JPH0531643A - Robot for conveying work - Google Patents

Abstract

PURPOSE:To convey a work to a work stage by means of a hand of simple structure and reliably position the work in the given position of the stage. CONSTITUTION:Vacuum caps 33 to such a work are mounted on a hand and fitting pins 32 fitted in respective locate holes H are attached to the hand, and the fitting pins are forward and backward movably attached to the hand so that the fitting pins are moved backward by moving the work in the state that the fitting pins are fitted in the respective locate holes, in the proximity to the work stage of the hand after the fitting pins are conveyed to positions concetric to the respective locate holes. In this constitution, the locate holes, formed in the work to the position the work to the work stage are also utilized when the work is grasped and delivery of the work to the work stage, can be secured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work transfer robot for transferring a work to a work stage provided with a locate pin fitted in a locate hole formed in the work, and more particularly to a hand for holding the work. Work transfer robot.

[0002]

2. Description of the Related Art When a panel-shaped work constituting an automobile body is installed on a work stage to process this work or to assemble other parts to this work, the work is The work is transferred from the storage in which the work is stored to the positioning jig by using the transfer robot. Conventionally, a transport robot as shown in FIG. 4 has been used to transport such a work. A plurality of fingers or fixtures 12 for holding the work W are attached to a base 11 of the work stage 10 as a holding jig, and further fitted into a locate hole H formed in the work W in advance. A plurality of locate pins 13 for positioning the work are attached as a positioning jig.
The work W is attached to the arm 21 of the transfer robot for transferring the work toward the work stage 10 having such a configuration.
A hand 22 for gripping is attached. The hand 22 is provided with a plurality of clamp members 23 for gripping the work W in the peripheral portion, and each clamp member 23 can be opened and closed by a pneumatic cylinder 24.

[0003]

As described above, the structure of the hand 22 mounted on the arm 21 of the conventional transfer robot is such that the work W is grasped by the peripheral portion thereof. When the work W coated with the sealing material is positioned and conveyed to the jig of the work stage 10, the portion that can be gripped by the clamp member 23 is limited. Therefore, there is a problem that the structure of the robot hand 22 becomes complicated and the work W cannot be transported in a stable state.

The present invention has been made in view of the above-mentioned problems of the prior art, and by using a locate hole formed in advance in a work at the time of carrying the work, a robot hand having a simple structure can be used for the work. The purpose is to enable reliable positioning on the stage.

[0005]

The present invention for achieving the above object provides a work transfer robot for transferring a work to a work stage provided with a locating pin fitted into a locating hole formed in advance in the work, The hand is attached to the arm of the transfer robot arranged adjacent to the work stage, the suction means for sucking the work is attached to the hand, and the fitting pin that fits in the locate hole is attached to the hand, After the work pin in which the fitting pin is fitted in the locate hole is conveyed to the concentric position with the locate pin, the fitting pin is retracted by the movement of the hand toward the work stage. As described above, the work transfer robot has the fitting pin attached to the hand so as to be movable back and forth.

[0006]

[Operation] To make the robot hand grip the work,
The hand is brought close to the work, the vacuum cup is brought into close contact with the surface of the work, and the fitting pin is fitted into the locate hole formed in the work in advance. As a result, the work is gripped by the hand by the suction means while being positioned by the fitting pin using the locate hole. After the work is conveyed to the work stage in this state, the work is moved closer to the work stage, and the fitting pin is moved backward by the locate pin, whereby the work is transferred from the hand to the work stage.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention shown in the drawings will be described in detail below. The structure of the work stage shown in FIG.
The structure is almost the same as that of the conventional work stage 10 shown in FIG. 4, and among the constituent members of the work stage 10 shown in FIG. 1, members common to the members shown in FIG. 4 are the same. It is shown with the reference numeral. That is, a plurality of fingers or fixtures 12 for holding the work W are attached to the base 11, and the work W is held in advance.
Locate pin 13 that fits into the locate hole H formed in the
However, the same number of locate holes H are attached to the positions of the locate holes H. In the illustrated case, two locate pins 13 are attached.

A work transfer robot is arranged adjacent to the work stage 10. An arm 21 of the robot has a robot hand 31 having a predetermined number of axes function.
Is installed. Two hand-side locate pins, that is, fitting pins 32 are attached to the hand 31 corresponding to the two locate holes H formed in the work W, and are closely attached to the surface of the work W to be attracted to the work W. Two vacuum cups 33 are attached as suction means. Details of the fitting pin 32 and the vacuum cup 33 are as shown in FIG. As shown in the figure, the vacuum cup 33 has a cup body 34 made of an elastic material such as rubber attached to the hand 31 by a hollow cylindrical body 35, and a hose 36 connected to the cylindrical body 35 from a negative pressure source (not shown). The cup body 34 adsorbs the work W by the negative pressure.

The fitting pin 32 is attached to the hand 31 via a bush 41 so as to be movable back and forth in the axial direction, and is housed in a case 42 fixed to the upper surface of the hand 31. The compression coil spring 43 provided in the case 42 urges the fitting pin 32 with an elastic force in the forward direction, and the forward limit of the fitting pin 32 is the fitting pin 32. The large-diameter collar portion 44 formed on the upper end is regulated by coming into contact with the bottom portion of the case.

A convex portion 45 is formed at the tip of the fitting pin 32, and a concave portion 46 that engages with the convex portion 45 is formed at the tip of the locate pin 13. The two fitting pins 32 are provided corresponding to the positions of the locate holes H formed in the work W, and at the same time, correspond to the positions of the two locate pins 13 attached to the base 11. Therefore, 2
When the hand 31 is moved downward, that is, moved closer to the work stage 10 in a state where the fitting pin 32 of the book is set at the concentric position with respect to the locate pin 13, the fitting pin 32 moves to the locate pin 13 and the respective uneven portions. The parts 45 and 46 are engaged. Subsequently, when the hand 31 is moved down, the fitting pin 32 moves backward, and the work W is changed from the state of being fitted to the fitting pin 32 to the state of being fitted to the locate pin 13. The concavo-convex relationship between the pins 13 and 32 may be set reversely.

FIG. 3 is a view showing another concrete example of the concavo-convex shapes of the tip ends of the locate pin 13 and the fitting pin 32. In this case, four axially extending projections 47 separate the grooves. Is formed at the tip of the fitting pin 32, and similarly, at the tip of the locate pin 13, four protrusions 48 are formed with a groove therebetween, so that engagement can be achieved more reliably. Is becoming By forming a spiral groove on the outer peripheral surface of the fitting pin 32 and providing a protrusion that engages with the spiral groove on the bush 41 shown in FIG. The fitting pin 32 may be slightly rotated when moving forward and backward.

Next, a procedure for positioning and transporting the work W to the work stage 10 using the above-described work transport robot will be described. The work W placed on a work storage unit (not shown) is gripped by a hand provided on the arm of the work transfer robot. At this time,
The fitting pin 32 is inserted into the locate hole H formed in the work W.
And the cup body 34 of the vacuum cup 33 comes into close contact with the surface of the work, and the inside of the cup body 34 is brought into a negative pressure state in this state, whereby the work W is held by the hand. After that, the robot arm 21 is moved, so that the work W is moved to just above the work stage 10.
Is transported. Then, when the hand 31 is moved downward, the fitting pin 32 comes into contact with the locate pin 13 and the concave and convex portions formed at the respective tip portions are engaged with each other. Continue,
By the downward movement of the hand 31, the fitting pin 32 is moved to the spring 43.
The work W is transferred to and positioned by the locate pin 13 and is held on the base 11 by the fingers 12 by retreating against the elastic force of the vacuum cup 33 and releasing the negative pressure of the vacuum cup 33.

As described above, in the illustrated work transfer robot, the positioning hole H formed on the work W and fitted with the locate pin 13 on the work stage.
Is also used as a hole for fitting the fitting pin 32 provided in the hand 31 for gripping the work W, so that the gripping of the work W is not limited to the shape of the work W. The work having a simple structure can surely position and convey the work to a predetermined position. Therefore, even when the sealing agent is applied to, for example, the outer peripheral portion of the work, the grip position of the work W is not limited, and the work can be reliably gripped and positioned by the simple structure. Instead of the vacuum cup 33, it is possible to use an electromagnet as the attraction means.

[0014]

As described above, according to the present invention, the locate hole formed in the work for positioning the work on the work stage is also used when the work is transported to the work stage. By simply moving the work piece toward the work stage, the work piece can be transferred from the robot hand to the work stage, and the work piece with a simple structure allows the work piece to be installed at a predetermined position while being surely positioned. it can.

[Brief description of drawings]

FIG. 1 is a perspective view showing a work transfer robot according to an embodiment of the present invention,

2 is an enlarged cross-sectional view of part A in FIG.

FIG. 3 is a perspective view showing another structure of the tips of the fitting pin and the locate pin;

FIG. 4 is a perspective view showing a conventional work transfer robot.

[Explanation of symbols]

10 ... Work stage, 11 ... Base, 12 ... Fingers,
13 ... Locating pin, 21 ... Robot arm, 31 ...
Robot hand, 32 ... Mating pin, H ... Locate hole,
W ... work.

Claims (1)

Claim: What is claimed is: 1. A work transfer robot for transferring a work to a work stage having a locating pin fitted into a locating hole formed in advance in the work. The work stage is arranged adjacent to the work stage. The hand is attached to the arm of the transfer robot, the suction means for sucking the work is attached to the hand, and the fitting pin that fits into the locate hole is attached to the hand, and the fitting pin fits into the locate hole. After the fitting pin is conveyed to the position where the fitting pin is concentric with the locate pin, the fitting pin is moved back and forth so that the fitting pin is retracted by the movement of the hand toward the working stage. A work transfer robot that is movably attached to the hand.