JPH0533241Y2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a clamping air connection device in a system in which a workpiece clamped on a workpiece clamp jig is conveyed by a robot hand to various processing machines such as a stationary welding machine.

Conventional technology Robots are generally used as systems to automate processes such as spot welding on workpieces, and the workpieces are usually clamped to a workpiece clamping jig equipped with an air cylinder.
A method is used in which the work clamp jig is supported by a robot hand and transported to a stationary welding machine. For example, FIG. 5 shows an example of a work clamp jig in which a pair of substrates 1, 1 are
A supporting plate 3 is fixed to one of the plate materials 2, 2, and positioning holes 4, 4 into which a locating pin of a robot hand (not shown) is fitted are inserted into the supporting plate 3.
has been formed. Also, rotating brackets 6, 6 are pivotally supported by brackets 5, 5 fixed to the substrates 1, 1.
, the work holding plates 7, 7 and the work holding plates 7,
Manual levers 8, 8 are attached to operate the workpieces 7, 7, and the workpieces placed on the substrates 1, 1 are moved to the workpiece holding plates 7, 7.
I try to clamp it with. Incidentally, spring means installed in the rotating brackets 6, 6 apply a pressing force against the work to the work holding plates 7, 7, thereby increasing the clamping force to the work.

FIG. 6 shows an improved version of the above configuration, in which clamping air cylinders 10, 10 are fixed to support rods 9, 9 fixed to substrates 1, 1, and the rods of these air cylinders 10, 10 are fixed. End portions 7a, 7a of workpiece holding plates 7, 7 are pivotally supported by 11, 11. Reference numerals 12 and 13 indicate hoses that supply air to the air cylinders 10 and 10. According to such a configuration, by controlling the air supplied to the hoses 12 and 13, the work holding plates 7 and 7 can be
can be clamped onto a workpiece placed on the substrates 1 and 1, and can be unclamped.

Problems to be Solved by the Invention However, among such conventional work clamping jigs, the configuration example shown in FIG. 5 has the problem that the operation is complicated and the system cannot be automated. Furthermore, in the configuration example shown in FIG. 6, it is possible to automate the system, but the hoses 12 and 13 led out from the air cylinders 10 and
Since the other end must be led to an air supply source such as a compressor, the hoses 12, 1
3 was extended on the floor, which could easily become an obstacle during work. In other words, when automating a system, it is usually necessary to prepare a large number of jig stands, and have a robot hand sequentially support the work clamping jigs set on the jig stands and transport them to a processing machine such as a stationary welding machine. Therefore, the hoses 12 and 13 are likely to be dragged on the floor when the work clamp jig is transported. As a result, many hoses cross each other on the floor, resulting in tangles, breaks, etc.
In addition to the hose becoming disconnected and causing air leakage accidents, the robot's free movement was obstructed even during normal work, making it impossible to carry out work smoothly. .

Therefore, the present invention solves the problems of conventional work clamping jigs and creates an air connection device that does not cause work problems due to the air supply hose extending above the floor. It is intended for the purpose of providing.

Means for solving the problem A workpiece clamping jig equipped with a clamping air cylinder and a robot hand supporting the workpiece clamping jig are used to move the workpiece supported by the workpiece clamping jig to the workpiece clamping jig. In a configuration consisting of a robot that transports the workpiece and the workpiece to various processing machines, the robot hand is provided with a holding tool in which a plurality of air flow passages are formed, and the work clamp jig is provided with air flow passages corresponding to the air flow passages. is formed, and a receiver is disposed in close contact with the holding tool which is pushed by a drive source equipped on the robot hand, and the air flow path of the receiver is connected to a clamping air cylinder. .

Function When a workpiece clamping jig is supported using a robot hand, the presser disposed on the robot hand comes into close contact with the receiver of the workpiece clamp jig, and a plurality of objects are formed between the presser and the receiver. A full air flow path is formed. Therefore, air is supplied from an air source provided on the robot side to the clamping air cylinder via the air flow path, and the workpiece is clamped. In this state, the workpiece and workpiece clamp jig are transported by the robot hand to a processing machine such as a stationary welding machine. During the above transfer, the air supplied from the air source installed on the robot side is sent directly to the clamping air cylinder via the presser and receiver, so the work can be carried out without any hoses on the floor. Ru.

Embodiment An embodiment of the air connection device between a robot hand and a work clamp jig according to the present invention will be described below with reference to the drawings.

In the configuration shown in FIG. 1, 15 indicates a robot hand, and the wrist portion 1 of the robot hand 15 is
A shaft 17 fixed to 6 is connected to a robot body (not shown). A panel 18 is fixed to the robot hand 15, and an operation plate 20 is further fixed to the panel 18. Reference numeral 21 denotes an air cylinder, which is fixed to the operation plate 20 and has air hoses 22 and 23 attached thereto.
Reference numeral 24 indicates a rod of the air cylinder 21, which is driven to extend and contract in the vertical direction.

A presser 25 is provided at the lower end of the rod 24. The presser 25 has two air flow passages 26 penetrating from the outer wall 25a to the lower wall 25b.
27 are provided, each air flow passage 26, 27
Air hoses 28 and 29 are connected to these, respectively.
Note that a pair of locate pins 30, 30 are provided protruding from the lower wall 20a of the operation plate 20.

On the other hand, numeral 31 indicates a work clamping jig, in which a pair of substrates 1, 1 are connected and fixed by plates 2, 2, and a support plate 3 is fixed to one of the plates 2, 2. A locate pin 3 protruding from the lower wall 20a of the operation plate 20 is attached to the support plate 3.
Positioning holes 4, 4 into which 0, 30 are fitted are formed. Furthermore, a support rod 9 fixed to the substrate 1,
Clamping air cylinders 10, 10 are fixed to the clamping air cylinders 10, 10, and the ends 7 of the work holding plates 7, 7 are fixed to the rods 11, 11 of the clamping air cylinders 10, 10.
a and 7a are pivotally supported.

Furthermore, a receiver 32 is provided on the upper surface of the support plate 3. The receiver 32 has two air flow passages 33, 3 penetrating from the outer wall 32a to the upper wall 32b.
4 are provided, and these air flow passages 33, 34
Air hoses 35 and 36 are connected to the outer wall 32a side. The air hose 35 is connected to the lower port of the work clamp air cylinders 10, 10 by a branch pipe 37, and the other air hose 36 is connected to the upper port of the work clamp air cylinders 10, 10 by a branch pipe 38. ing. The receiver 32 is located at a position facing the presser 25 on the robot hand 15 side, and when the presser 25 moves downward, the lower wall 25b of the presser 25 and the receiver 32
The air flow passages 26, 27 are in close contact with the upper wall 32b.
are in a positional relationship that communicates with the air flow passages 33 and 34, respectively.

The operation of the device of the present invention having such a configuration will be explained below. First, as shown in FIG.
A work clamp jig 31 is placed on top of the work clamp jig 31, and a workpiece 41 to be transferred is placed on the substrate 1 of the work clamp jig.
Set. Next, the operation of the robot body (not shown) is started, and the robot hand 15 of the robot body is activated.
A locating pin 30 protruding from the lower wall 20a of the operation plate 20 fixed to is fitted into the positioning hole 4 formed in the support plate 3 of the work clamp jig 31 as shown by arrow A. Next, as shown in FIG. 3, when the air cylinder 21 is driven to extend the rod 24 of the air cylinder 21 downward, the rod 2
The presser 25 fixed to the lower end of 4 moves downward,
It is pushed by the receiver 32 on the support plate 3 and comes into close contact with it.
At this time, the air flow passages 26 and 27 formed penetrating the inside of the presser 25 are communicated with the air flow passages 33 and 34 formed penetrating the inside of the receiver 32, and eventually the presser 25 and the receiver are connected to each other. Two air flow paths are formed between the tool 32 and the tool 32. Therefore, under this condition, when air is fed from the air source on the robot body side to the air hose 28, the fed air flows through the air hose 28.
8→Air flow path 26→Air flow path 33→Air hose 35 and enters the lower port of the clamp air cylinder 10. Therefore, the rod 11 of the clamping air cylinder 10 is extended, the workpiece holding plate 7 is closed, and the workpiece 4 set on the substrate 1 is removed.
Clamp 1. Next, as shown in FIG. 4, by moving the robot hand 15 upward by the operation of the robot main body (not shown), the work clamp jig 31 is moved together with the support plate 3 fitted to the locate pin 30 of the operation plate 20. moves upward and leaves the jig table 40, and is transported to a stationary welding machine or other processing machine. Note that when unclamping the workpiece holding plate 7 of the workpiece clamping jig 31 from the workpiece 41, the air flow path 27 and the air flow path 3 are connected from the air hose 29 on the other side.
4. Air may be supplied to the upper port of the clamp air cylinder 10 via the air hose 36.

In the case of the present invention, the number of air flow passages formed between the presser tool 25 and the receiver 32 is not limited to two, but if a plurality of two or more air flow passages are formed, these air flow passages can be It can be used to provide other additional functions.

Effects of the Invention As explained in detail above, in the present invention, a holding tool in which a plurality of air flow passages are formed is disposed on the robot hand, and an air flow passage corresponding to the air flow passages is formed in the work clamp jig. Therefore, we provided a receiver that closely contacts the holding tool that is pushed by a drive source installed in the robot hand, and connected the air flow path of the receiver to the clamping air cylinder, resulting in the following effects. is obtained. In other words, since the air source to be supplied to the workpiece clamping jig is located on the robot body side, the air hose for operating the clamping air cylinder does not extend above the floor. Obstructive hoses can be removed. Therefore, the work clamp jig can be transported smoothly by the robot, and the robot's free movement is not obstructed by the hose, so that the work can be carried out smoothly. In addition, since the connection and separation of air between the presser and the receiver described above is instantaneous, the work speed is increased and it becomes possible for one robot to process a large number of workpiece clamping jigs. This has the advantage that the cycle time required for processing the workpiece is extremely shortened. Further, since there is no need for troublesome piping when replacing and setting the work clamp jig, it is possible to bring about the effect that setup efficiency at the start of work is greatly improved.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of essential parts showing an embodiment of the air connection device between a robot hand and a work clamp jig according to the present invention, and Figs. 2, 3, and 4 show the operation mode of the device. 5 is a side view, FIG. 5 is a perspective view showing an example of a conventional work clamp jig, and FIG. 6 is a perspective view showing another conventional example. 1...Substrate, 2...Plate material, 3...Support plate, 4...
...Positioning hole, 7...Work holding plate, 9...Support rod, 10...Air cylinder for clamp, 15...
Robot hand, 20... Operation panel, 21... Air cylinder, 22, 23, 28, 29, 35, 36
...air hose, 25...presser, 26, 27,
33, 34... Air flow path, 30... Locate pin, 31... Work clamp jig, 32... Receiver, 40... Jig stand, 41... Work.

Claims (1)

[Scope of utility model registration request] It has a work clamp jig equipped with a clamping air cylinder and a robot hand that supports the work clamp jig, and transports the work supported by the work clamp jig to various processing machines together with the work clamp jig. In a configuration consisting of a robot, the robot hand is provided with a holding tool in which a plurality of air flow passages are formed, and the work clamp jig is formed with air flow passages corresponding to the air flow passages, so that the robot hand A robot hand and a workpiece clamp jig, characterized in that a receiver is disposed in close contact with the holding tool which is pushed by a drive source installed in the robot hand, and an air flow path of the receiver is connected to a clamping air cylinder. Air connection device for fittings.