JPH06321205A - Device of charging work into cage - Google Patents

Abstract

PURPOSE:To make the whole device compact and arrange the device within a space substantially having the same width with a work-containing cage and two times of length thereof. CONSTITUTION:A work-containing cage 1 is placed on a transferable table 3 by a cafe feeder 10. A work holder 8 is moved back and forth and also up and down by the actuation of a head transfer means 7 and a lifter 9, while the transferable table 3 is little by little moved from the cage feeder 10 to the cage discharging position B at a previously decided pitch. In this way, the works W can be inserted one by one in turn into the work insertion holes 1a of the work-containing cage 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention inserts a work into a work insertion hole having a constant vertical and horizontal pitch provided on the upper surface of a work storage cage.
The present invention relates to a work basket packing device that inserts individual pieces.

[0002]

2. Description of the Related Art As a conventional device of this type, an industrial robot is used, and the work gripping means can be moved in three directions X, Y and Z orthogonal to each other, and the work gripping means can be moved. There is a system in which the cars are numerically controlled in accordance with a predetermined program so that the cars are packed.

[0003]

According to the conventional device as described above, there is a problem that the moving range of the arm of the industrial robot and the feeding space of the work storage basket are large, and a large installation space is required.

In view of the above problems of the prior art, the present invention makes the entire apparatus compact and compact, and can be installed in a space having substantially the same width as the lengths of two work storage cages. An object of the present invention is to provide a work basket packing device.

[0005]

In order to achieve the above object, the present invention is a work basket packing device for inserting the works one by one into the work insertion holes provided on the upper surface of the work containing basket with a constant vertical and horizontal pitch. The work table is placed on the base so that the work table can be moved in the left-right direction over at least the range of two work boxes. A table moving unit that moves in the left-right direction at the same pitch as the vertical pitch, and passes through above the substantially central portion of the moving path of the moving table to the work standby position,
The work feed head mounted on a column erected on the base so that it can move in a direction orthogonal to the movement trajectory of the moving table and the work feed head in the front-back direction at the same pitch as the horizontal pitch of the work insertion holes in the work storage cage. A head moving means for moving to, a work holding head that is attached to the work supply head so as to be movable up and down, and a work holding means for attaching and detaching a work, an elevating means for moving the work holding means up and down, and a movement trajectory of the moving table, And a car supply device for supplying an empty work storage car on the moving table located at the car supply position at one end of the moving track, and a car feeding device orthogonal to the moving track of the moving table and at the other end of the moving track. It is characterized by comprising a car ejecting device for ejecting the work containing car containing the work from the moving table located at the car ejecting position. That.

[0006]

With the car supply device, the work storage car is placed on the moving table and the head moving means is moved up and down while the moving table is stepwise moved from the car supply position to the car discharge position at a predetermined pitch. The work holding means can be moved back and forth and up and down to sequentially insert the works one by one into the work insertion holes of the work storage car.

Since the moving table only needs to move one work storage basket in the left-right direction, the entire apparatus can be downsized and placed in a narrow space substantially the same as the length of two work storage baskets. Can be installed.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings. 1 to 4 show the entire structure of the apparatus of this embodiment, and FIG. 5 and subsequent figures show details of individual parts or members individually.

This embodiment has the following major components. A moving table (3) mounted on the base (2) so that the work storage basket (1) is placed and can be moved in the left-right direction over at least two work storage baskets (1). The moving table (3) is used as a work storage basket.
Table moving means (4) for moving in the left-right direction at the same pitch as the vertical pitch (P1) of the work insertion hole (1a) in (1) passes through above the substantially central portion of the movement locus of the movement table (3),
A work supply head (6) mounted on a column (5) erected on the base (2) so as to be movable to a work standby position (X) so as to be orthogonal to the movement trajectory of the movement table (3). Head moving means (7) for moving the work supply head (6) in the front-back direction at the same pitch as the lateral pitch (P2) of the work insertion holes (1a) in the work storage basket (1). Work supply head (6)
A work holding means (8) which is attached to the above so as to be movable up and down, and which can attach and detach the work (W). Lifting means (9) for moving the work holding means (8) up and down. Supplying an empty work storage car (1) to the moving table (3) located at the car supply position (A) at one end of the moving table and orthogonal to the moving path of the moving table (3) Equipment (10). The car discharge position at the other end of the moving track, which is orthogonal to the moving track of the moving table (3).
A car ejecting device for ejecting the work containing car (1) containing the work (W) from the moving table (3) located in (B)
(11).

Next, each of these components will be described in detail. As shown in FIG. 5, the work storage basket (1) is a frame body formed by assembling a frame rod (1b) made of a round bar steel in the vertical and horizontal height directions into a rectangular parallelepiped and welding each corner portion thereof. At the upper end of (1c), there are a plurality of work insertion holes (1a) vertically and horizontally depending on the mesh.
And a wire mesh (1d) adapted to form

The movable table (3) is slidably mounted on a pair of front and rear guide rods (12) provided on the base (2) and oriented in the left-right direction, and has a protruding piece (3a) hanging from the center of the lower surface. )
Insert the guide rod into the left-right screw hole (13)
A screw rod (14) parallel to (12) is screwed, and the screw rod (14) is rotated in the forward and reverse directions by a motor (15) such as an AC servomotor provided on the base (2) to move the moving table. (3) is
It can be moved to the left and right along the guide rod (12). Thus, the screw rod (14) and the motor (15)
The table moving means (4) is formed by the above.

On the moving table (3), two pairs of left and right clamp levers (16) are pivotally mounted by a shaft (17) facing the front-rear direction, and the work storage basket (1) is moved to the moving table. (3) The air cylinder device (18) provided below the moving table (3) is expanded and contracted while being positioned on the moving table (3), and each clamp lever (16) connected to the air cylinder device (18) expands and contracts the work storage basket.
By grasping and separating the lower left and right frame rods (1b) of (1), the work storage basket (1) can be fixed to the moving table (3) and released. ing.

The column (5) is erected on the base (2) as a gate type straddling substantially the center of the movement locus of the moving table (3), and is fixed to the right side surface (see FIG. 3) in the front-rear direction. A movable plate (22) equipped with a work supply head (6) is slidably mounted on a pair of upper and lower horizontal guide rails (21) facing each other.

A protruding piece protruding from the left side surface of the central portion of the moving plate (22)
A screw hole (23) facing the front-rear direction is bored in (22a), and a screw rod (24) parallel to the guide rail (21) is screwed into the screw hole (23), and the screw rod (24 ) Is rotated forward and backward by a motor (15) such as an AC servomotor provided in the column (5), so that the moving plate (22) moves from the work standby position (X) along the guide rail (21). The table (3) can be moved in the front-rear direction to a position just above the rear end (the left in FIGS. 1 and 2 is the front). Thus, the motor (2
5), screw hole (24), moving plate (22), etc.
(7) is formed.

A first air cylinder device (26) facing downward is fixed to a portion of the work supply head (6) of the moving plate (22), and a lower end of the piston rod (26a) has a small stroke. The second air cylinder device (27) facing toward is fixed, and the both air cylinder devices (26) (27) are used to move up and down means (9).
Are formed.

At the lower end of the piston rod (27a) of the second air cylinder device (27), there is a suction cup (2) which is a work holding means (8).
8) is installed. This suction cup (28) is fitted with an air hose (28
When the compressed air supplied from a) passes through a nozzle (not shown), it is a suction hole that is bored in the nozzle side wall and communicates with the suction surface.
Workpiece that sucks the air inside (not shown) and is in close contact with the suction surface
This is a publicly known one in which (W) is vacuum-adsorbed.

With this suction cup (28), the workpiece supply position (X)
The upper surface of the umbrella (Wa) of the work (W) at
(W) can be sent to any position of the work storage basket (1).

A bracket (29) is provided at the lower rear portion of the moving plate (22).
This bracket is fixed as height adjustable
At the bottom of (29), the downward shaft (Wb) of the work (W) to which the umbrella (Wa) is adsorbed by the suction cup (28) is attached from both sides by a pair of openable fingers (30). A known work gripping device (31) that is lightly gripped, and a proximity sensor (32) that is operated by the work (W) when it reaches a position where the work (W) is attracted to the suction cup (28). ) And are provided.

The proximity sensor (32) is moved by the lifting means (9).
When the work (W) is lowered, the umbrella portion of the work (W) is moved by the air cylinder device (33) provided on the bracket (29).
It is designed to be retracted from the descending locus of (Wa) to a position separated backward.

The work (W) has an inclined chute (3
It is continuously fed along 4) and is fed to the work feeding position (X) one by one by a known selector (35) provided near the tip of the inclined chute (34). .

At the work supply position (X), there is provided a gate device (37) which can be opened and closed by an air cylinder device (36) provided on the base (2).

The car supply device (10) is disposed behind the base (2) so as to form a right angle with the base (2), and a plurality of empty work storage cars (1) are supplied by their own weights to the car supply position (A). ) Is provided with a roller conveyor (41) inclined downward toward the front.

Car supply position of this roller conveyor (41)
In the part close to (A), a pair of upward protruding pieces (42a) with a front-rear spacing slightly longer than the length (L1) in the front-rear direction of the work storage basket (1) is provided at both ends. (42a) is a roller conveyor
The middle part of the pair of left and right seesaw-type locking links (42) that alternately appear and emerge above the load receiving surface (P) of (41),
It is pivotally attached to the base (41a) of the roller conveyor (41) so as to rotate integrally with the shaft (43) facing the left-right direction.

Roller conveyor behind both locking links (42)
On the base (2) of (41), the front ends of a pair of left and right hook rods (44) having upwardly protruding projections (44a) rotate integrally with a shaft (45) pointing in the left-right direction. Is pivoted to.
The protrusion (42a) at the rear of the front locking link (42) and the hook rod (4
The front-rear distance from the projecting piece (44a) of 4) is longer than the length (L1) in the front-rear direction of the work storage basket (1), and preferably the length (L1) of the rear portion of the locking link (42). It should be slightly longer than the length of the protrusion (44a).

An upward air cylinder device (46) is provided substantially in the center between the front and rear shafts (43) and (45) of the base (41a), and the piston rod (46a) has an upper end in the front-back direction. A drive plate (48) having a long hole (47) is fixed.

In the long hole (47), a pin (rightward and leftward) which is erected between the rear end portions of a pair of arms (49) fixedly fitted to the central portion of the shaft (43) and extending rearward is provided. 50) and a pin (52) facing in the left-right direction, which is erected between the front end portions of a pair of arms (51) fixedly fitted to the central portion of the shaft (45) and extending forward, is slidable. Penetrates.

Thus, the air cylinder device (46) and the drive plate
(48), arms (49) (51), pins (50) (52), etc., the projection (42a) at the rear of the locking link (42) and the projection (44) of the hook rod (44).
a) and the locking rod (42) and the hook rod (44) so as to alternately project and retract above the load receiving surface (P) of the roller conveyor (41).
A drive means (53) for moving and is formed.

With this car feeder (10), as shown in FIG. 2, the protrusion (42) at the front of the seesaw-type locking link (42) is used.
a) protrudes upward from the load receiving surface (P) of the roller conveyor (41), the rear projection (42a) sinks downward, and the projection (44a) of the hook rod (44) moves to the load receiving surface (P). When projecting from P), the protrusion (42a) at the front part of the locking link (42) first
The frame rod (1b) at the front of the work storage basket (1) of the second stage contacts and is stopped, and the projecting piece (44a) of the hook rod (44) is attached to the second stage work storage basket (1). The rear frame rod (1b) abuts and is stopped. From this state, the driving means (53) causes the front projection (42a) of the locking pin (42) to receive the load as shown in FIG. Immersed from the surface (P), and the rear projecting piece (42a) is also the load receiving surface.
When the locking link (42) and the hook rod (44) are moved so that the protrusion (44a) of the hook rod (44) is recessed from the load receiving surface (P), the first step Eye work storage basket
(1) is the car supply position (A) along the roller conveyor (41)
Then, the front end of the second-stage work storage car (1) comes into contact with the rear projection piece (42a) of the locking link (42) and is stopped.

From the state shown in FIG. 6, when the locking link (42) and the hook rod (44) are returned to the state shown in FIG. 2 by the driving means (53), the second stage shown in FIG. Work storage basket (1)
Is stopped by abutting against the front projection (42a) of the locking link (42), so that it advances along the roller conveyor (41),
Meanwhile, the protrusion (44a) of the hook rod (44) enters between the frame rods (1b) at the lower end of the front part of the third-stage work storage basket (1), and the third-stage work storage basket (1) advances along the roller conveyor (41) and shifts one step at a time until the frame rod (1b) at the lower end of the rear part comes into contact with the projecting piece (44a) of the hook rod (44) and is stopped. The state is the same as that shown in FIG. In this way, the plurality of work storage cars (1) are
It is sent to (A) one by one.

As shown in FIGS. 1 to 3 and 7, the column
On the left side surface of (5), a moving plate (61) is provided with an air cylinder device (6
It is attached so that it can be moved in the front-back direction by 2). A push plate (63) is pivotally attached to the moving plate (61) by a shaft (64) facing the front-rear direction so as to be rotatable between an operating position shown by a solid line in FIG. 7 and a retracted position shown by an imaginary line. The push plate (63) can be rotated between the operating position and the retracted position by the downward facing air cylinder device (65) provided on the moving plate (61).

Thus, the moving plate (61), the air cylinder device
(62) (65), push plate (63), etc.
Are formed. This basket retractor (66) is shown in FIG.
In the state shown in Fig. 3, the push plate (63) is rotated to an operating position located between the first-stage work storage basket (1) and the second-stage work storage basket (1), and then When the projecting piece (42a) at the front part of the locking link (42) descends and the first-stage work storage basket (1) advances along the roller conveyor (41), the air cylinder device ( 62) is activated, and the push plate (63) causes the first
It acts to forcibly pull the work storage basket (1) of the second stage until it comes into contact with the stopper (67) provided on the front portion of the upper surface of the moving table (3).

An air cylinder device (73) facing downward is fixed to the upper part of a bracket (72) extending rearward from the upper end of a column (71) standing on the left front part of the base (2), and its piston A pair of downward pointing pointed positioning pins (75) are projectingly provided on the lower surfaces of the front right part and the rear left part of the horizontal plate (74) fixed to the lower end of the rod (73a).

These pins (75) are connected to the car retractor (66).
The work insertion hole (1a) inside the diagonal part between the front right part and the rear left part of the work storage basket (1) sent to the position where it abuts the stopper (67), or any predetermined work Insertion hole
By inserting into (1a) from above, the work storage basket
(1) can be accurately positioned at the car supply position (A).

Thus, the air cylinder device (73), the horizontal plate
(74), positioning pin (75), etc.
6) has been formed. The car ejector (11) is the base (2)
The work (W) located at the car discharge position (B) is disposed in the rear of the right half part of the car so as to form a right angle with the base (2) and in close proximity to the roller conveyor (41). It is provided with a horizontal roller conveyor (81) that guides the work storage car (1) in which is stored backward.

The car discharging device (11) is located at the car discharging position.
Always located in front of the work storage basket (1) in (B),
In addition, the work-accommodating car (1) is moved backward by the operation of a well-known rodless air cylinder device (82) provided on the right side of the base (2) and directed in the front-rear direction.
It is equipped with a push plate (83) that pushes out to (81).

Next, the overall operation of this embodiment will be described. The above-mentioned device is provided with a large number of sensors such as proximity sensors that detect the positions of the work storage basket (1) and the moving table (3) and start the next work. The entire device is operated as follows, but for those sensors,
Illustration and detailed description are omitted.

When the moving table (3) is located at the car supply position (A), only the frontmost work storage car (1) on the roller conveyor (41) is operated by the operation of the car supply device (10). Is pushed forward by the push plate (63) and moved forward until it comes into contact with the stopper (67), and then the car positioning device (7
Positioning pin (75) of 6) descends and the work storage basket (1)
The work storage car (1) is accurately positioned at the car supply position (A) by being inserted into the work insertion hole (1a) at the diagonal portion of the above.

In this state, when the air cylinder device (18) is actuated, the clamp lever (16) grips the frame rods (1b) at the lower left and right sides of the work storage car (1), so that the work storage car (1) ) Is fixed on the moving table (3).

Next, the moving table (3) is moved to the right by the operation of the table moving means (4) until the rightmost work insertion hole (1a) of the work storage basket (1) reaches directly below the work supply head (6). It is advanced and stopped at that position.

In this state, after the work (X) located at the work standby position (X) is adsorbed by the suction cup (28) and gripped by both fingers (30) of the work gripping device (31). The gate device (37) is opened, and the screw rod (24) is rotated by the operation of the motor (25), whereby the work (X) is moved rearward, and the work is first accommodated according to a predetermined program. The car (1) is stopped at a position right above the rightmost frontmost work insertion hole (1a).

Then, the second air cylinder device (27) is extended so that the work (X) is moved to both fingers (30).
Is slightly lowered while being held by,
The lower end is inserted into the work insertion hole (1a).

After that, both fingers of the work holding device (31) are
After the (31) is opened, the first air cylinder device (26) is extended, the work (X) is deeply inserted into the work insertion hole (1a), and the work (W) reaches the lower limit of the descending stroke. Or
Alternatively, immediately before that, the suction action of the suction cup (28) is released, so that the work (W) separates from the suction cup (28), falls slightly by its own weight, and is accommodated in the work insertion hole (1a).

Next, the suction cup (28) is returned to the original work standby position (X) by the operation reverse to the above operation. By this time, the gate device (37) is closed and the work standby position (X) is reached.
The second work (W) is supplied to the above by the selector (35).

Then, the second work (W) is inserted into the second work insertion hole (1a) at the right end of the work storage basket (1) according to the program in the same manner as the first work (W). To be done.

Similarly, after the workpieces (W) are sequentially inserted to the rightmost end workpiece insertion hole (1a) of the cage (1), the moving table (3) is moved by the table moving means (4). Is moved to the right by one pitch which is the same as the vertical pitch (P1) of the work insertion hole (1a) of the work storage car (1), and in that state, in the same manner as above, the work storage car
Work (W) in the work insertion hole (1a) in the second row from the right of (1)
Are sequentially inserted.

Thereafter, in the same manner, when all the works (W) are inserted up to the leftmost leftmost work insertion hole (1a) of the work storage car (1), the work storage car (1) is moved to the moving table. Along with (3), it is moved to the car discharge position (B) by the table moving means (4), then the air cylinder device (18) contracts, and the clamp lever (16) moves to the work storage car (1). After releasing the clamp, the work storage car (1) is pushed backward from the moving table (3) onto the roller conveyor (81) by the backward movement of the push plate (83).

Also in the work storage baskets (1) of the second and subsequent stages, a large number of works (W) are inserted into the work insertion holes (1a) in the same manner as above.
Then, it is pushed backward by the push plate (83). At this time, by backward movement of the work storage car (1) from the second stage onward, the work storage cars (1) placed on the roller conveyor (83) before that are pushed backward by one car. Moved.

[0048]

According to the present invention, a large number of works are inserted into the work insertion holes of the work storage car while the moving table on which the work storage car is placed is moved by the length of one work storage car. In addition, since the car supply device and the car discharge device are arranged so as to be oriented in the direction orthogonal to the moving table, the entire device can be remarkably downsized, and the length of the two work storage cars can be substantially reduced. Of almost the same width as
It can be installed in a small space. In addition, since the packing of the baskets is completed in the middle of moving one work storage basket, it is efficient.

[Brief description of drawings]

FIG. 1 is a plan view of an embodiment of the present invention.

FIG. 2 is a partially cutaway side view of the same.

3 is a sectional view taken along line III-III in FIG.

4 is a sectional view taken along line IV-IV in FIG.

FIG. 5 is a perspective view of a work storage basket.

FIG. 6 is a vertical cross-sectional side view showing an operation state of a main part of the car feeder different from that in FIG.

7 is a sectional view taken along line VII-VII in FIG.

[Explanation of symbols]

(1) Work storage basket (1a) Work insertion hole (1b) Frame rod (1c) Frame body (1d) Wire mesh (2) Base (3) Moving table (3a) Projection piece (4) Table moving means (5) Column (6) Work supply head (7) Head moving means (8) Work holding means (9) Elevating means (10) Car supply device (11) Car discharge device (12) Guide rod (13) Screw hole (14) Screw rod (15) Motor (16) Clamp lever (17) Shaft (18) Air cylinder device (21) Guide rail (22) Moving plate (22a) Projection piece (23) Screw hole (24) Screw rod (25) Motor (26) ) 1st air cylinder device (26a) Piston rod (27) 2nd air cylinder device (27a) Piston rod (28) Sucker (28a) Air hose (29) Bracket (30) Finger (31) Work gripping device (32) Proximity Sensor (33) Air cylinder device (34) Inclined chute (35) Selector (36) Air cylinder device (37) Gate device (41) Roller conveyor (41a) Base (42) Locking link (43) Shaft (44) Hook Rod (44a) (45) Shaft (46) Air cylinder device (46a) Piston rod (47) Long hole (48) Drive plate (49) (51) Arm (50) (52) Pin (53) Drive means (61) Moving plate ( 62) Rodless air cylinder device (63) Push plate (64) Shaft (65) Air cylinder device (66) Car retract device (67) Stopper (71) Strut (72) Bracket (73) Air cylinder device (73a) Piston Rod (74) Horizontal plate (75) Positioning pin (76) Car positioning device (81) Roller conveyor (82) Rodless air cylinder device (83) Push plate (A) Car supply position (B) Car discharge position (L) length
(P) Load receiving surface (P1) Vertical pitch (P2) Horizontal pitch (W) Work (Wa) Umbrella (Wb) Shaft (X) Work standby position

Claims (1)

[Claims] 1. A work-cargo-packing device for inserting the works one by one into work-carrying holes having a constant vertical and horizontal pitch provided on the upper surface of the work-carrying car. A moving table mounted on the base so as to be able to move in the left-right direction over the range of two of the above, and table moving means for moving the moving table in the left-right direction at the same pitch as the vertical pitch of the work insertion holes in the work storage basket. A work supply head mounted on a column erected on a base so as to be movable up to almost the center of the movement locus of the movement table to a work standby position so as to be orthogonal to the movement locus of the movement table. , Head movement that moves the work supply head in the front-back direction at the same pitch as the horizontal pitch of the work insertion holes in the work storage cage A step, a work holding means which is mounted on the work supply head so as to be movable up and down, and which allows a work to be attached and detached, an elevating means for moving the work holding means up and down, and one of the movement trajectories orthogonal to the movement trajectory of the moving table A car supply device that supplies an empty work storage car on the moving table located at the car supply position at the end of the car, and is located at the car discharge position at the other end of the moving track, which is orthogonal to the moving track of the moving table. From the moving table
A work basket filling device, comprising: a car discharge device for discharging a work storage basket containing a work.