JPH0745478Y2 - Work suction transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention relates to a work suction / transfer device for transferring stacked works such as gaskets by suction.

(Prior Art) There are the following two means for transferring stacked works such as gaskets to a subsequent process.

The first is by manual work, in which the upper work is sequentially gripped and transferred.

The second method is to transfer the work by sucking the work with a vacuum ejector pump.

The technique of transferring the work by the robot hand is described in JP-A-61-30337.
This is applied to the transfer of a relatively heavy work such as a ring gear, and is not applied to the transfer of a relatively light and thin work such as a paper gasket, which is the object of the present invention.

(Problems to be solved by the invention) In the former case of the above-mentioned conventional example by manual work, since the work is thin and difficult to take, it may be gripped in a state where two sheets are stacked, and two sheets are stacked at the assembly site. It can be assembled in the state. Further, even if one sheet is gripped, the lower work may be simultaneously lifted by being overlapped with this, and in this case, there is a problem that the lower work falls on the floor surface during the transfer.

Further, in the latter case of the conventional example, it is difficult to adsorb a work in the case of a thin work such as a paper gasket, and therefore, a work adsorption error often occurs.

A special confirmation device is required to prevent this suction error, and the device becomes complicated.

Furthermore, since an electric or hydraulic circuit is used as a means for switching the transfer direction, the apparatus itself becomes large in size in combination with the above confirmation apparatus, and it is difficult to install it on the side of a mass production assembly line.

That is, the above vacuum ejector device has not been put into practical use because it is difficult to confirm suction of a work and the device becomes large due to switching of the operation direction.

The present invention was made to solve the above problems,
An object of the present invention is to provide a work suction / transfer device that can prevent a suction error of a work with a simple configuration and can confirm the suction.

(Means for Solving Problems) The present invention has the following configuration in order to achieve the above object.

A suction head for sucking a work is attached to a work suction unit that is vertically movable, and an air cylinder that raises the suction unit by extending a piston rod is arranged below the suction unit separately from the suction unit. The rod-side cylinder chamber of the cylinder is connected to a vacuum device by a pipe line, the branch line of the pipe line is connected to a work suction port of the suction head, and the suction head is brought into contact with the work by its own weight. ,
The piston rod of the air cylinder is extended by the negative pressure increase in the pipe line generated in accordance with the suction of the work piece by the suction head.

(Operation) When the evacuation device is operated, the air in the pipe and the branch is sucked, and the suction force is generated at the work suction port. When the work is attracted to the work suction port by this suction force, the branch passage is closed, so that the evacuation device sucks the air in the air cylinder and exhausts the cylinder. As a result, the piston rod extends and the suction unit rises, and along with this, the suction head also rises in a state in which the work is sucked.

Then, when the piston rod reaches the upper limit, the rising of the rod stops. When the work is removed from the suction head, a large amount of air enters from the work suction port, the vacuum state of the air cylinder is released, the piston rod is lowered by its own weight, and the suction head is also lowered.

When the suction head descends to come into contact with the work and the work is adsorbed, the air cylinder is evacuated and the same operation as described above is repeated.

(Effect of the invention) As described above, the piston rod of the air cylinder does not extend and the head does not rise until the workpiece is securely attracted to the suction head. You can do it.

Moreover, by simply connecting the suction head to the branch passage of the pipe line, in other words, the suction error can be prevented with a simple configuration in which the vacuuming device is connected to the suction head and the air cylinder. Moreover, since the suction head comes into contact with the work by the weight of the suction unit, no special floating mechanism is required, and the structure becomes simpler.

Embodiment An embodiment of the present invention will be described below with reference to the drawings. In FIGS. 1 and 2, 1 is a base, and an air cylinder 2 is installed on the lower surface of the base 1. An upper end portion of the air cylinder 2 has a small diameter, the small diameter portion penetrates a through hole of the base 1, and a nut 3 is screwed into a protruding portion thereof. That is, the nut 3 causes the air cylinder 2 to move to the base 1.
It is fixed to. 4 is the piston rod of the cylinder 2
A lifting shaft fixed to the upper end of 2a.

A guide rail 5 is erected on a side end of the base 1, and a work suction unit 6 is mounted on the guide rail 5 so as to be vertically movable. The unit 6 has a plurality of rollers 7a, 7b, 7c, and at least a pair of rollers 7a, 7b sandwich the guide rail 5 and all the rollers 7a, 7b, 7c roll along the guide rail 5. The unit 6 is guided along the guide rail 5. Reference numeral 5a is a bolt for fixing the guide rail 5 to the base 1.

A lifting plate 8 is fixed to the work suction unit 6, and a suction head 9 is fixed to the lifting plate 8. Lifting plate 8
Further, a positioning hole 10 is formed in which the tip of the lifting shaft 4 can abut.

Reference numeral 11 denotes a work stacking unit installed on the upper surface of the base 1, and the stacking unit 11 includes a receiving plate 11a and a bolt 12 on the lower surface of the receiving plate 11a.
And a guide rod 13 erected on the upper surface of the receiving plate 11a. The lower end of the leg 11b is a base 11
It is fitted in the reference hole 14 formed in the.

In Figs. 1 and 2, a gasket is used as an example of the work.
15 is shown, and a large number of gaskets 15 are stacked on the receiving plate 11a. The guide rod 13 penetrates through holes formed at both ends of the gasket 15.

16 is a stay attached to the lower surface of the base 1.
A vacuum ejector device 17 and a manual switching valve 18 are fixed to 16.

FIG. 3 shows an air pressure circuit including an air cylinder 2, an adsorption head 9 and a vacuum ejector device (vacuum evacuation device) 17. The device 17 is provided with a supply port P, a discharge port R and a suction port V. The air cylinder 2 is connected to the suction port V via a conduit 19.

An upper pipe port 20a and a lower pipe port 20b are formed at both upper and lower ends of the air cylinder 2, and a pipe line 19 is connected to the upper pipe port 20a. The lower piping port 20a is opened to the outside air, and the cylinder chamber below the piston 2b is at the atmospheric pressure (atmospheric pressure).
Is being held in.

A branch path 21 is connected in the middle of the pipeline 19, and the branch path 21 communicates with the work suction port 9a of the suction head 9.

A manual switching valve 18 is connected to the supply port P of the vacuum ejector device 17, and a compressed air supply source (not shown) is connected to the supply port P of the valve 18. That is, the valve
When 18 is turned on, the supply port P and the connection port A communicate with each other, and compressed air is supplied to the vacuum ejector device 17. On the contrary, when the valve 18 is turned off, the supply port P of the valve 18 is shut off as shown in FIG.

Next, the operation of the device having the above configuration will be described. Second
The figure shows a state in which the piston 2b of the air cylinder 2 is located at the bottom of the cylinder 2, and the lifting shaft 4 is at the lowest position, that is, the original position. The adsorption unit 6 can freely descend due to its own weight, and the adsorption head 9 is in contact with the gasket 15 in the figure.

When the manual switching valve 18 is turned on in this state, the compressed air is supplied to the vacuum ejector device 17 and further discharged from the discharge port R to the outside. As a result, a suction force is generated in the suction port V, and air is sucked from the suction port 9a of the suction head 9.

When the gasket 15 comes into close contact with the suction port 9a by this suction force, air cannot be sucked from the suction port 9a, so the vacuum ejector device 17 sucks air from the air cylinder 2.
When this suction causes the upper side cylinder chamber above the piston 2b, that is, the rod side cylinder chamber, to reach a vacuum state, the piston 2b is raised by atmospheric pressure, and the piston rod
2a extends. Then, the lifting shaft 4 fixed to the rod 2a ascends to come into contact with the positioning hole 10 of the lifting plate 8 to raise the suction unit 6 along the guide rail 5. As the unit 6 rises, the adsorption head 9 also rises, and at the same time lifts the gasket 15.

In this way, when the piston rod 2a rises and the piston 2b reaches the upper limit, the lifting shaft 4 stops rising and the suction head 9 also stops rising. When the head 9 stops, remove the gasket 15 from the head 9.

When the gasket 15 is removed, a large amount of air enters from the suction port 9a of the suction head 9, so that the vacuum state of the air cylinder 2 is released, the piston rod 2a lowers by its own weight, and the suction unit 6 also lowers. When the adsorption head 9 contacts the gasket 15, the lowering of the adsorption unit 6 is stopped, but the piston rod 2b continues to descend. When the gasket 15 is adsorbed to the adsorption head 9 while the rod 2b is being lowered, the piston rod 2b is raised as described above.

Reference numeral 22 is a rod hole formed in the lifting plate 8, and the rod 13 penetrates so as not to interfere with the guide rod 13 when the number of gaskets 15 decreases and the stopping position of the lifting plate 8 is lowered. It is for.

It should be noted that, when the gasket 15 is lifted by the adsorption head 9, the adsorbed gasket 15 may be lifted by overlapping the gasket located below it.
While climbing along, the lower gasket falls.

FIG. 4 shows another embodiment of the present invention. This embodiment differs from the first embodiment in that the suction unit 30 rotates when moving up and down. That is, the unit 30 comprises a unit main body 31 and a lifting plate 32, and the unit main body 31 has a disc portion 31a and a cylindrical portion 31b protruding from the lower surface of the disc portion 31a.
The rod rail 32 is slidably inserted into the tubular portion 31b, and the rod rail 32 penetrates a through hole (not shown) formed in the disc portion 31a.

Lead grooves 33 are formed on the outer peripheral surface of the rod rail 32 as shown in FIGS. 5 and 6. This lead groove 33
Is composed of an inclined portion 33a extending in a direction intersecting with the axis of the rail 32, and upper and lower linear portions 33b, 33c extending in the axial direction from both upper and lower end portions of the inclined portion 33a, and an upper end portion of the lower linear portion 33c is It is almost equal to the maximum height of the gasket 15. Further, the rotation angle of the lifting plate 32 can be arbitrarily changed by appropriately setting the angle formed by the lower linear portion 33c and the inclined portion 33a, that is, the twist angle.

34 is a bolt, and this bolt 34 is screwed into a screw hole 35 formed in the peripheral wall of the tubular portion 31b. As shown in FIG. 7, the tip of the bolt 34 is formed as a small diameter portion 34a. The small diameter portion 34a comes into sliding contact with the lead groove 33 when the suction unit 30 moves up. Reference numeral 36 is a nut, which prevents the bolt 34 from loosening by being screwed into the bolt 34. Reference numeral 37 denotes a lifting shaft. In the first embodiment, the tip of the shaft 4 is formed in an acute angle, but in this embodiment, the tip of the lifting shaft 37 is formed in a hemispherical shape. The hemispherical shape allows the disk portion 31a to smoothly rotate.

The other structure is similar to that of the first embodiment, and therefore the description is omitted.
In FIGS. 4 and 5, the same reference numerals as those in FIGS. 1 and 2 indicate the same parts.

Next, the operation of the second embodiment will be described. When the adsorption head 9 adsorbs the gasket 15, the piston rod 2a extends and the lifting shaft 37 abuts the lower surface of the disk 31a to lift the disk portion 31a. At this time, when the bolt 34 is located in the lower linear portion 33c of the lead groove, the disc portion 31a rises linearly, but when it is located in the inclined portion 33a, the disc portion 31a.
Rotates and the suction head 9 also rotates to reach a predetermined position. When the disc portion 31a rotates, the lower surface of the disc portion 31a slides with respect to the tip portion of the lifting shaft 37.

As described above, in this embodiment, the position of the adsorption head 9 after the adsorption of the gasket 15 can be arbitrarily set.

[Brief description of drawings]

FIG. 1 is a perspective view of a work suction transfer device according to the present invention, FIG. 2 is a front view of the same device, FIG. 3 is a pneumatic circuit diagram including a suction head and an air cylinder, and FIG. 4 is a view of the present invention. FIG. 5 is a perspective view of a suction unit according to another embodiment, FIG. 5 is a sectional view of the suction unit, FIG. 6 is a side view of a rod rail, and FIG. 7 is a side view of a bolt. 2 ... Air cylinder 2a ... Piston rod 6 ... Suction unit 9 ... Suction head 9a ... Workpiece suction port 17 ... Vacuum ejector device (vacuum suction device) 19 ... Pipe line 21 ... Branch line

Claims (1)

[Scope of utility model registration request] 1. An adsorption head for adsorbing a work is attached to a work adsorption unit which can be moved up and down, and an air cylinder for elevating the adsorption unit by extending a piston rod below the adsorption unit is separated from the adsorption unit. Arranged, the rod side cylinder chamber of the air cylinder is connected to an evacuation device by a pipe line, a branch passage of the pipe line is connected to a work suction port of the suction head, and the suction head is moved by its own weight. A work suction / transfer device, wherein a piston rod of the air cylinder is extended by bringing a negative pressure in the pipe line generated in accordance with suction of the work with the suction head into contact with the work.