JPH04277113A - Hanging transfering body - Google Patents

Abstract

PURPOSE:To prevent hanging of a hooking section from failing even if the hooking section is set to a somewhat deviated position and make an excellent pivoting preventing structure of a workpiece hooked section by forming the hooked section of an approximately polygonal hole. CONSTITUTION:An industrial robot 100 successively hangs workpieces 2 carried sequentially to a fixed position on a conveyer 200 with a robot hand 1 to hangers 3 carried by a hanger conveyer 300. Then, an arm 120 is moved such that while a rhombic hole 24 in the workpiece 2 comes right above a wedge 63, the longitudinal direction of the rhombic hole coincides approximately with the direction of a triangular plate surface and the rhombic hole 24 is surely hooked on the wedge 63. Even if the tip of the wedge 63 is set offset back and forth or left and right from the center of the rhombic hole 24, the rhombic hole 24 is smoothly hooked on the wedge due to the rhombic shape. Also, since the hooking section 64 is a triangular plate-like wedge 63, the wedge 63 is engagedly included in the corner of the rhombic hole 24 to block the relative pivoting.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the structure of a hooked part of a workpiece when the suspended conveyor (workpiece) is hung from a hanger with a hook having a wedge-shaped hooking part attached to a hanger conveyor or the like.

0002

2. Description of the Related Art Conventionally, in painting lines and the like, work has been automated in which workpieces transported to a set position are grasped and hung on hangers installed on a hanger conveyor. However, it is difficult to accurately set the hooking position of the hanger due to swinging, deformation of the hanger itself, etc., and it is easy to fail to hook the workpiece. Furthermore, if the suspended workpiece rotates around the hook, uneven coating will occur, so a means to prevent the workpiece from rotating is required.

[0003] In order to prevent such failures, it is necessary to form the structure of the hanger to be precise and strong, and to control the position of the hanger conveyor with high precision, both of which lead to an increase in cost. It is also convenient to prevent rotation if the hook itself has a structure that prevents rotation.

0004

[Problems to be Solved by the Invention] An object of the present invention is to prevent failure of hanging even if there is a slight deviation in the set position of the hook part of the hanger, thereby improving the efficiency of hanging work on the hanger. To provide a suspended conveyance body in which a hooked part of a workpiece has an excellent rotation prevention structure.

[0005]

[Means for Solving the Problems] A suspended conveyance body of the present invention has a hooked portion formed by making a hole in a plate portion, and is conveyed by being hooked on a wedge-shaped portion of a hook of a hanger. In this case, a configuration is adopted in which the hooked portion is a substantially polygonal hole.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be explained based on FIGS. 1 to 3. The industrial robot 100 has a robot hand 1 and a conveyor 2.
Workpieces 2 that have been sequentially carried to fixed positions by 00 are hung one after another on hangers 3 that have been carried to set positions by a hanger conveyor 300.

The robot 100 has a trunk 11 installed on the floor.
0 is attached with an arm 120 having multiple joints. The robot hand 1 includes a work gripping hand 4 and a hanger gripping hand 5 attached to a holder 11 attached to the tip of an arm 120 in a predetermined positional relationship. The work gripping hand 4 has flat fingers 41, 41 with variable finger spacing.
has. The hanger gripping hand 5 includes fingers 51, 51 with a variable distance between the fingers, and has a structure in which a substantially rectangular gap 52 is formed in the center when the fingers 51, 51 are narrowed.

[0008] The work 2 is formed by forming a sheet metal into a rectangular frame 21.
One end is closed with a bottom plate 22. A substantially diamond-shaped hole 24 is punched out near the corner of the short member 23 of the frame 21, and serves as a hooked portion.

A large number of hangers 3 are attached to the track of the hanger conveyor 300 at regular intervals.The hanger body 33 has a large number of parallel ribs 32 welded perpendicularly to the horizontal support 31, and each rib 32 It consists of rod-shaped hooks 6 suspended from both ends. The hook 6 has an engaging portion 61 for engaging the rib 32 at the upper end, a bar-like portion 62 at the middle, and a lower end bent into a J shape, with a portion at the tip having a width larger than the maximum width of the diamond-shaped hole 24. A triangular plate-shaped wedge 63 serves as a hook portion 64 that is welded upward.

The corners of the approximately rhombic hole 24 may be arcs with a small radius of curvature as shown in the figure, or may be pointed, but if they have a curvature as shown in FIG. and when the diamond-shaped hole 24 is hooked on the wedge 63,
Both sides 631 and 632 of the wedge 63 are the corners 241 of the diamond-shaped hole 24,
242.

The operation of the robot hand 1 of this embodiment will be explained. The robot 100 moves the arm 1 so that the robot hand 1 is above the work 2 carried by the conveyor 200.
20 is moved so that a predetermined position of the elongated member 25 of the workpiece 2 is located approximately in the middle between the open fingers 41, 41. Next, grip the elongated member 25 with the fingers narrowed.

Next, the arm 120 is moved so that the diamond-shaped hole 24 of the workpiece 2 is directly above the wedge 63 and the longitudinal direction of the diamond substantially coincides with the surface direction of the triangular plate. At this time, the hanger gripping hand 5 is set so that the rod-shaped portion 62 of the hook is positioned between the spread fingers 51, 51. Next, narrow the fingers 51, 51, and insert the rod-shaped part 6 into the gap 52 created in the center.
Hold 2 loosely.

When the tip of the arm 120 is lowered in this state, the robot hand 1 moves the workpiece gripping hand 4 to the workpiece 2.
Since the hanger gripping hand 5 moves downward while holding the bar-shaped portion of the hook 6 loosely, the diamond-shaped hole 24 is reliably caught on the wedge 63. Next, fingers 4 of the hand holding the workpiece
When the space between 1 and 41 is widened, the workpiece 2 is suspended from the hook 6. Further, spread the fingers of the hanger gripping hand 5 and release the hook 6.

This completes the process of hanging the workpiece 2 on the hanger 3, and the robot 100 moves the robot hand 1 at the tip of the arm 120 onto the next workpiece 2 carried by the conveyor 200 in order to grab the next workpiece. move it to

In this work of hanging the workpiece 2, since the diamond-shaped hole 24 is diamond-shaped, even if the tip of the wedge 63 is set to be offset from the center of the diamond-shaped hole 24 in the front and back or left and right, the workpiece 2 can be hung smoothly. Can be done. Further, since the diamond-shaped hole 24 is diamond-shaped and the hook portion 64 is a triangular plate-shaped wedge 63, the wedge 63 bites into the corner of the diamond-shaped hole 24 and engages with it, thereby preventing relative rotation. This prevents the workpieces from rotating and colliding with each other, and the workpiece to be coated from rotating and causing uneven coating during electrostatic coating.

[0016] The hole shape of the hooked portion may be a substantially rhombic shape or a polygonal shape such as a triangular, rectangular, or pentagonal shape. Further, the wedge-shaped portion of the hook may have a polygonal pyramid shape other than a triangular plate shape. In addition,
The polygonal structure of the hooked part of the present invention can be applied to electrostatic coating in which liquid or powder paint is sprayed onto the workpiece in the air, enamel painting in which the workpiece is immersed in liquid paint, plating, degreasing, and cleaning. It is effective for all types of work in which workpieces are suspended and transported, such as painting methods that involve dipping the workpiece in powder paint, as well as parts supply conveyors on assembly lines.

[0017]

According to the present invention, a substantially polygonal hole is provided in the plate-shaped portion of the workpiece to serve as a hooked portion, so that a hanging body (workpiece) can be hung efficiently from the hook of a hanger. Furthermore, when the workpiece is hung from a hook having a wedge-shaped portion, the corners of the wedge engage with the corners of the hole, thereby preventing the workpiece from rotating around the hook portion.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a hanging structure of a hanging body according to the present invention.

FIG. 2 is a plan view of the hanging structure of the hanging body of the present invention.

FIG. 3 is a perspective view showing a workpiece suspension operation performed by a robot.

[Explanation of symbols]

1 Robot hand 2 Work 3 Hanger 6 Hook 24 Diamond hole 63 Cuneiform part

Claims (1)

[Claims] [Claim 1] A hanging conveyor that has a hooked part formed by a hole in a plate part and is carried by being hooked on a wedge-shaped part of a hook of a hanger, wherein the hooked part is formed with a substantially polygonal hole. A suspended conveyance body characterized by: