JPH0715738Y2 - Tool for removing plugs - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a tool for automatically removing a stopper plug mounted on a work.

<Prior art> When applying rust-preventive paint to the lower floor of an automobile, in order to prevent the paint from spraying into the interior of the body, Styrofoam, etc. are placed in the holes on the underbody for mounting many parts It is sealed by attaching the plug. This plug is peeled and removed when the application for sealing is finished after painting.

<Problems to be solved by the invention> Removal of the plug is performed by a worker manually pulling out the key from the floor after the body which is hung on a hanger conveyor and conveyed out of the electrodeposition coating tank, or a key point. It is pulled out with a stick. Therefore, in any case, all the work is done manually by the worker, and several workers handle one body.

Further, since the worker works on the lower surface of the body suspended on the hanger conveyor, the worker is always in an upward work posture, and the degree of fatigue is great. Further, there is a problem that the coating liquid drops and adheres to an operator, and automation of removing the plug is required.

<Means for Solving the Problems> The present invention provides a tool satisfying the above-mentioned requirements, and has a structure including a cylinder for air blowing connected to an air supply circuit via a solenoid valve, A skirt made of an elastic material that is attached to the air blowing portion of the cylinder and surrounds the circumference of the stopper, and is installed in the cylinder, and detects the amount of light and dark light in the cylinder and sends an opening / closing signal to the solenoid valve. It is provided with a sensor to be attached and is attached to the wrist or the like of the robot.

<Operation> With the above configuration, the robot causes the air blowing cylinder to be positioned close to the upper surface of the stopper in the ejection direction, and the skirt surrounds the stopper to supply air. The pressure of this air pulls out the plug from the work and confirms this with a sensor.

<Embodiment> An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, 1 is a robot and 2 is a tool attached to the wrist of the robot 1. This tool 2 is shown in FIGS.
As shown in the figure, a cylinder 3 for blowing air, a solenoid valve 4 for supplying and blocking air, a skirt 5 attached to the cylinder 3 made of an elastic material such as rubber, and the inside of the cylinder 3. It is composed of a sensor installed in. This sensor includes, for example, the lens unit 6 and the camera unit 7.

As shown in FIG. 1, the solenoid valve 4 is connected to an air supply main pipe 14 and a flexible pipe 9, and the camera unit 7 is connected to a determination unit 10 and a signal cable 15. The determination unit 10 is also connected to the line controller 11.

Reference numeral 12 is a body of an automobile which is conveyed by a conveyor (not shown), and 13 is a stopper plug mounted on the body 12 from below. Therefore, the plugging-out direction of the plug 13 is the downward direction of the body 12.

Next, the operation of the present invention will be described. As shown in FIGS. 1 and 3, the tool 2 is brought close to the upper surface of the stopper 13 attached to the body 12 by the robot 1. As a result, the cylinder body 3 is plugged.
Located directly above 13, the skirt 5 surrounds the top surface of the plug 13. At this time, the amount of light in the cylindrical body 3 is adjusted to the lens unit 6
Is measured by the camera unit, converted into an electric signal by the camera unit, and transmitted to the judgment unit 10. That is, when the plug 13 is attached, the inside of the cylinder 3 is in the dark state, and the camera unit 7
Since the amount of incident light is less than a certain judgment value, the judgment unit 10 connected to the camera unit 7 commands the opening of the solenoid valve 4 and supplies air to the cylinder 3. As a result, the plug 13 is pressed downward by the air pressure and pulled out from the body 12. The removal of the plug 13 is measured by the lens unit 6, and the solenoid valve 4 is closed. That is, when the plug 13 is pulled out, the inside of the barrel 3 becomes bright due to the light entering through the hole in which the plug 13 is fitted, and the light input amount of the camera unit 7 becomes larger than a certain judgment value. Judgment unit 10
Sends a closing command to the solenoid valve 4, shuts off the air supply to the cylinder 3, and moves the tool 2 to a different stopper position that the robot has learned in advance. Perform the removal operation.

When all the plugs 13 to be removed have been removed, the robot 1
Is released from the body 12, and the line controller 11 issues a command to convey the body 12 to the next process.

Although the tool 2 is attached to the wrist of the robot 1 in the above embodiment, a dedicated machine other than the robot 1 may be used.

<Effects of the device> As described above, according to the present invention, the robot blows the air blowing cylinder onto the stopper, and the air pressure pushes the stopper in the removing direction. It is possible to automatically remove the plug, and since the sensor detects the amount of light and dark light in the cylinder, the plug can be removed without leaving any residue.

Further, since the skirt attached to the air blowing cylinder surrounds the periphery of the stopper, the air blown out from the cylinder is effectively given to the stopper, and the skirt is an elastic body such as rubber, so Even if it gets too close to the body, the skirt provides a cushioning effect to prevent scratches on the painted surface of the body.

Further, the skirt has a merit that it becomes a dark curtain together with the cylinder body in which the detection sensor for the amount of light and dark light in the cylinder body is installed, blocks ambient light, and enables stable determination.

[Brief description of drawings]

FIG. 1 is a side view showing a state of removing a plug according to a robot equipped with the tool of the present invention, FIG. 2 is a perspective view of the tool of the present invention, and FIG. 3 is an explanatory view of a plug removing operation. 1 ... Robot, 2 ... Tool, 3 ... Air blowing cylinder, 4 ... Solenoid valve, 5 ... Skirt, 6 ... Lens unit, 7 ... Camera unit, 12 ... Body, 13 ... …
Stopper.

Claims (1)

[Scope of utility model registration request] 1. A cylinder for blowing air, which is connected to an air supply circuit via a solenoid valve, a skirt made of an elastic material, which is attached to an air blowing portion of the cylinder and surrounds a plug. A tool for removing a plug, which is installed in a cylinder and equipped with a sensor that detects the amount of light and dark light in the cylinder and gives an opening / closing signal to the solenoid valve, and is attached to a wrist or the like of a robot.