JPH04121931U - Work reversing device - Google Patents

Abstract

(57) [Summary] [Purpose] This invention makes it possible to easily introduce the device even in sites where there is not enough space for installation on one side of the conveyor due to the line configuration, and it is possible to construct a deep foundation. To facilitate the introduction of a device even in a site where work is not possible, and to safely perform assembly work at a place where workpieces are to be turned over with sufficient work space, thereby making effective use of space. Furthermore, the device cost is reduced by simplifying the configuration. A robot 10 is disposed on one side of a conveyor 8, and a workpiece 1 is clamped by a clamper 22 disposed at the tip of an arm 13 of the robot 10. A lifter 40 for raising and lowering the workpiece 1 above the conveyor 8 is disposed within the conveyor 8 . Then, the workpiece 1 on the conveyor 8 is moved by the lifter 40 to the clamper 22 at the tip of the arm 13.
The work 1 is clamped by the clamper 22. The arm 13 rotates to invert the work 1 vertically, and the lifter 40 receives the inverted work 1 and lowers it onto the conveyor 8 again.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This invention is suitable for handling workpieces conveyed by conveyors, especially heavy workpieces. This invention relates to a workpiece reversing device that turns the workpiece upside down for convenience of work in the next step.

0002

[Conventional technology]

Conventionally, workpieces transported by conveyor are used to facilitate work in the next process. As a workpiece reversing device that flips the workpiece vertically so that the top surface of the workpiece becomes the bottom surface, , so-called drum type and frame type as shown in Figures 7(a) and (b), respectively. There are things that will be revealed.

0003 As shown in FIG. A workpiece 303 that has been conveyed in the direction of arrow 302 by conveyor 301 is transferred to drum 3. 04, the clamper 306 moves the arrow 30 The workpiece 303 is clamped in seven directions. Then, the drum 3 04 in the direction of arrow 309, and the workpiece 303 is turned upside down. There The clamping state of the workpiece 303 by the clamper 306 is released, and the workpiece 303 moves in the direction of the arrow. As shown at 310, it is conveyed again on the roller conveyor 301.

0004 Furthermore, as shown in FIG. 4(b), the frame-type work reversing device 400 A workpiece 403 that has been conveyed in the direction of arrow 402 by a roller conveyor 401 is When positioned within the frame 404, the clamper 405 The workpiece 403 is clamped. Then, move the clamper 405 along the guide 407. the clamper 405 via the rotating shaft 409. The workpiece 403 is rotated as shown by the arrow 410 to turn it upside down, and the clamper 40 5 is lowered again. Therefore, the workpiece 403 is clamped by the clamper 405. The workpiece 403 is moved onto the roller conveyor 40 again as shown by an arrow 411. 1.

[0005]

[Problem that the idea aims to solve]

However, in the drum type, the longitudinal direction of the drum 304 is structurally connected to the conveyor 301. and supports both ends of the rotating shaft 308 from both sides of the conveyor 301. You need to accept it.

[0006] Also, unlike the frame type, the drum type requires a lot of effort when reversing the clamped workpiece. Equipped with a lifter mechanism shown in 407 to prevent the arc from contacting the floor surface. Although it is not necessary to build a deep foundation 311 according to the size of the drum 304, Ru. In this way, the drum type requires a vast installation space to install the device, so For sites where there is not enough room on one side of the conveyor 301 or where it is not possible to install a deep foundation. A situation arises in which it becomes impossible to introduce equipment in the field.

[0007] On the other hand, the frame type also has a structure in which the rotating shaft 409 is located on both sides of the conveyor 401. The frame 404 straddles both sides of the conveyor 401 to support it. It is extremely difficult to install it at sites where there is not enough installation space on one side of the Nvere 401. be. Moreover, a mechanism 405 for clamping the workpiece within the same frame 404, A mechanism 407 that raises and lowers the workpiece and a mechanism 409 that rotates the workpiece are combined. This results in a complicated structure and an increase in the cost of the equipment. there was.

[0008] Furthermore, assembly work may be performed at a location where such a reversing device is installed.

[0009] In this case, as an operator, there is no need to move inside the clamper 307 or the clamper 405. You have no choice but to enter the room to perform the work, which is not desirable from a safety standpoint, and does not provide enough space for the work. cannot be secured in minutes.

0010 The present invention was developed in view of these circumstances, and it provides extra space on one side of the conveyor. Equipment can be easily introduced even at sites where there is no easy to install, and its simple configuration reduces equipment costs. Make sure that there is sufficient work space in the area where the workpiece reversing device is installed. Our goal is to provide a workpiece reversing device that allows you to safely perform assembly work by maintaining The purpose is

[0011]

[Means to solve the problem]

Therefore, in this invention, the material is transported by a conveyor and placed at a predetermined position on the conveyor. A workpiece reversing device that flips the workpiece upside down so that the top surface of the workpiece is the bottom surface. Leave it behind. a base provided on one side of the conveyor; a rotation means provided on the base; One end is connected to the rotation surface of the rotation means so that the longitudinal direction is perpendicular to the rotation surface of the rotation means. an arm having a distal end positioned above the predetermined position; The robot includes a clamping means disposed at the tip of the robot and clamping the workpiece. and, A workpiece placed within the conveyor and placed at a predetermined position on the conveyor is A lifter that raises and lowers the The workpiece placed at the predetermined position is clamped from above the conveyor by the clamping means. The lifter is driven and controlled so that it rises to a clamping position where it can be ramped. a first drive control means; The workpiece is clamped when the workpiece is raised to the clamping position. a second drive control means for driving and controlling the clamping means so as to When the workpiece is reversed by the arm when the workpiece is clamped, Lower the lifter to a non-interfering position so that the workpiece and the lifter do not interfere. a third drive control means for causing the The workpiece is turned upside down when the lifter is lowered to the non-interference position. a fourth drive control means for driving and controlling the rotation means; When the workpiece is turned upside down, the lifter is moved up to the bottom surface of the turned workpiece. a fifth drive control means for raising; When the lifter is lifted up to the lower surface of the workpiece, the workpiece is removed by the clamping means. The workpiece is released from the workpiece clamp state and the workpiece is lowered to the top of the conveyor. a sixth drive control means for controlling the drive of the lifter so that the lifter I try to have the following.

0012

[Effect]

In other words, according to this configuration, if the robot is placed on one side of the conveyor, In addition, the lifter is installed inside the conveyor, so there is no space left on one side of the conveyor. There will be some leeway. Moreover, the lifter does not involve a rotating mechanism, but simply raises and lowers the workpiece. Since it is made of chisel, it can be installed without the need for a deep foundation. Also, robot In addition to providing a mechanism to clamp and rotate the workpiece on the lifter, The structure is simple because a lifting mechanism is provided and the lifting mechanism and other mechanisms are separate. Therefore, the equipment cost is reduced. Then, the lifter rises to the clamp position and the robot The workpiece is clamped by the clamping means at the end of the arm, and the lifter reverses the workpiece. During operation, the robot arm lowers to a non-interference position to avoid interference with the workpiece. Rotates and reverses the work, the lifter rises to receive the reversed work, and then lifts The lid moves the workpiece down onto the conveyor. The bot and lifter are driven and controlled.

[0013]

【Example】

Hereinafter, embodiments of the work reversing device according to the present invention will be described with reference to the drawings. .

[0014] In addition, in the example, a power shovel truck is used as the target work to be turned upside down. Frame 1 (hereinafter referred to as work 1) is assumed.

[0015] FIG. 1 is a perspective view showing the overall configuration of the device according to the embodiment in three dimensions (X-Y-Z). .

[0016] As shown in the figure, the embodiment device is mainly arranged on one side of the slat conveyor 8. Y is moved by the slat conveyor 8 in a direction parallel to the X axis. The workpiece 1 being conveyed parallel to the axis is clamped on the lifter installation part 9, and A robot 10 that turns the ramped workpiece 1 upside down and a robot 10 inside the slat conveyor 8. The robot is installed in the lifter installation section 9 and lifts and lowers the workpiece 1 on the slat conveyor 8. The workpiece 10 is clamped and reversed by the cutter 10, and the workpiece 1 is placed on the conveyor 8 again. The robot 10 and the lifter 40 are driven and controlled. It is composed of a control device 50.

[0017] As shown in the figure, the workpiece 1 has a central frame with a circular opening 3 formed approximately in the center. It consists of a frame 4, and left and right frames 5 and 6 connected by this central frame 4. The surface 1a with the swing arm part 2 from the previous process is the top surface, and the left and right frames are The longitudinal directions 5a and 6a of 5 and 6 are relative to the conveyance direction (Y axis) of the slat conveyor 8. It is conveyed by the slat conveyor 8 vertically as shown by arrow A1. come.

[0018] When the work 1 is positioned on the lifter installation part 9, the work 1 is stopped at the position. . At this lifter installation position, the upper surface 1a of the workpiece 1 is lowered as described later. The workpiece is turned upside down and placed on the conveyor 8 again. As shown by the arrow A2, the surface 1b, which was the bottom surface, becomes the top surface until the next step. transported by

[0019] As shown in the figure, the robot 10 is mounted on one side of the slat conveyor 8 parallel to the X axis. A rail 19 arranged toward the lifter arrangement section 9 and along this rail 19 The base 11 is guided and moved as shown by arrows E1 and E2, and the base 11 is rotatable. It has a rotating surface that is perpendicular to the floor surface and parallel to the transport direction (Y-axis) of the workpiece 1. The rotary plate 12 has a longitudinal center axis 13d at a predetermined position of the rotary plate 12. The root portion 13a is arranged perpendicular to the conveyor 8, and the tip portion 13b is perpendicular to the conveyor 8. The arm 13 is arranged to be positioned above. Base 11 is disposed within the base 11, and is driven by, for example, a hydraulic travel motor or the like. The section 20 runs along the rail 19.

[0020] A clamper is arranged at the tip end 13b of the arm 13 and is perpendicular to the surface of the rotary plate 12. A mounting surface 14 is formed, and four clampers 22 are mounted on the clamper mounting surface 14. A central member is arranged in the manner described later, and a click is also placed inside the arrangement surface 14. Members for operating the rampers 22 are provided, and these members are used to operate the lamps. The workpiece 1 is gripped by the clamper 22 coming into contact with the inner wall of the opening 3 of the workpiece 1. A clamp mechanism section 15, which will be described later, is configured.

[0021] Further, the inner surface 13e of the arm 13 is clamped by the clamp mechanism 15. Place it on the inside 5b of the left frame 5 and the inside 6b of the right frame 6 of the work 1 that was pressed. Workpiece 1 is supported by applying uniform force toward the outside of the workpiece, and the workpiece is The workpiece 1 may rotate around the clamped opening 3 while the workpiece 1 is being reversed. A workpiece rotation prevention mechanism 16 is provided to avoid this.

[0022] By rotating the rotating plate 12 around the rotation center axis C, the base 11 Rotate the arm 13 as shown by arrows D1 (clockwise) and D2 (counterclockwise). An arm driving section 17 is provided, and the clamper mechanism section 15 and the workpiece are connected to each other. A clamp/rotation drive unit 18 that drives the rotation prevention mechanism unit 16 is provided. There is. For each of these drive units 17 and 18, hydraulic pressure is used as a drive source, for example.

[0023] On the other hand, the lower surface of the workpiece 1 is placed on the lifter 40, and the lifter 40 receives two parts of the lower surface. The left and right work holders 41 and 41 are raised parallel to the Z axis as shown by arrows B1 and B2. A pedestal support part 42 is arranged to be freely lowerable and supports the left and right pedestals 41, respectively. , and a lifter drive unit 44 that moves the pedestal support unit 42 up and down via a rod 45. It is configured. The lifter drive unit 44 is mainly composed of, for example, a hydraulic cylinder or the like. has been done.

[0024] The pedestal support part 42 is a left and right support connected to the lower surface of the left and right work pedestals 41, 41. A central connecting member 42 that connects the pillars 42a, 42a and these left and right pillars 42a, 42a. It consists of b. The tip of the rod 45 of the lifter drive unit 44 is connected to the central connecting member 42b. When the rod 45 moves up and down, the central connecting member 4 2b, the workpiece pedestals 41, 41 can be raised and lowered via the left and right columns 42a, 42a. It becomes.

[0025] Here, the left and right columns 42a, 42a, the central connecting member 42b, the workpiece holders 41, 4 1 forms a relief portion 43, and the size of this relief portion 43 is larger than that of the arm 13. The leading end portion 13b of the slat conveyor 8 is The size is such that it can be inserted and removed from the direction perpendicular to the feeding direction (E1, E2 direction). ing.

[0026] The arm drive section 17, the clamp/rotation mechanism section 18, the traveling drive section 20 and The lifter drive unit 44 is operated in accordance with a control command output from the control device 50, as will be described later. 3 or the procedure shown in FIG.

[0027] 2 is viewed from the direction of arrow F in FIG. 1 so that the inner surface 13e of the arm 13 is shown. This is a diagram.

[0028] As shown in Figure (a), the clamper mounting surface 14 of the clamper mechanism section 15 has Four grooves 21 are formed in the radial direction around the center G of the groove. and this Four clampers 22 are disposed in the four grooves 21 so as to be slidable along the grooves. ing. At the center G of the clamper, for example, there is a cylinder 2 driven by hydraulic pressure. 3 is arranged, and the tip of the rod 23a of this cylinder 23 is connected to four clampers. 22... is connected to one clamper 22'. cylinder 23 cylinder A control command outputted from the control device 50 by the clamp/detent drive unit 18 is placed in the chamber. Pressure oil is supplied according to the

[0029] FIG. 3B is a diagram showing the mechanism of the clamp mechanism section 15, and shows the clamper installation surface 14. A pin 30 located at the clamp center G is located inside the clamp center G. A rotatable cross-shaped rotary body 31 is disposed at the top of the rotary body 31. One end of the four rods 32... is attached to the pin 31a... so that the rods 32... can rotate freely. Therefore, it is supported. The other end of the rod 32... is also connected to the clamper 22... 2 are rotatably supported by pins 32a.

[0030] Therefore, the clamper/rotation drive unit 18 is now connected to the cylinder chamber of the cylinder 23. When the required pressure oil is supplied and the rod 23a is moved as shown by the arrow J, the rod 23a is moved as shown by the arrow J. The clamper 22' connected to the door 23a is moved along the groove 21 in the direction of the arrow J. Ru. According to the movement of the clamper 22', the rotating body 31 moves in an arrow direction via the rod 32'. It is rotated in the direction marked K. Depending on the rotation of this rotating body 31, the remaining three rods 32 In the same way, the remaining three clampers 22... are also applied along the grooves 21... It is moved in the directions of arrows L, M, and N. At this time, the four clampers 22... are in the clamping state. They are each moved the same distance from the center G in the direction of the groove 21.

[0031] On the other hand, the workpiece rotation prevention mechanism 16 has a length of the arm 13 as shown in FIG. It is a mechanism that is bilaterally symmetrical with respect to the hand direction central axis 13d, and the arm longitudinal direction central axis 13 A cylinder 29, which is driven by hydraulic pressure, for example, is disposed on top d. this A control device is also provided in the cylinder chamber of the cylinder 29 by the clamper/rotation mechanism section 18. Pressure oil according to the control command output from 50 is supplied. Arm longitudinal center axis A groove 27 is formed on 13d, and a rod connecting portion 28 is inserted along this groove 27. It is arranged so that it can slide freely. The rod 29a of the cylinder 29 is connected to the rod connecting portion 28. are connected to each other, and as the rod 29 moves, the rod connecting portion 28 moves into the groove 27. is moved along.

[0032] Bars 25, 25 rotate on the left and right sides of the bar support portion 13c of the arm 13, respectively. One end of the bars 25, 25 is supported by pins 24, 24 so as to be freely movable. There is. The bars 25, 25 each have a buffer member 25a at the outer end of the arm 13. , 25a are provided. A pin 2 is located approximately in the center of the bars 25, 25 on the arm 13 side. 5b, 25b allows the rods 26, 26 to freely rotate relative to the bars 25, 25. One end of the rod 26 is supported so as to be supported. and the other end of the rods 26, 26 are supported by pins 28a, 28a on the rod connecting portion 28, respectively. The rods 26, 26 are rotatable relative to the connecting portion 28.

[0033] Therefore, the clamper/rotation drive unit 18 is now installed in the cylinder chamber of the cylinder 29. When the required pressure oil is supplied from the rod 29a and the rod 29a is retracted in the direction shown by the arrow H, the rod 29a The rod connecting portion 28 connected to the tip of the rod 29a is pulled in the same direction to connect the rod. The portion 28 is moved along the groove 27 in the direction of the arrow H. This movement of the rod connecting portion 28 As the rods 26 and 26 move, the ends of the rods 26, 26 on the bar connection side move toward the arm 1 as shown by arrow I. 3 with equal force toward the outside of the arm from the longitudinal center axis 13d of the left and right sides. They are each moved to their respective positions. For this reason, the buffer members 2 of the bars 25, 25 5a and 25a also apply equal force to the arm longitudinal center axis 13d. They are each moved to a symmetrical position with respect to the left and right sides.

[0034] However, the opening 3 of the workpiece 1 is clamped by the clamper 22... Assuming that the workpiece rotation prevention mechanism 16 is driven, the above-mentioned The buffer members 25a, 25a are attached to the inner sides 5b, 6b of the left and right frames 5, 6 of the work 1. The left and right frames 5, 6 in the longitudinal direction 5a, 6a are in contact with each other in the longitudinal direction of the arm. It becomes parallel to the center axis 13d, and the posture of the workpiece 1 with respect to the arm 13 is maintained constant. Ru.

[0035] Note that the rotating plate 12 is connected to a shaft 12a rotated by the arm driving section 17. The shaft 12a is connected to the shaft 12a and rotates in accordance with the rotation of the shaft 12a.

[0036] The operation of such a work reversing device will be explained below with reference to the flowchart shown in FIG. I will clarify.

[0037] Now, the workpiece 1 is being conveyed by the slat conveyor 8 as shown by arrow A1. Assuming that the workpiece 1 is placed on the upper part of the lifter installation part 9, the slat conveyor 8 It will stop when it is positioned. Note that the lifter 40 is in such an initial state that the workpiece 1 is The upper end of the workpiece pedestal 41 is a slat controller so that it is carried on the conveyor 8. It is assumed that the bearing 8 is positioned below the upper end of the bear 8. Also In this initial state, the robot 10 has a clamper installation surface 1 as shown in FIG. It is assumed that the position is such that 4 is the bottom surface of the arm tip 13b. (Step 101).

[0038] Therefore, by outputting a control command to the arm drive section 17, the rotary plate 12 is moved. As shown in Figure 1, it is rotated 180° in the counterclockwise direction D2 and stopped at the rotated position. It will be done. As a result, the arm 13 similarly rotates and stops, and the clamper installation surface 14 The arm posture is such that the upper surface of the arm tip portion 13b is displayed (step 102).

[0039] Next, a control command is output to the lifter drive unit 13, and the rod 45 and pedestal support are The workpiece pedestal 41 is raised via the holding portion 42 as shown by arrow B1. This conclusion As a result, the lower surface 1b of the work 1 on the slat conveyor 8 is supported by the work holder 41. Work 1 can be raised. Here, the target position for lifting the lifter 40 is With the arm posture with the clamper installation surface 14 facing upward, the arm tip 13b is in the direction of arrow E1. When the arm tip 13b is moved toward the conveyor 8 in the The end of the arm is set at the insertion position where it can be inserted. Therefore, the workpiece The lifter drive unit 44 is moved so that the stand 41 is raised to the arm tip insertion position. controlled (step 103).

[0040] Next, a control command is output to the traveling drive unit 20, and as shown in FIG. 5(a), the base 1 1 is moved in the direction of arrow E1, so that the arm tip 13b is inserted into the relief part 43. entered. Then, the clamp center G of the clamper installation surface 14 is located at the opening 3 of the workpiece 1. The movement of the base 11 is stopped at the center 3a (step 104). next A control command is output to the lifter drive unit 44, and the clamper 22 is output as shown in FIG. ... is inserted into the opening 3 of the workpiece 1, and the inner wall 3 of the opening 3 is The workpiece pedestal 41 is set as the target position at a clamping position where c can be clamped. is lowered as shown by arrow B2 (step 105). Then clamp and turn A control command is output to the stop drive unit 18, and the clampers 22... move in the direction of arrows J, L, M, and N. The cylinder 23 is driven so that it is moved outward from the clamp center G as shown. be done.

[0041] At this time, each contact surface 22a of the four clampers 22... The clampers 22 are controlled to move until they come into contact with the surrounding parts. four here The clampers 22... are moved to the same movement position from the clamp center G as described above. The contact surface 22a of each clamper is moved to the inner wall 3c of the opening. When abutted and clamped, align the clamp center G with the center 3a of the opening 3. be able to. That is, the "centering" of the opening 3 with respect to the reference position G of the robot 10 is "Shi" will be held.

[0042] Further, the work rotation prevention mechanism 16 is activated simultaneously with the operation of the clamp mechanism 15. be moved. That is, the rod 29a of the cylinder 29 is retracted, and the rod 29a of the cylinder 29 is As shown by chain lines, the positions of the buffer members 25a, 25a at the tips of the left and right bars 25, 25 the left and right frames 5 at positions that are symmetrical about the arm longitudinal center axis 13d 6, respectively.

[0043] This work rotation prevention mechanism section 16 has the following advantages. That is, When the clamp mechanism 15 is activated, a force 22 is applied to the clamper from inside the opening 3. This causes the workpiece 1 to rotate around the center 3a of the opening 3. There is. Therefore, the left and right frames 5, 6 inside 5b, 6b spaced apart from the opening 3 are Such rotation is avoided by supporting it. , and at the same time, the buffer member 25 The positions of a and 25a are symmetrical with respect to the arm longitudinal center axis 13d. Therefore, the longitudinal direction 5a, 6a of the left and right frames 5, 6 is the arm longitudinal center axis 13d. is parallel to In other words, the frames 5 and 6 with respect to the reference direction 13d of the robot 10 It becomes possible to "center" the parallelism of (step 106).

[0044] Then, by rotating the arm 13, the clamped workpiece 1 is A downward reversal will be performed, but before that, work 1 and the rising Li To avoid interference with the lid 40, move the lifter 40 to a non-interference position where such interference will not occur. At this point, a lowering process is performed as shown by arrow B2. In other words, the above non-interference position A control command is output to the lifter drive unit 44 with the target position, and the lifter 44 moves to the above-mentioned non-target position. It is lowered to the interference position (step 107). Next, the arm drive section 17 controls The command was output and arm 13 clamped work 1 in the direction of arrow D1 (clockwise). The rotation position is controlled so as to rotate 180° in the state. Figures 6(a), (b), ( The arm 13 is rotated in the manner shown in c), and the upper surface 1a of the workpiece 1 becomes the lower surface. At the same time, the lower surface 1b of the work 1 becomes the upper surface.

[0045] At the time of reversing the workpiece, the workpiece rotation prevention mechanism 16 has the following advantages. have. That is, as shown in FIG. 6(b), the workpiece 1 is placed in the central opening 3. Only the left and right sides of the workpiece are clamped, so the left and right weight of the workpiece relative to the opening center axis Q cannot be balanced. Workpiece 1 rotates as shown by arrow R around central axis Q due to balance. It turns out. However, the parts 5b and 6b separated from the opening 3 are connected to the rods 25 and 25. This rotation is avoided since the base plate is supported by the base plate. Moreover, as mentioned above, the work rotation The locking mechanism part 16 has the left and right frames 5 and 6 aligned with respect to the arm longitudinal center axis 13d. It is possible to perform "centering" to make the workpiece parallel, so workpiece 1 is not turned over. When the workpiece is moved in the transport direction (Y-axis) of the conveyor 8, as shown in FIG. It is possible to position the left and right frames 5 and 6 of the truck 1 in a vertical position. becomes. Furthermore, the opening center 3a of the workpiece 1 is also clamped by the clamping mechanism 15 as described above. Since "centering" is performed by It becomes possible to perform positioning such that the opening center 3a is located at the reference position of Step 108). Once the workpiece 1 is reversed in this way, the surface 1a that is currently the bottom surface is The workpiece holder 41 rises to the workpiece receiving position where it can be received by the workpiece holder 41. A control command is output to the lifter drive unit 44 so as to do so. As a result, the workpiece pedestal 41 is raised in the direction of arrow B1 and stopped at the work receiving position. Then, the Clamped state by clamper 22 of workpiece 1 and workpiece by rods 25, 25 A drive command to release the clamp support state is output to the clamp/detent drive unit 18. It will be done. The above-mentioned clamping state and workpiece support state are released according to this OFF drive command. The workpiece 1 is only supported from below by the workpiece pedestal 41. Ru. Here, a clamper (not shown) is built into the upper surface of the workpiece pedestal 41. is projected from the upper surface, and the swing circle of the lower surface 1a of the work 1 is caused by the clamper. Section 2 is clamped (step 109).

[0046] The upper end of the workpiece pedestal 41 is below the upper end of the slat conveyor 8. A target position is set at the initial position, and the workpiece pedestal 41 is lowered to the target position. The lifter drive unit 44 is drive-controlled as follows. Here, it is placed on the upper part of the workpiece pedestal 41. The clamped state by the clamper is released, and the lower surface 1a of the workpiece 1 is The workpiece 1 is placed on the conveyor 8 in contact with the upper end of the rat conveyor 8. In addition, The robot 10 moves to the initial position in the direction B2 in which the base 12 moves away from the conveyor 8. A control command is output to the traveling drive unit 20 to move the robot 10 to the initial position. Stops at the standby position.

[0047] If the upper surface 1a of the workpiece 1 is made to be the lower surface in this way, this workpiece 1 to the next process, and then reverse it from the previous process to the lifter installation part 9. The conveyor 8 is driven to convey the workpiece 1. Below, step 101 , and similar processing is executed sequentially. Here, it is turned upside down and transported to the next process. As mentioned above, the work 1 to be carried out is a conveyor in the longitudinal direction of the left and right frames 5 and 6 The center 3a of the opening 3 is placed in a position perpendicular to the transport direction of the opening 3. Since it is positioned so that it is located at the reference position of the conveyor 8, the next process It becomes possible to perform the work accurately (step 110).

[0048] In the embodiment described above, the workpiece 1 is clamped with the clamper installation surface 14 facing upward. The workpiece 1 is turned upside down by rotating the arm 13 by 180°. However, of course, the workpiece should be installed with the clamper installation surface 14 facing downward. By clamping the workpiece 1 and rotating the arm 13 by 180°, the workpiece 1 can be lifted up. It is also possible to perform a downward inversion.

[0049] FIG. 4 shows a process executed by the control device 50 to perform such an operation.

[0050] In addition, in this case, the surface 1a having the swing arm portion 2 of the work 1 is the lower surface. Workpiece 1 is transported from the previous process so that the surface 1b is the top surface. shall be

[0051] First, in step 201, the workpiece 1 is transported to the lifter installation section 9 and stopped. Then, the base 11 moves until the opening center 3a of the workpiece 1 coincides with the clamp center G. The travel drive unit 20 is controlled to do so (step 201).

[0052] Then, while the workpiece pedestal 41 receives the workpiece 1, it is opened by the clamper 22... so as to rise to a clamping position where the inner wall 3c of the mouth portion 3 can be clamped. The lifter drive section 44 is driven and controlled (step 202). Next, the clamp mechanism 15 and the workpiece rotation prevention mechanism 16 are activated to clamp the workpiece 1 (the workpiece 1 is clamped). Step 203). Next, when the arm 13 rotates the workpiece 1, the workpiece 1 and the lift The workpiece pedestal 41 is lifted so that it is lowered to a non-interfering position where it does not interfere with the holder 40. The drive unit 44 is controlled to drive (step 204).

[0053] After that, the arm that clamped work 1 rotates 180 degrees and It is inverted so that the upper surface 1b becomes the lower surface (step 205).

[0054] Therefore, the workpiece pedestal 41 receives the surface 1b which has been reversed and becomes the lower surface. The lifter drive unit 4 moves the workpiece pedestal 41 up to the workpiece receiving position where it can be lifted. 4 is driven and controlled. As a result, the arm tip portion 13b is inserted into the relief portion 43. The state becomes as shown in FIG. 5(a) (step 206). And by clamper 22... The clamped state is released and the workpiece supported by the rods 25, 25. It is released (step 207). Then, the workpiece 1 is supported on the workpiece pedestal 41. While moving the workpiece to the arm escape position where the arm tip 13b can escape from the relief part 43. The lifter drive unit 44 is driven and controlled so that the pedestal 41 rises (step 20). 8). When the workpiece pedestal 41 rises to such an arm escape position, the relief part 4 3, the arm tip 13b is removed and the base 11 returns to its initial position. The travel drive unit 20 is drive-controlled as follows (step 209). Next, work 1 Place the workpiece holder 41 on it until the lower surface 1b of the workpiece 1 contacts the upper end of the conveyor 8. After that, the workpiece 1 placed on the conveyor 8 is transported to the next process. (Step 210).

[0055] In this embodiment, the workpiece 1 is only turned upside down in the same way as the embodiment shown in FIG. The conveyor 8 transports the left and right frames 5, 6 of the workpiece 1 in the longitudinal direction 5a, 6a. While maintaining the position perpendicular to the direction, the center of the opening 3a is placed on the conveyor. It can be positioned at a reference position on 8.

[0056] As explained above, according to the embodiment, the robot 10 is connected to one piece of the slat conveyor 8. Since the lifter 40 is placed on the side and inside the conveyor 8, the cost is reduced. There is extra space on one side of conveyor 8, and there is extra installation space on one side of conveyor 8. This makes it easy to install a workpiece reversing device even in a worksite with limited resources.

[0057] Moreover, when the workpiece is transported to the lifter installation section 9, the lifter 40 The robot 10 is a so-called cantilever type robot. is in a retracted position on one side of the conveyor 8, so there is no space around the workpiece, especially above. This creates more leeway. For this reason, parts are suspended using a crane installed on the ceiling. Assembling work can be easily carried out by securing sufficient work space. like this In addition, assembly work can be performed at the same time at a location where a workpiece reversing device is installed. Therefore, space can be used effectively. Moreover, the mechanism of the reversing device around the workpiece, In particular, the clamping mechanism is not close together, so you can work safely. Become. .

[0058] Further, according to the embodiment, a mechanism and a workpiece for clamping the workpiece 1 to the robot 10 are described. A mechanism for rotating the workpiece 1 is provided, a mechanism for raising and lowering the workpiece is provided in the lifter 40, Since the lifting mechanism and other mechanisms are separated, the device configuration is simplified and the device cost is reduced. costs are reduced.

[0059] Further, the lifter 40 of the embodiment simply moves the workpiece 1 on the conveyor 8 above the conveyor 8. Since the structure is as simple as raising and lowering the product, it can be installed on site without requiring a deep foundation. The equipment can be easily installed even in sites where it is impossible to construct deep foundations. becomes.

[0060] Further, according to the embodiment, a radial direction from the clamp center G is provided on the clamper installation surface 14. A clamp mechanism 1 in which a plurality of clampers 22 are moved to the same movement position, respectively. 5 are provided, and these plurality of clampers 22 are brought into contact with the opening inner wall 3c of the workpiece 1. Since we clamped the workpiece 1 in this way, we could "center" the opening center 3a of the workpiece 1. It can be carried out.

[0061] Further, according to the embodiment, a predetermined portion spaced apart from the opening 3 where the work 1 is clamped Since the workpiece rotation prevention mechanism 16 that supports the workpiece position is provided, the workpiece 1 can be rotated. When it is turned over in the ramped state, the heavy workpiece 1 is centered on the opening center 3a. This allows you to avoid rotation.

[0062] Moreover, the workpiece rotation prevention mechanism 16 has a portion symmetrical with respect to the opening 3 of the workpiece 1. positions 5b and 6b are at the same distance from the arm longitudinal center axis 13d. Since the structure supports the left and right frames 5 with respect to the longitudinal center axis 13d, , 6, the parallelism of the longitudinal directions 5a, 6a is maintained, and the inverted workpiece 1 is transferred to the conveyor 8. The posture of the workpiece 1 relative to the conveyance direction of the conveyor 8 is maintained constant when placed on the top. As a result, the work in the next process can always be performed with high precision.

[0063] In addition, in the example, it was assumed that the workpiece 1 had an opening 3 formed therein, but Applicable to, but not limited to, reversing all types of workpieces. Ru.

[0064] In this case, the mechanism for clamping the workpiece moves in the radial direction and The present invention is not limited to the embodiment in which it is clamped from the side. Depending on the type of workpiece, there is a mechanism that clamps the workpiece from the outside, and a vacuum suction mechanism. It can be implemented with any configuration, such as a mechanism to clamp the workpiece. be.

[0065] In addition, the clamper installation surface is limited to a surface perpendicular to the rotational surface of the arm. In short, it is sufficient if a clamping mechanism is provided at the tip of the arm. For example, depending on the type of work being handled, the clamp may be parallel to the rotating plane of the arm. It may also have a configuration with a spacer arrangement surface.

[0066] In addition, in the example, assuming a heavy work, this work is transported by a conveyor. If the workpiece is prevented from rotating so that it can be held in a constant position with respect to the In both cases, a mechanism 16 is provided to maintain a constant posture with respect to the arm. It is not a heavy object, and it is necessary to maintain a constant posture of the workpiece relative to the conveyor. If there is no such mechanism, it is also possible to omit this mechanism.

[0067] Also, when it is a heavy object and it is only necessary to prevent the workpiece from rotating. If the mechanism supports a predetermined part of the workpiece spaced apart from the opening 3, the embodiment It can be implemented in any configuration without being limited.

[0068] In addition, in the embodiment, the tip 25a of the rod 25 is moved to the outside of the arm 13 to remove the workpiece. Although the configuration is such that both sides 5 and 6 are supported from the inside, the configuration is limited to this. For example, there is a structure that supports both sides 5 and 6 of the workpiece 1 from the outside with equal force. It may be completed.

[0069] In addition, in the embodiment, the lifter 40 has a relief part 43 into which the arm tip 13b can be freely inserted and removed. However, the arm posture is such that the clamper installation surface 14 is parallel to the floor. Unless the work 1 is to be clamped, the relief portion 43 is not required. Therefore, it is also possible to omit this.

[0070]

[Effect of the idea]

As explained above, according to the present invention, due to the line configuration, there is a space installed on one side of the conveyor. Work reversing equipment can be easily installed even in sites where space is not available. In addition, the equipment can be installed even in sites where it is not possible to construct deep foundations. becomes. Furthermore, sufficient work space is provided for assembly work in areas where workpieces are turned over. This can be done safely and the space can be used effectively. Also, according to the example If so, a robot with a mechanism to clamp the workpiece and turn it upside down and the workpiece Since the lifter for raising and lowering is constructed separately, the structure is simplified and the equipment cost is reduced. This greatly reduces costs.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the appearance of an embodiment of a work reversing device according to the present invention.

FIG. 2(a) is a diagram showing the configuration of a clamping mechanism section and a work rotation prevention mechanism provided in the robot shown in FIG. 1, and FIG. 2(b) is a diagram showing the configuration of the clamping mechanism section. It is a figure shown in more detail.

3 is a flowchart used to explain an example of the operation of the embodiment device shown in FIG. 1, and is a flowchart showing a processing procedure executed by the control device shown in FIG. 1. FIG.

4 is a flowchart used to explain another example of the operation of the embodiment device of FIG. 1, and is a flowchart showing a processing procedure executed by the control device shown in FIG. 1. FIG.

5A and 5B are side views used to explain the movement of the embodiment device operated by the process shown in FIG. 3; FIG.

6A, 6B, and 6C are perspective views showing how the workpiece is turned upside down by the process shown in FIG. 3, and the passage of time is shown in FIGS. It is a figure shown in order of (c).

FIGS. 7(a) and 7(b) are side views used to explain a conventional work reversing device, and FIG. 7(a) shows a so-called drum-type conventional technique; 1 is a diagram showing a conventional technique using a so-called frame type.

[Explanation of symbols]

1 Work 3 Opening 8 Slat conveyor 9 Lifter installation part 10 Robot 12 Rotating plate 13 Arm 22 Clamper 40 Lifter 41 Work holder 50 Control device

──────────────────────────────────────────────── ─── Continued from the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI Technical display location B25J 19/00 C 9147-3F B65G 47/248 47/52 C 8010-3F

Claims (7)

[Scope of utility model registration request] 1. A workpiece reversing device for vertically reversing a workpiece conveyed by a conveyor and placed at a predetermined position on the conveyor so that the upper surface of the workpiece becomes the lower surface,
a base disposed on one side of the conveyor, a rotating means provided on the base, and one end disposed on the rotating surface such that the longitudinal direction is perpendicular to the rotating surface of the rotating means. a robot provided within the conveyor, the robot having an arm whose tip is positioned above the predetermined position, and a clamping means disposed at the tip of the arm to clamp the work; a lifter that raises and lowers a workpiece placed at a predetermined position on the conveyor; and drive control of the lifter so that the workpiece placed at the predetermined position rises from above the conveyor to a clamping position where it can be clamped by the clamping means. a first drive control means for controlling the clamping means so that the workpiece is clamped when the workpiece is raised to the clamping position; a third drive control means for lowering the lifter to a non-interference position so that the work and the lifter do not interfere when the work is reversed by the arm; and when the lifter is lowered to the non-interference position; a fourth drive control means for driving and controlling the rotating means so that the workpiece is turned upside down; and a fifth drive control means for raising the lifter to the lower surface of the turned workpiece when the workpiece is turned upside down.
and a sixth drive control means for controlling the lifter so that when the lifter is raised to the lower surface of the workpiece, the workpiece clamping state by the clamping means is released and the workpiece is lowered onto the conveyor. A work reversing device comprising drive control means. 2. A workpiece reversing device for vertically inverting a workpiece having an opening formed approximately in the center so that when the workpiece is conveyed by a conveyor and placed at a predetermined position on the conveyor, the upper surface of the workpiece becomes the lower surface. , a base provided on one side of the conveyor; a base moving means for moving the base in a direction perpendicular to the conveying direction of the conveyor; a rotating means having a rotating surface perpendicular to the rotating surface; and an arm having one end disposed on the rotating surface such that its longitudinal direction is perpendicular to the rotating surface, and a tip thereof located above the predetermined position. and,
A clamper installation surface perpendicular to the rotating surface is formed at the tip of the arm, and a plurality of clampers each move the same distance in the radial direction from the clamp center on the clamper installation surface. a robot; and a recess provided within the conveyor that supports the lower surface of a workpiece placed at a predetermined position on the conveyor, and in which the tip of the arm can be freely inserted and removed from above and in a direction perpendicular to the conveyor. a workpiece pedestal in which a part is formed;
a lifter having a lifting means for raising and lowering the workpiece pedestal; and a lifter having a lifting means for raising and lowering the workpiece pedestal, and the workpiece pedestal is raised to an arm tip insertion position where the arm tip with the clamper installation surface facing upward can be inserted into the relief part. a first drive control means for driving and controlling the elevating means; and a first drive control means for driving and controlling the elevating means; and when the workpiece holder is raised to the arm tip insertion position, the arm tip is placed in the relief portion with the clamper installation surface facing upward. a second drive control means for driving and controlling the base moving means so that the workpiece is inserted; and a second drive control means for clamping the inner wall of the opening of the workpiece by the plurality of clampers when the tip end of the arm is inserted into the relief part. a third drive control means for driving and controlling the elevating means so that the workpiece pedestal is lowered to a clamping position where the workpiece can be clamped; a fourth drive control means for driving and controlling the clamping means so that the clamping means comes into contact with an inner wall of the section; and when the workpiece is clamped and the workpiece is reversed by the arm, the workpiece and the workpiece holder do not interfere with each other. fifth drive control means for driving and controlling the elevating means so that the workpiece pedestal is lowered to the non-interference position; A sixth device for controlling the rotation means.
a seventh drive control means for driving and controlling the elevating means so that the workpiece pedestal rises to the bottom surface of the workpiece when the workpiece is turned upside down; an eighth drive that releases the clamping state of the workpiece by the clamping means when the workpiece is lifted up to the lower surface of the conveyor, and drives and controls the lifting means so that the workpiece tray descends until the workpiece is positioned on the conveyor; A work reversing device comprising a control means. 3. The arm is provided with support means for supporting a predetermined portion of the workpiece spaced apart from the opening, and the support means is actuated when the workpiece is being reversed by the sixth drive control means, Claim 2: The workpiece is prevented from rotating around the opening while being turned upside down.
The work reversing device described. 4. The supporting means includes two bars each having one end supported by the arm so as to be rotatable in a direction parallel to the clamper installation surface, and the tips of the two bars extending in the longitudinal direction of the arm. and bar driving means for rotating the two bars to the outside of the arm so that the two bars are respectively spaced the same distance from the central axis, and the workpiece is rotated to the outside of the arm so that the two bars are respectively rotated to the outside of the arm. The bar driving means has two parts that are symmetrical with respect to the opening against which the tip of the bar comes into contact, and the bar driving means is connected to the sixth part.
4. The workpiece reversing device according to claim 3, wherein the workpiece reversing device maintains a constant attitude of the workpiece relative to the conveyor by operating the workpiece when the workpiece is being reversed by the drive control means. 5. A workpiece reversing device for vertically inverting a workpiece having an opening formed approximately in the center so that when the workpiece is conveyed by a conveyor and placed at a predetermined position on the conveyor, the upper surface of the workpiece becomes the lower surface. , a base disposed on one side of the conveyor, a base moving means for moving the base in a direction perpendicular to the conveyance direction of the conveyor, and a base provided on the base, a rotating means having a rotating surface perpendicular to the floor surface, one end of which is disposed on the rotating surface such that the longitudinal direction is perpendicular to the rotating surface, and the tip thereof is located above the predetermined position. a clamper installation surface perpendicular to the rotating surface is formed at the tip of the arm, and a plurality of clampers move the same distance in the radial direction from the clamp center on the clamper installation surface. a robot having a clamping means; and a robot provided in the conveyor to support the lower surface of the workpiece placed at the predetermined position on the conveyor, and to support the arm from above and from a direction perpendicular to the conveyor. a lifter having a workpiece pedestal having a recessed part that can be freely inserted and removed; a lifter having a lifting means for raising and lowering the workpiece pedestal; and an arm tip with the clamper installation surface facing downward above the workpiece pedestal. driving and controlling the base moving means so that the base moving means is located at the same position, and driving and controlling the lifting means so that the workpiece holder rises to a clamping position where the plurality of clampers can clamp the inner wall of the opening of the workpiece. a first drive control means for controlling the clamping means, and a second drive control means for controlling the clamping means so that the plurality of clampers come into contact with the inner wall of the opening of the workpiece when the workpiece pedestal is raised to the clamping position.
drive control means, and driving the lifting means so that the workpiece pedestal is lowered to a non-interference position where the workpiece and the workpiece pedestal do not interfere when the workpiece is reversed by the arm when the workpiece is clamped. a third drive control means for controlling the rotation means; a fourth drive control means for controlling the rotation means so that the workpiece is turned upside down when the workpiece pedestal is lowered to the non-interference position; a fifth drive control means for driving and controlling the elevating means so that the workpiece pedestal rises to the bottom surface of the workpiece when the workpiece is turned upside down;
drive control means, and an arm tip escape position where the workpiece clamping state by the clamping means is released when the workpiece pedestal is raised to the lower surface of the workpiece, and the arm tip can escape from the relief part. a sixth drive control means for driving and controlling the elevating means so that the workpiece pedestal is raised until the workpiece pedestal is raised; a seventh drive control means for driving and controlling the base moving means so that the workpiece holder is lowered until the workpiece is positioned on the conveyor when the tip of the arm escapes from the relief part; and eighth drive control means for driving and controlling the elevating means. 6. The arm is provided with support means for supporting a predetermined part of the workpiece spaced apart from the opening, and the support means is actuated when the workpiece is being reversed by the fourth drive control means, Claim 5: The workpiece is prevented from rotating around the opening while being turned upside down.
The work reversing device described. 7. The supporting means includes two bars each having one end supported by the arm so as to be rotatable in a direction parallel to the clamper installation surface, and the tips of the two bars extending in the longitudinal direction of the arm. and bar driving means for rotating the two bars to the outside of the arm so that the two bars are respectively spaced the same distance from the central axis, and the workpiece is rotated to the outside of the arm so that the two bars are respectively rotated to the outside of the arm. In this case, the bar drive means has two parts that are symmetrical with respect to the opening against which the tip of the bar comes into contact, and the bar driving means is connected to the fourth part.
7. The work reversing device according to claim 6, wherein the work reversing device maintains a constant attitude of the work relative to the conveyor by operating the work while the work is being reversed by the drive control means.