JPH0811605B2 - Suspended carrier - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of a hooked portion of a work when suspending a suspended carrier (work) on a hanger with a hook having a wedge-shaped hook attached to a hanger conveyor or the like.

[0002]

2. Description of the Related Art Conventionally, in a coating line or the like, an operation of grasping a work carried to a set position and suspending it from a hanger installed on a hanger conveyor has been automated. However, it is difficult to accurately set the hooking position of the hanger due to rocking, deformation of the hanger itself, etc., and it is easy for the hanger to fail to be hooked on the work. Further, when the suspended work rotates around the hooked portion, unevenness can occur in painting, and therefore a work rotation preventing means is required.

In order to prevent such a catching failure, the structure of the hanger is precisely and robustly formed, and
It is necessary to improve the position control of the hanger conveyor,
Any of these causes an increase in cost. Further, it is convenient to prevent the rotation as long as the hook portion itself has a structure that prevents the rotation.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to prevent hanging failure even if there is some deviation in the setting position of the hooking portion of the hanger, thereby improving the efficiency of the hanging work on the hanger. In addition, it is possible to provide a suspended conveyance body in which the hooked portion of the work has an excellent rotation prevention structure.

[0005]

A suspending carrier according to the present invention has a hooked portion formed by making a hole in a plate portion and is carried by being hooked by a wedge-shaped portion of a hanger hook. In, the wedge-shaped portion is the tip of the hook.
It has a plate-like shape that tapers upward and has the hooked portion.
Is a substantially polygonal hole and the longest diagonal is the wedge-shaped part.
We adopted a configuration that is shorter than the maximum width .

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to FIGS. The industrial robot 100 has a robot hand 1 and a conveyor 2
The workpieces 2 sequentially transported to the fixed position by 00 are hung one after another on the hanger 3 transported to the set position by the hanger conveyor 300.

The robot 100 has a body 11 installed on the floor.
An arm 120 having a large number of joints is attached to 0.
The robot hand 1 has a work holding hand 4 and a hanger holding hand 5 attached to a holder 11 attached to the tip of an arm 120 in a predetermined positional relationship. The work gripping hand 4 includes flat-plate fingers 41, 41 with variable finger intervals.
Have. The hanger gripping hand 5 includes fingers 51 and 51 having variable finger intervals, and has a structure in which a substantially rectangular gap 52 is formed in the center when the fingers 51 and 51 are narrowed.

For the work 2, a sheet metal is formed into a rectangular frame 21,
One end is closed by the bottom plate 22. Near the corner of the short material 23 of the frame 21, a substantially rhombic hole 24 is punched to form a hooked portion.

A large number of hangers 3 are attached to the orbit of the hanger conveyor 300 at regular intervals, and a hanger main body 33 in which a large number of ribs 32 are welded in parallel to the horizontal trunk 31 in parallel with each other is provided. It consists of rod-shaped hooks 6 suspended at both ends. The hook 6 has an engaging portion 61 for engaging with the rib 32, an intermediate portion having a rod-like portion 62, a lower end bent into a J-shape, and a tip having a portion having a width larger than the maximum width of the rhombic hole 24. A triangular plate-shaped wedge 63 is a hook portion 64 welded upward.

The corners of the substantially rhombic hole 24 may be an arc having a small radius of curvature as shown in the drawing, or may be pointed, but as shown in FIG. 2, when it has a curvature, it is set smaller than the thickness of the wedge 63. When the diamond-shaped hole 24 is hooked on the wedge 63,
Both sides 631 and 632 of the wedge 63 are corners 241 of the diamond-shaped hole 24,
It is designed to cut into 242.

The operation of the robot hand 1 of this embodiment will be described. The robot 100 has an arm 1 so that the robot hand 1 is placed on a work 2 carried by a conveyor 200.
20 is moved to operate so that the predetermined position of the longitudinal member 25 of the work 2 is almost in the middle between the open fingers 41, 41.
Then, the space between the fingers is narrowed and the longitudinal member 25 is gripped.

Next, the arm 120 is moved so that the diamond-shaped hole 24 of the work 2 comes directly above the wedge 63 and the longitudinal direction of the diamond and the plate surface direction of the triangular plate are substantially aligned. At this time, the hanger grip 5 is set so that the bar-shaped portion 62 of the hook is located between the spread fingers 51, 51. Next, the fingers 51, 51 are narrowed, and the rod-shaped portion 6 is placed in the gap 52 formed at the center.
Hold 2 loosely.

When the tip of the arm 120 is lowered in this state, the robot hand 1 moves the workpiece gripping hand 4 into the workpiece 2.
Since the hanger gripping hand 5 is displaced downward while holding the rod-shaped portion of the hook 6 loosely while gripping, the diamond-shaped hole 24 is surely caught by the wedge 63. Next, the finger 4 of the workpiece gripping hand
When the space between Nos. 1 and 41 is widened, the work 2 hangs on the hook 6. Further, the fingers of the hanger gripping hand 5 are opened and the hook 6 is released.

This completes one step of suspending the work 2 on the hanger 3, and the robot 100 grasps the next work. Therefore, the robot hand 1 at the tip of the arm 120 is placed on the next work 2 conveyed by the conveyor 200. Move to.

Since the diamond-shaped hole 24 has a diamond shape in the work of suspending the work 2, even if the tip of the wedge 63 is set to be displaced from the center of the diamond-shaped hole 24 to the front or rear or to the left or right, the hook is smoothly hooked. You can Further, since the rhombus hole 24 has a rhombus shape and the hook portion 64 is a wedge 63 having a triangular plate shape, the wedge 63 bites into and engages with the corner of the rhombus hole 24, and relative rotation is prevented. This prevents the workpieces from rotating and colliding with each other, and the workpieces to be coated are prevented from rotating and causing uneven coating during electrostatic coating.

The hole shape of the hooked portion may be a polygonal shape such as a triangle, a rectangle or a pentagon other than the substantially rhombic shape. The wedge-shaped portion of the hook may have a triangular plate shape or a polygonal pyramid shape. In addition,
The configuration in which the hooked portion of the present invention has a polygonal shape includes electrostatic coating in which a liquid or powder coating is sprayed on the work in the air, enamel coating of a method of dipping the work in the liquid coating, plating, degreasing cleaning, or It is effective for all of the work of suspending and transporting the work such as coating in which the work is dipped in the powder paint, and further, the parts supply conveyor of the assembly line.

[0017]

The hooked portion is formed of a substantially polygonal hole.
Therefore, it is easy to insert the tip of the wedge-shaped part of the hook. For this reason, the book
The hanging carrier of the invention is suitable for hanging on the hook of a hanger.
Efficient. Also, the wedge-shaped part may not catch on the hooked part.
Then, the wedge-shaped part is a plate that tapers upward.
Therefore, the slopes on both sides have two polygonal holes facing each other.
Abut near the corner. And the sum of both sides of the slope in the plate thickness direction
The four corners are suspended and the weight of the carrier acts to create a polygonal shape.
It bites into the vicinity of the corner of the shaped hole. This allows for hanging
The rotation of the feeder and the movement in the front / rear, left / right and up / down directions are prevented.
It Especially, the wedge-shaped part is pulled in the longest diagonal direction of the hooked part.
When applied, this effect is great.

[Brief description of drawings]

FIG. 1 is a perspective view of a hanging structure of a hanging body according to the present invention.

FIG. 2 is a plan view of a hanging structure of a hanging body according to the present invention.

FIG. 3 is a perspective view showing a work of suspending a work by a robot.

[Explanation of symbols]

 1 Robot hand 2 Work 3 Hanger 6 Hook 24 Rhombic hole 63 Wedge

Claims (1)

[Claims] 1. In a hanging carrier which has a hooked part formed by making a hole in a plate part and is hooked by a wedge-shaped part of a hook of a hanger and conveyed, the wedge-shaped part forms a tip of the hook. Upwards
It has a tapered plate shape, and the hooked part forms a polygonal hole and has the longest diagonal.
A suspended carrier, wherein the line is formed shorter than the maximum width of the wedge-shaped portion .