JPH0531888U - Handling equipment - Google Patents

Abstract

(57) [Summary] [Purpose] To make a device that handles plate-like objects such as iron plates extremely compact. [Configuration] When the handling members 13 to the opening 6 _a of the iron plate 6 is inserted, the plunger member 14 is moved raised, by the second body portion 14 _c and the handling member 13 of the plunger member 14 is engaged , The handling member 13 is expanded in the radial direction. As a result, the notch groove 13 _a of the handling member 13 and the inner peripheral edge of the opening 6 _a are engaged with each other, and the iron plate 6 can be handled. When the iron plate 6 is handled as described above and conveyed to a desired position, the plunger member 14 is moved down at that position. As a result, the engagement between the second body portion _14c and the handling member 13 is released, and the handling member 13 is contracted by the action of the coil spring 17. When the handling member 13 is reduced, is disengaged from the inner peripheral edge portion of the cutout groove 13 _a and the opening 6 _a, iron plate 6 is open at that location.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a handling device that is used to convey an iron plate when the plate-shaped body such as the iron plate is pressed or spot-welded.

[0002]

[Prior Art]

A robot is generally used to convey the iron plate of this type, and the handling device is mounted on the robot. An example thereof is shown in FIG. In the handling device 1 shown in the figure, a flat plate-shaped handling jig 4 is attached to the tip of an arm 3 of an articulated robot 2, and a clamping mechanism is attached to both side ends of the handling jig 4. 5, 5 are arranged. The clamp mechanism 5 is provided with a claw 7 for holding an iron plate 6 described later together with _a claw 4a projecting from the lower surface side of the handling jig 4 so as to hold it from its side end. The pawl 7 is opened and closed by an air cylinder 8, for example. The air cylinder 8 is connected to a compressed air unit (not shown) via an air pipe 9. On the other hand, the iron plate 6 is placed on a placing member 11 planted in the fixing jig 10 and positioned by a positioning pin 12 inserted into an opening formed in the iron plate 6. The handling device 1 is drive-controlled together with the robot 2 according to a program taught in advance. That is, the arm 3 of the robot 2 is moved and driven until the pawls 4 _a , 4 _a come into contact with the upper surface of the iron plate 6 with the pawls 7, 7 opened. When the upper surface of the pawl 4 _a, 4 _a of the tip and the iron plate 6 is moved to a position abutting the claw 7,7 are driven by air cylinders 8, 8 in the closing direction, the iron plate 6 is the pawl 4 by _a and 7 as saddled from both sides are pinched. After that, the handling jig 4 is moved upward, and the iron plate 6 is removed from the positioning pin 12 as the handling jig 4 moves. Then, the iron plate 6 gripped by the handling device 1 is subjected to spot welding, pressing, etc. in the subsequent steps.

[0003]

[Problems to be solved by the device]

 However, in the conventional handling device 1, as described above, the iron plate 6 is configured to be held by being held from both sides thereof. There was a problem that the jig 4 was required and the size of the entire device was increased. This causes various adverse effects, such as an increase in the weight of the robot 2 that can be carried and a decrease in positioning accuracy due to the influence of inertia. Therefore, the present invention has been made in view of the above circumstances, and provides a handling device capable of handling a plate-shaped body with a compact mechanism regardless of the size of the plate-shaped body. The purpose is.

[0004]

[Means for Solving the Problems]

 In order to achieve the above object, the main means adopted by the present invention is the gist thereof, but in a device for handling a plate-shaped body having an opening, it is formed into a substantially cylindrical shape that can be inserted into the opening of the plate-shaped body. And a handling member that has an engaging portion capable of engaging with the inner peripheral edge of the opening on its outer peripheral surface and is expandable / contractible in a direction substantially perpendicular to the axis of the opening, and the inside of the handling member. And a plunger member that is movable in the axial direction of the handling member and that expands and contracts the handling member according to the moving position, and the handling member that is inserted in the opening of the plate-like body. Expansion / contraction of operating the plunger member to expand / contract the handling member to engage or disengage the engaging portion of the handling member and the inner peripheral edge of the opening of the plate-shaped body. A handling apparatus according to point formed by and a structure.

[0005]

[Action]

 In the handling device according to the present invention, when the plunger member is operated while the handling member is inserted into the opening of the plate-like member, the handling member is expanded and the inner peripheral edge portion of the opening engages with the engaging portion. Then, the plate-like body is held by the handling device. The plate-like body held by the handling device as described above is transported to a predetermined position, and then the plunger member is operated to reduce the size of the handling member to open the plate-like body. The engagement between the inner peripheral edge of the and the engaging portion of the handling member is released, and then the handling member is removed from the opening. By using the handling device configured as described above, the plate-shaped body can be handled within its plane, so a mechanism large enough to cover the plate-shaped body is not required, and the entire apparatus can be compact. Can be realized.

[0006]

【Example】

Embodiments embodying the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following embodiment is an example in which the present invention is embodied, and does not limit the technical scope of the present invention. 1 is a side sectional view of a handling device according to an embodiment of the present invention, and FIG. 2 is an explanatory diagram showing an operation procedure of the handling device. Handling apparatus according to this embodiment, as shown in FIG. 1, a handling member 13 for holding the iron plate 6, for example, is inserted into the opening 6 _a of iron plate 6 mentioned above, the plunger member to operate the Ha Ndoringu member 13 14 And an expansion / contraction mechanism for operating the plunger member 14 described above. A plurality of the handling devices are provided according to the size of the iron plate to be transported, and are held by the arm 3 (see FIG. 3) of the robot 2 as described above. The handling member 13 is formed in a substantially cylindrical shape that can be inserted into the opening 6 _{a of the} iron plate 6, and is vertically divided into a plurality of parts along the axis thereof. Below the outer circumferential surface of the Handori ring member 13, the inner peripheral portion engageable with the notch grooves 1 3 _a of the opening 6 _a and are engraved at its upper end, the arm 3 (see FIG. 3 ) Is attached to a jig 15 which is supported by a pin 16 so as to be swingable. That is, the handling member 13 is configured to be expandable / contractible about the pin 16 in _a direction substantially perpendicular to the axis of the opening 6a, and the elastic biasing force of the coil spring 17 always causes the handling member 13 to contract. Being energized. The plunger member 14 has a disk-shaped head portion 14a at its lower end, and _a first body portion _14b having a small outer diameter dimension and a second body portion 14 having a large outer diameter dimension in the middle portion thereof. It is formed in a substantially columnar shape with _c and. The plunger member 14 is fitted inside the handling member 13 so as to be movable in the axial direction of the handling member 13, and the first barrel portion 14 _b located at the uppermost portion of the plunger member 14 further includes It is fitted inside the jig 15. Then, it is constantly urged elastically into axial direction in the first body portion 14 _b of the engaging groove which is engraved on the end 14 _d and the jig 15 is provided inside the upper and lower positions Sprint grayed 18 By selectively engaging with the steel balls 19 and 20, respectively, the plunger member 14 is positioned and fixed in the raised position and the lowered position, respectively.

When the plunger member 14 is moved downward and the engagement groove 14 _d and the steel ball 20 are engaged with each other, the first body portion 14 _b and the inside of the handling member 13 are engaged with each other, and The member 13 is contracted so that the engagement between the notch groove 13 _a of the handling member 13 and the opening 6 _{a of the} iron plate 6 is released (see FIG. 1). On the other hand, when the plunger member 14 is moved upward and the engagement groove 14 _d and the steel ball 19 are engaged with each other, the second body portion 14 _c and the inside of the handling member 13 are engaged with each other, and the handling member 13 is It will be in an enlarged state. Thus, the cutout groove 13 and the opening 6 _a of _a and iron plate 6 are engaged with the handling member 13, a state of the iron plate 6 may Handorin grayed (see FIG. 2 (A)). The scaling mechanism, the handling member 13 is raised move the plunger member 14 in a state of being inserted into the opening 6 _a of the iron plate 6 is enlarged the handling member 13, the cutout groove 13 _a of the handling member 13 and an air cylinder 21 to engage the inner peripheral edge of the opening 6 _a of the iron plate 6, with respect to the handling member 13 in a state of holding the iron plate 6, and the head 14 _a of the plunger member 14 engages Then, the plunger member 14 is relatively moved downward with the upward movement of the handling member 13, and the handling member 13 is contracted so that the inner peripheral edge portion of the opening 6 _a of the iron plate 6 and the notch of the handling member 13 are cut. are provided with a release pawl 22 (see FIG. 2) to release the engagement between the groove 13 _a. That is, the air cylinder 21 is equipped with _a rod 21 _a that is brought into contact with the head 14 _a of the plunger member 14 and pushes up the plunger 14, and is attached to a floor-shaped fixing jig 23. The fixing jig 23 is provided with a positioning pin 25 that can be elastically moved up and down between the positioning protrusion 24 and the upper surface of the fixing jig 23. The rod 21 _{a of the} cylinder 21 is inserted.

The positioning pin 25 is provided in the opening 6 of the iron plate 6 mounted on the mounting member 26._a It is elastically fitted from below and serves to position the iron plate 6. As shown in FIG. 2, the release claw 22 is incorporated in a mounting member 27 arranged at the destination of the iron plate 6. That is, the tip of the placing member 27 is cut into a fork shape, and the notch 27_aOn the other hand, the release claw 22 formed in a bifurcated shape is fitted so as to be swingable in the direction of arrow 28. The release claw 22 is swung so that the cutout portion 27 of the mounting member 27 is removed._aWhen it is inserted into the_aIs ready to be engaged. The handling device according to this embodiment is configured as described above. Next, the procedure for transporting the iron plate 6 by the handling device will be described. In this case, the handling device is supported by the arm 3 (see FIG. 3) of the robot 2 as described above, and is drive-controlled together with the robot 2 according to a program taught in advance. First, the robot 2 is driven so that the axis of the positioning pin 25 and the axis of the handling member 13 are aligned with the iron plate 6 placed on the placing member 26 and positioned by the positioning pin 25. Controlled. When the handling member 13 faces the position above the positioning pin 25 and the respective axial cores match, the handling member 13 is moved down. The handling member 13 is moved down, the tip of the handling member 13 contacts the upper end surface of the positioning pin 25, and the handling member 13 is moved down, so that the positioning pin 25 elastically moves. Pushed down. The notch groove 13 of the handling member 13 _a And the opening 6 of the iron plate 6_aThe handling member 13 is stopped at a position where and match. In this state, the rod 21_aWhen the air cylinder 21 is driven to be lifted, the plunger member 14 is moved upward and the handling member 13 is enlarged. Thereby, the notch groove 13 of the handling member 13_aAnd the opening 6 of the iron plate 6_aEngages with the inner peripheral edge of the. In this state, the robot 2 is controlled and the iron plate 6 is handled by the handling device and conveyed to a desired position. A series of operations as described above is shown in FIGS. 1 and 2 (A).

The handling device moved to a desired position by handling the iron plate 6 as described above has the cutout portion 27 of the placing member 27 described above._aThe head 14 of the plunger member 14_aIs controlled to be inserted. In this state, the release claw 22 is oscillated and driven to move the notch 27_aInserted inside. As a result, the release claw 22 and the head 14 of the plunger member 14 are_aAnd are engaged. Subsequently, as the handling device is moved upward, the plunger member 14 is moved relatively downward, and the handling member 13 is contracted. Thereby, the notch groove 13 of the handling member 13_aAnd the opening 6 of the iron plate 6 _a Is disengaged and the iron plate 6 is released at a desired position. Of the procedures described above, the head 14 of the plunger member 14_aThe state where the release claw 22 is engaged with the release claw 22 is shown in FIGS. In the figure, (C) shows the state of (B) in a side view. Since the handling device according to this embodiment is configured as described above, the iron plate 6 can be handled inside the area. Therefore, the handling device does not need a mechanism for covering the iron plate 6 according to the size of the iron plate 6 as in the case of the conventional handling device 1, and is extremely compact in structure. can do. As a result, the weight of the handling device itself can be reduced, the load capacity of the robot 2 can be reduced, and various problems such as prevention of deterioration of positioning accuracy due to the influence of inertia can be improved. Further, in the handling device according to the present embodiment, since the air cylinder 21 and the release claw 22 for operating the handling device are installed on the floor side, in the handling device, in the case of the conventional handling device, There is no need to provide air piping, etc. as in the above, and the configuration can be extremely simple and easy to handle.

[0010]

[Effect of the device]

 As described above, the present invention provides an apparatus for handling a plate-shaped body having an opening, which is formed into a substantially cylindrical shape that can be inserted into the opening of the plate-shaped body and has an inner peripheral edge portion of the opening on the outer peripheral surface thereof. A handling member having an engaging portion capable of engaging with the opening member and being expandable / contractible in a direction substantially perpendicular to the axis of the opening, and movable in the axial direction of the handling member inside the handling member. A plunger member that is provided and expands and contracts the handling member according to its moving position, and operates the plunger member while the handling member is inserted into the opening of the plate-like member to expand and contract the handling member. A hand-held device comprising an expansion / contraction mechanism for engaging or disengaging the engaging portion of the handling member with the inner peripheral edge of the opening of the plate-like body. Since that, regardless of the size of the to be handled plate-like body may be configured compact.

[Brief description of drawings]

FIG. 1 is a side sectional view of a handling device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an operation procedure of the handling device.

FIG. 3 is an explanatory view showing a situation where an iron plate is handled by a conventional handling device.

[Explanation of symbols]

6 ... iron plate 6 _a ... opening 13 ... handling member 13 _a ... notched groove 14 ... plunger member 14 _a ... head 14 _b ... first barrel 14 _c ... second barrel 14 _d ... engaging groove 15 ... jig 16 … Pin 17… Coil spring 18… Spring 19, 20… Steel ball 21… Air cylinder 21 _a … Rod 22… Release claw

Claims (1)

[Scope of utility model registration request] 1. An apparatus for handling a plate-shaped body having an opening, wherein the plate-shaped body is formed into a substantially cylindrical shape that can be inserted into the opening, and the outer peripheral surface of which is engageable with the inner peripheral edge portion of the opening. A handling member having a joint portion, which is expandable / contractible in a direction substantially perpendicular to the axis of the opening, and provided inside the handling member so as to be movable in the axis direction of the handling member, depending on the moving position. And a plunger member that expands and contracts the handling member, and the plunger member is operated to expand and contract the handling member in a state where the handling member is inserted into the opening of the plate-shaped body, and the engaging portion of the handling member and the A handling device, comprising: an expansion / contraction mechanism for engaging or disengaging the inner peripheral edge of the opening of the plate-shaped body.