JPH0357400Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a work loading device used for loading workpieces into various work lines.

2. Description of the Related Art In order to input a workpiece into a work line in which a plurality of types of assembly equipment circulate, it is required to accurately set the workpiece on the assembly reference portion of the circulating equipment. For this reason, in conventional work loading devices, a dedicated jig is prepared for each type of work, the work is held in the dedicated jig, and the dedicated jig is moved and loaded. Furthermore, the loading operation of this work loading device requires a complicated operation that combines linear motion and rotational motion.

For example, FIG. 3 shows a conventional workpiece loading device.
This is a self-propelled loading device that is suspended from the loading device 1 and has a motor 4.The workpiece W to be loaded is set in a gripping mechanism 5 dedicated to the workpiece W provided at the bottom of the loading device 1, and is held by an air cylinder 6. It is arranged to be movable in the vertical direction together with the gripping mechanism 5.

Problems to be solved by the invention However, the conventional workpiece loading device 1 described above has the following problems:
A dedicated jig 5 is required for the workpiece, and when there are many types of workpieces, the shapes are different and the direction and position of feeding into the line are not constant. The structure is complicated because the motor 4 and the cylinder 6 are used to operate a combination of multi-axis linear motion and rotational motion in order to match the input operation with a certain trajectory. In other words, the loading device can only be used for loading one type of workpiece, and in order to accommodate loading of other types of workpieces, a loading device equal to the number of types of workpieces is required.

Further, Japanese Patent Application Laid-Open No. 59-81035 describes an automatic conveyance system for materials and products in an automatic production system, which is a device for sorting different types of conveyed objects according to their respective purposes.
In medium- to low-volume production, different types of workpieces are frequently replaced in small lots, so conventional conveyors lacked versatility and required a large space on a flat surface. This is a pallet station that temporarily stores materials and products at the top of the pallet and distributes each pallet between the processing side and the transport side. The pallet was simply placed on the pallet and not fixed, so the pallet could not be tilted or rotated.

This invention was devised in view of the above-mentioned problems, and aims to provide a general-purpose work loading device that can accommodate different types of workpiece loading.

Means for Solving the Problems As a means for solving the above problems, this invention includes a work holding tool that serves as a transport platform for the work, a return mechanism that transports the work holding tool to a delivery position, and a return mechanism that transports the work holding tool to a delivery position. It has a robot that receives the transported work holding tool and puts the work into the work line, and the work holding tool includes a pedestal on which the work is placed, and a clamp that fixes the work placed on the pedestal. a drive mechanism for fixing or releasing the clamp; and a chuck for removably engaging the hand of the robot and removably connecting wiring or piping for transmitting power to the drive mechanism of the clamp. It is characterized by the presence of

Operation With the above configuration, the workpiece positioned and placed on the pedestal of the workpiece holding tool is first transported to the delivery position by the return mechanism. When the workpiece holding tool reaches the delivery position, the connecting portion of the hand of the waiting robot engages with the chuck of the workpiece holding tool to connect the workpiece holding tool so that it can be transferred. At this time,
The power wiring or power piping on the hand side of the robot is automatically connected to the wiring or piping of the clamp drive mechanism on the work holding tool side, and the clamp is operated by the driving mechanism to fix the work. When the clamp fixes the workpiece on the workpiece holding tool, the robot's hand turns with the workpiece holding tool connected, grips the workpiece on the workpiece gripping part of the assembly equipment on the work line, and then releases the clamp. to complete loading the workpiece.

Embodiment An embodiment of the general-purpose work input device of this invention will be described below with reference to FIGS. 1 and 2.

The work input device 11 includes a lightweight work holding tool 12 that serves as a transport platform for the work W, and a return machine 1 that transports the work holding tool 12 to a delivery position.
3, and an assembly equipment 14 that is disposed near the delivery position side of the return machine 13, receives the work holding tool 12 that has been transported to the delivery position, and circulates the work W on the work line L. The robot 15 is equipped with a robot 15 to be introduced into the robot. The robot 15 is taught in advance the locus of the motion required to input the workpiece for each type of workpiece, and is designed to perform the necessary loading operation depending on the type of workpiece.

The workpiece holding tool 12 includes pedestals 12a and 12b on which the workpiece W is placed in a predetermined posture, a clamp 16 that fixes the workpiece W placed on the pedestals 12a and 12b, and a clamp 16 that fixes or releases the clamp 16. An air cylinder 17 to be operated, and a pipe 1 that removably engages with the hand 15a of the robot 15 and sends air to the air cylinder 17.
8 and a chucking 12c that is removably connected to the wheel, and wheels 19, 19 for running are provided on the lower surface.

Further, the return machine 13 has an inclined running surface 13a on its upper surface, and a motor 22 which is wound around a pair of sprockets 20 and 21 disposed on the upper and lower sides of the inclined running surface 13a. An endless chain 23 driven by
3a is provided.

Further, the robot 15 is located at a delivery position (top side) of the inclined running surface 13a of the return machine 13.
and a hand 15 that is disposed between the transfer position of the work line L and connects the work holding tool 12.
An air solenoid valve 18a for switching the operation of the air cylinder 17 is interposed in the air pipe 18 provided in the air pipe 18a.

Next, the operation of the work input device configured as described above will be explained.

First, the worker holds the base 1 of the work holding tool 12.
The work W is placed on 2a and 12b in a predetermined posture, and placed at a low position on the inclined running surface 13a of the return machine 13.

Work holding tool 12 placed on running surface 13a
is pushed when the transport claw 23a of the endless chain 23 driven by the motor 22 engages with the rear part of the work holding tool 12, and the wheels 19, 19 rotate to push up the running surface 13a. At this time, the work W is only placed on the pedestals 12a and 12b and is not fixed.

When the work holding tool 12 reaches the delivery position at the top of the inclined running surface 13a, the connecting portion of the hand 15a of the robot 15 engages with the chucking 12c of the work holding tool 12, and the work holding tool 12 can be transferred. Connect to.

When the workpiece holding tool 12 is connected to the hand 15a of the robot 15, air is sent to the air cylinder 17, which drives the clamp 16, which causes the workpiece to be placed on the pedestals 12a and 12b. The placed workpiece W is fixed.

The clamp 16 holds the workpiece W with the workpiece holding tool 1
2, the hand 15a of the robot 15
rotates with the work holding tool 12 connected, and performs a previously taught loading operation,
The workpiece W is gripped by the workpiece gripping part of the assembly equipment 14 on the work line L, and then the air solenoid valve 18a is switched and operated to release the clamp 16 and the loading of the workpiece W is completed.

Furthermore, when several types of workpieces are to be introduced into the same process on the same line, this can be handled by providing one return machine 13 for each type of workpiece, as shown in FIG. At this time, the robot 15 has been taught the operations necessary to input each type of work into the work line L, so the robot 15 performs 1
One robot can handle the input of several types of workpieces.

Effects of the Invention As explained above, the general-purpose workpiece loading device of this invention includes a workpiece holding tool, a return mechanism that transports the workpiece holding tool to a delivery position, and a workpiece holding tool that receives the workpiece holding tool that has been transported to the delivery position and performs operations. The workpiece holding tool includes a pedestal on which the workpiece is placed, a clamp that fixes the workpiece, a drive mechanism for the clamp, and a hand of the robot that is removably engaged with the robot. It is equipped with wiring that sends power to the drive mechanism of the clamp, or a chuck that connects the piping so that it can be moved in and out.In order to handle different types of workpieces, the pedestal shape of the workpiece holding tool and the position of the clamp can be adjusted to suit the workpiece. It is possible to handle many types of workpieces by manufacturing them according to the requirements, and many types of workpieces can be input to the work line with one device. In addition, it is no longer necessary to modify the feeding device every time a product model is changed, as is the case in the past, and the equipment cost can be reduced, and the period for switching equipment for model changes can also be shortened.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing one embodiment of the general-purpose workpiece input device of this invention, Fig. 2 is a plan view showing the arrangement of the device when three types of workpieces are inputted, and Fig. 3 is a conventional workpiece input device. It is an explanatory view showing an example of a loading device. 11... Work input device, 12... Work holding tool, 12a, 12b... Pedestal, 12c... Chucking, 13... Return machine, 13a... Running surface, 14... Assembly equipment, 15... Robot, 15
a...Hand, 16...Clamp, 17...Air cylinder, 18...Air piping, 18a...Air solenoid valve, 19...Wheel, 22...Motor, 23...Endless chain, 23a...Transportation claw ,
L...Work line, W...Work.

Claims (1)

[Scope of utility model registration request] The robot has a work holding tool that serves as a transport platform for the work, a return mechanism that transports the work holding tool to a delivery position, and a robot that receives the work holding tool that has been transported to the delivery position and throws the work into the work line. The work holding tool includes a pedestal for placing a work, a clamp for fixing the work placed on the pedestal, a drive mechanism for fixing or releasing the clamp, and a removable attachment to the hand of the robot. A general-purpose work loading device comprising a chuck that engages and removably connects wiring or piping that sends power to the drive mechanism of the clamp.