y direction chuck jaw, 5...X direction chuck jaw, 6...
-XYZ robot (head moving means) 15...Head holding means, W...Work.

Claims (1)

[Scope of Claims] A workpiece supply device that takes out a workpiece accommodated in a workpiece storage section and supplies it to a workpiece supplying section, comprising: a supply head provided with chuck claws for clamping the workpiece; a head moving means for moving the workpiece accommodating part and the workpiece supplied part so as to face each other; A head holding means is provided for holding the supply head relative to the head moving means so that the supply head is in a state displaced from the positioning position and returned to the positioning position when the workpiece is taken out from the workpiece supply section. Workpiece feeding device.