JPH0672981U - Stacked parts takeout device - Google Patents

Abstract

(57) [Summary] [Purpose] To ensure the correct position of parts so that they can be taken out. A positioning pin 11 having a positioning pin body 13 inserted into a through hole 9 of a component 5 and an elastic member 15 is provided. The elastic member 15 is provided on the outer peripheral portion of the positioning pin body 13, and uniformly biases the edge portion of the through hole 9 of the component 5 outward in the radial direction to position the component 5 with respect to the positioning pin body 13. The robot arm 17 is provided with take-out means 19. The take-out means 19 has a suction pad 23 and clamp members 25A and 25B. Clamp member 25A, 25
B positions the suction pad 23 with respect to the positioning pin 11 by gripping the positioning pin 11 from the outside.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a device for taking out stacked parts, and more particularly to a positioning measure for positioning and taking out stacked parts.

[0002]

[Prior art]

 Conventionally, when parts are transferred between multiple processing devices by a pallet, transfer robot, etc., there is a case where parts stacked on the pallet are taken out and placed at a predetermined position for the next work. A stacking part take-out device is known as a device for automatically taking out the work.

As a device for taking out the stacked parts, for example, as disclosed in Japanese Utility Model Application Laid-Open No. 64-14736, works that are parts are stacked on a pallet that has casters and can move freely on the floor. The controller moves the gripping means of the robot to a position above the pallet, and then lowers the gripping means into the pallet. A sensor is provided on the gripping step, the sensor detects the uppermost work, and when the gripping means descends to a predetermined height near the uppermost work, a stop signal is output to stop the work. Based on the signal, the controller stops the gripping means at the optimum height above the uppermost work.

[0004]

[Problems to be solved by the device]

 In the above-mentioned work picking device for automatically picking up the works stacked on the pallet, it is necessary to accurately place the works at a predetermined placement position so that the machining work of the next process can be performed with high accuracy. For this reason, it is important for the take-out device to position the take-out device and the work so that a predetermined position of each work can always be gripped when taking out the work.

However, the positional relationship between the work and the gripping means cannot be determined only by accurately detecting the stop height with a sensor as in the above-mentioned work picking device. For this reason, positioning must be performed for each workpiece that is taken out in the processing device in the next process, and when multiple processing operations that require high processing accuracy are continuous, such a workpiece extraction device could not be used. .

The present invention has been made in view of the above points, and an object thereof is to accurately secure the position of a work (component) so that the work can be taken out.

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention relatively positions the holding means and the positioning pin by positioning the component on the positioning pin body and the holding means on the positioning pin.

[0008] Specifically, a stacking component taking-out device for taking out a stacked component having a through hole is targeted, and a positioning pin body to be inserted into the through hole of the component and an outer peripheral portion of the positioning pin body are provided. Positioning pins that are provided and that position the components with respect to the positioning pin body by uniformly urging the edges of the through holes of the components outward in the radial direction; Holding means for holding the leading end side of the held parts, and positioning means for the holding means for positioning the holding means with respect to the positioning pin by holding the positioning pin from the outside. And a take-out means having.

[0009]

[Action]

 With the above structure, according to the present invention, the positioning pin body of the positioning pin is inserted into the insertion hole of the component so that the components are held in the stacked state without causing a large displacement, and the positioning pin body is positioned by the component positioning means. The parts are accurately positioned with respect to. The component positioning means uniformly biases the edge of the through hole of the component outward in the radial direction, so that all the stacked components are positioned at the same position.

On the other hand, in the take-out means, the positioning means of the holding means positions the holding means with respect to the positioning pin, so that the holding means takes out the component while being positioned relative to the component.

[0011]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a stacking component take-out device according to an embodiment of the present invention. The stacking part take-out device 1 includes an articulated robot 3, and a pallet 7 for holding the parts 5 and 5 is arranged near the place where the articulated robot 3 is installed.

The stacking part take-out device 1 is a take-out device for taking out the parts 5 in a stacked state having circular through holes 9, 9 and is provided with a positioning pin 11 projected on the pallet 7. The positioning pin 11 is composed of a positioning pin body 13 that is inserted into the through hole 9 of the component 5, and an elastic member 15 as a component positioning means provided on the outer peripheral portion of the positioning pin body 13. . The elastic member 15 is a cylindrical body made of a material having elasticity such as rubber, and uniformly biases the edge of the through hole 9 of the component 5 outward in the radial direction to position the component 5 in the positioning pin body 13. Is configured to position with respect to. The components 5 are vertically stacked and held on the pallet 7 by inserting the positioning pins 11 into the through holes 9 of the components 5.

Further, the robot arm 17 of the articulated robot 3 is connected with a take-out means 19 for taking out the stacked parts 5. The take-out means 19 is freely moved by the robot arm 17, and is taken out in order from the uppermost part 5A as the tip side part and moved to a predetermined mounting position.

As a usage pattern of the stacking part take-out device 1, an articulated robot 3 is installed near a processing device (not shown), and a movable transfer pallet 7 is stopped near the processing device. When the articulated robot 3 takes out the component 5 from the pallet 7 for transportation and places it in a predetermined temporary storage location, the articulated robot 3 moves the component 5 temporarily stored on the pallet 7 for storage that cannot be moved for processing. May be taken out and set in the processing equipment.

FIG. 2 shows a state in which the take-out means 19 is viewed rearward from a central portion thereof, and the take-out means 19 has a rear support portion 21 shown and a space A into which the positioning pin 11 can enter. And a front support portion 21 (not shown) provided on the front side of the rear support portion 21. The rear side support portion 21 and the front side support portion 21 are respectively connected to the connecting flanges 17a of the robot arm 17 and serve as holding means for holding the uppermost part 5A on the left and right sides. Two suction pads 23, 23 are suspended and supported. Further, the rear side support portion 21 supports a pair of clamp members 25A and 25B as positioning means for the suction pads 23 arranged in the space A, respectively.

Each supporting portion 21 supports a connecting block 27 connected to the connecting flange 17 a of the robot arm 17 and two left and right guide shafts 29, 29 to support the lower part of the connecting block 27. For attaching two suction pads, which are inserted into the upper flange 31 and the lower flange 33 to be connected, and the two guide shafts 29, respectively, and suspend and support the two suction pads 23 on the left and right sides. Each of the arms 35 and 35 is configured.

Each suction pad 23 is connected to an air source by an air pipe (not shown), and air is supplied and discharged based on a command from a controller (not shown) of the extractor 1, so that the uppermost stage is provided. The component 5A is configured to be suction-held and detached.

The lower surface of the lower flange 33 is provided with a position sensor 37 such as a photoelectric tube for detecting the position of the support portion 21 with respect to the uppermost component 5A. The position sensor 37 outputs a position signal to the controller, The controller is configured to stop the suction pad mounting arm 35 at a predetermined stop position in the vicinity of the uppermost part 5A based on the position signal.

Further, the arm 35 for attaching the suction pad is biased downward by a spring member 39 inserted through the guide shaft 29, and the spring member 39 has a predetermined stop position of the arm 35. The suction pad 23 is brought into contact with the upper surface of the uppermost component 5A even if the suction pad 23 is slightly displaced from the stop position.

Next, FIG. 3 shows the clamp members 25A and 25B in the open state, and FIG. 4 shows the clamp members 25A and 25B in the closed state in which the positioning pin 11 is gripped. The pair of clamp members 25A and 25B are configured to position the suction pad 23 with respect to the positioning pin 11 by holding the positioning pin 11 from the outside.

Explaining a specific positioning structure of the suction pad 23, the pair of clamp members 25A and 25B are arranged at positions left and right symmetrical with respect to the center line L of the robot arm 17 of the articulated robot 3, The upper ends of the clamp members 25A and 25B are rotatably supported by the connecting block 27.

Further, the respective central portions of the clamps 25A and 25B are connected by an air cylinder 41, and the clamps 25A and 25B are opened and closed to the left and right by the operation of the air cylinder 41, thereby grasping the positioning pin 11 and releasing the grasping. Is configured to do. That is, the air cylinder 41 has its connecting portion 43 rotatably connected to the left clamp member 25A and the rod 47 of the piston 45 to the right clamp member 25B, respectively. The clamp members 25A and 25B are opened and closed symmetrically with respect to the center line L of the robot arm 17, and the clamp members 25A and 25B hold the positioning pin 11 in the closed state. The pair of clamp members 25A and 25B are configured to position the suction pad 23 with respect to the positioning pin 11 by gripping the positioning pin 11 near the uppermost component 5A.

The upper flange 31 is provided with stoppers 49, 49 for stopping the respective clamp members 25 A, 25 B at the gripping position with respect to the positioning pin 11. The gripping position of each stopper 49 is the articulated robot 3's gripping position. The center line L of the robot arm 17 when the robot arm 17 is suspended is set at a position where it coincides with an extension of the center line M of the positioning pin 11. As a result, the center line L of the robot arm 17 and the center line M of the positioning pin 11 of the suction pad 23 match the positioning pin 11 when the pair of clamp members 25A and 25B grip the positioning pin 11. It is designed to be positioned in a smooth state.

Next, the take-out operation of the above-mentioned stacking part take-out device 1 will be described. As shown in FIG. 1, by inserting the positioning pin body 13 into the through hole 9 of the component 5, the component 5 is held in a stacked state on the pallet 7 without a large displacement, and each component 5 is elastic member 15 respectively. With this, the positioning pin 11 is accurately positioned. Since the elastic member 15 uniformly urges the edge of the through hole 9 of the component 5 outward in the radial direction, the center of the through hole 9 in all the stacked components 5 is aligned with the center line M of the positioning pin 11. Is positioned in the state.

On the other hand, the robot arm 17 is horizontally moved to a position above the pallet 7 and is lowered with the center line L being vertical. Based on the position signal from the position sensor 37, the controller stops the take-out means 19 at a predetermined stop position near the uppermost part 5A. The controller causes the air cylinder 41 to close the pair of clamp members 25A and 25B to hold the positioning pin 11. As a result, the take-out means 19 is positioned with respect to the positioning pin 11 such that the center line L of the robot arm 17 and the center line M of the positioning pin 11 match.

By the elastic member 15 and the clamp members 25A and 25B, the take-out means 19 and the uppermost stage component 5A are relatively positioned via the positioning pin 11, and in this state, the suction pad 23 moves the maximum position. The upper part 5A is suction-held. By raising the robot arm 17, the uppermost pallet 5A is lifted and pulled out from the positioning pin 11. The taken-out part 5 is moved in a suspended state by the take-out means 19 and placed at a predetermined mounting position. At the time of extraction, the clamp members 25A and 25B are released from the gripped state in advance in order to prevent the elastic member 15 from being damaged, but the elastic member 15 is deformed even if the clamped state is not released. The members 25A and 25B are pulled out from the positioning pin 11 as they rise.

After the uppermost part 5A is taken out, the next uppermost part 5 is moved from the positioning pin 11 by the takeout means 19 while being relatively positioned by the takeout means 19 in the same manner as the above takeout operation. The parts 5 are taken out from the pallet 7 in sequence.

According to the present embodiment, by providing the positioning pin 11 and the clamp members 25A and 25B, the take-out means 19 and the component 5 are positioned, and the suction pad 23 always holds the predetermined position of the component 5. You can Therefore, it becomes possible to accurately place the component 5 in a predetermined mounting position, it is possible to automate the take-out work with high accuracy, and when using it in a machining process in which a plurality of machining operations are continuous. It is possible to obtain high processing accuracy.

The component 5 positioning member may be something other than the elastic member 15. For example, a plurality of vertically extending recessed grooves are formed in the outer peripheral portion of the positioning pin 11, and a plurality of protrusions that can be projected and retracted outward by spring members are arranged in the recessed grooves. The through holes 9 of the component 5 may be uniformly biased outward in the radial direction.

Further, the take-out device of the present invention is applied to take-out of the vertically stacked components 5 in the above-mentioned embodiment, but the present invention is not limited to this, and it can be applied to the laterally positioned positioning pin 11. It may be applied when the parts 5 stacked side by side by taking out the parts 5 are taken out.

[0032]

[Effect of device]

 As described above, according to the present invention, the component positioning means provided on the positioning pin positions the component on the pin, and the positioning means of the holding means provided on the ejecting means positions the ejecting portion on the pin. Since the holding means and the part are positioned relative to each other, the holding means can always hold the predetermined position of the part and accurately place the part in the predetermined mounting position, and the picking-out can be performed with high accuracy. The work can be automated, and high processing accuracy can be obtained even when used in a processing step in which a plurality of processing operations are continuous, for example.

[Brief description of drawings]

FIG. 1 is a front view of a stacking component take-out device according to an embodiment of the present invention.

FIG. 2 is an enlarged front view of a main part of the take-out device, showing a closed state in which a clamp member grips a pin.

FIG. 3 is an enlarged front view of the main part of the take-out means of the take-out device, showing a state in which the clamp member is opened by the operation of the air cylinder.

FIG. 4 is an enlarged front view of the main part of the take-out means of the take-out device, showing a closed state in which the clamp member holds the pin by the operation of the air cylinder.

[Explanation of symbols]

5 parts 5A uppermost part (part on the tip side) 9 through hole 11 parts positioning pin 13 positioning pin body 15 elastic member (parts positioning means) 19 ejection means 23 suction pad (holding means) 25A, 25B pair of clamp members (Positioning means for holding means)

Claims (1)

[Scope of utility model registration request] 1. A stacking component take-out device for taking out stacked components having through holes, the positioning pin main body being inserted into the through hole of the component, and the positioning pin main body being provided on an outer peripheral portion of the positioning pin main body. A positioning pin having a component positioning means for positioning the component with respect to the positioning pin body by uniformly urging the edge of the through hole of the component outward in the radial direction; and a component positioned by the positioning pin. A take-out means having a holding means for holding the part on the tip side of the holding means and a positioning means of the holding means for positioning the holding means with respect to the positioning pin by gripping the positioning pin from the outside. A device for taking out stacked parts, which is characterized by being provided.