JPS58109286A - Pick and place unit - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is directed to a big-and-pre-run unit placed on assembly stays set at predetermined intervals along a conveyance path.

A jig or a product positioned by a jig (hereinafter simply referred to as a product)! A conveying device that intermittently conveys a product along a predetermined route, and an assembly set on this conveying device are placed together with a parts supply device at a stake stop (product stopping position).
2. Description of the Related Art An automatic assembly device has been proposed that is provided with a large number of big-and-place units that assemble parts delivered from a parts supply device to a supply position into a product.

The big-and-place unit in such automatic assembly equipment lowers a chuck, which has been fired once for each part, from its holding position to ensure that the target parts are treated as 4L. It operates in the order of ascent, forward movement, descent (assembly), part release, ascent, and retreat for each cycle. therefore.

This is extremely useful when assembling large quantities of the same product.

However, in one pick-and-place unit, 1
Only different types of parts can be assembled, so depending on the product sent to Stage Soun, assembly is performed by selecting one type of part from two or more types of parts and assembling. teeth.

It is necessary to arrange the same number of pick and place units as the number of types of parts. If it is not possible to arrange multiple pick-and-place units in one stage for one assembly, the number of stage units is increased for Kij1 assembly, and stage units are rested for unnecessary assembly. It is.

For this reason, in conventional automatic assembly equipment.

The number of pick-and-place units required is the same as the types of parts to be assembled using automatic assembly equipment.

As the entire device becomes larger, it also becomes more expensive. Further, there is a drawback that the operating rate of each pick-and-place unit is reduced.

An object of the present invention is to eliminate the drawbacks of the prior art described above, and to provide a pick-and-place unit that selects a desired part from two or more different parts and assembles it into a product using a single pick-and-place unit. There is a company that provides an and-place unit.

In order to achieve the above object, in the present invention, the supply positions of a plurality of parts are arranged in a line, and the holding means of the pick-and-place unit is moved to the supply position elii! It is characterized in that the column Kfa is moved.

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

Since Figures 1 to #I4 show an embodiment of the present invention, in the figures, from a pair of parts feeders 1 and 2,
Parts 5, 4 are each fed to a feeding position. Pace 5 arranged so that it can be raised and lowered (drive source and guide member not shown)
A pair of guide pavers 6 and a cylinder 7 are supported. A slide pace 9 that is slidably fitted and supported by the guide pawl 6 is coupled to the rod 8 of the cylinder 7. The rod 11 of the cylinder 10 fixed to this slide base and the pair of guide pavers 12 that slidably pass through the slide base 9.

The pace 15 is fixedly supported. This pace 1s is connected to a block 15 via a rotatably supported shaft 14.
is swingably supported. The tip of the rod 18 of the cylinder 17, which is rotatably supported on the base 15 via a bottle 16, is connected to the program 1! via a hook 19 fixed to the tip. It is rotatably coupled to a bin 20 supported by $. The block 15 has a chuck 21
is supported.

This chuck 21rj, a lower finger 24 fixed at one end Kb1 of a guide pawl 25 that is slidably supported on the pace 22 fixed to the plotter 15, and the pace 22
An upper finger 28 is slidably fitted and supported together with a block 26 and a spring 27 on a guide pawl 25 which is erected, and is integrally fitted with the block 26 by the spring 27, and an upper finger 28 which is erected on the pace 22. It is.

a cylinder 5 with a rod 29 connected to said finger 28;
0, and a link 51 connecting the finger 24 and block 26. The product 52 is transported by a transport device 55, and the product 52 is stopped and positioned before the stage for assembly. When the assembly of one part 5 (or 4) is completed, the vehicle starts moving and moves to the next stage for the next assembly. Said part 5.
4F1. For example, in the shapes shown in FIGS. 5 and 4, the angles of the bent portions SB and 4B are different. . Then, the holding parts SA and 4A are held and assembled into the product.

On the other hand, the chuck 21 has cylinders 7 and 7 cylinders 10
When the rods 8 and 11 are actuated and the rods 8 and 11 are retracted (11 in the retracted position), the rods 8 and 11 are positioned above the parts 5 fed to the supply position 11 by the parts feeder 1. More specifically, the tip of the finger 2B faces the holding part 5AK of the component 5, and the finger 24 is located slightly behind the holding part 3A. Further, the supply position Fi of the parts 4 supplied by the parts feeder 2 is set below the path of the chuck 21 that moves due to the operation of the clinder 7.

In the above configuration, the base 5 is located at the rising end, the slide base 9 and the base 15 are retreated, and the chuck 21 is waiting above the parts 3 in the supply position of the parts feeder 1. Control device for automatic assembly equipment (not shown)
When an instruction to assemble the parts 3 is received from the operator, the base 5 is lowered and the tips of the fingers 24 of the chuck 21 enter the grooves of the parts feeder 1. Then, when the cylinder 50 is actuated and the finger 28 is pushed down, the block 26 is also lowered at the same time, so the finger 24 moves forward via the link 31 and the tip of the finger 24 enters under the component 5. In this state, the block 26 still contacts the base 22 and is stopped from descending. Further, when the finger 2B is lowered by compressing the spring 27, the component 3 is held between the fingers 24 and 28. In this state, when base 5 rises,
The parts S are taken out from the parts feeder 1. Next, when the cylinder 10 is actuated, the base 15 moves forward, and the component 5 held by the chuck 21 is transferred to an upper position for assembly. Then, when the base 5 is lowered and the part 5 is assembled to the product 52, the cylinder 50 is actuated to pull up the finger 28 and release the part 5. At this time, due to the action of the spring 270, first.

After only the finger 28 is raised and the component 3 is released, the spring 27 and the block 26 are pulled up, the finger 24 is pulled back by the link 31, and the finger 24 is pulled out from under the component 30. Then, after the base 5 is raised and the chuck 21 is raised, the cylinder 10 is activated to retreat the chuck 21 to the standby position. When receiving a command to assemble the part 4 from the control device of the automatic assembly device, the cylinder 7 is actuated to move the chuck 21 above the part 4, and then pick up the part 4 in the same manner as in the case of the part 5. . A chuck 21 holding the component 4
When the cylinder 7 is raised, the cylinder 7 is activated, the chuck 21 is moved backward, the part 4 is moved above the part 5, and then the part 4 is assembled in the same manner as the part 5. At this time, the cylinder 17 is operated and the block 15 is rotated.

It is also possible to tilt the chuck 21 and the part 4.

Therefore, with the bent part 4B of one part 4 horizontal, the product 5
It can also be assembled into 2.

In this way, two types of parts can be arbitrarily selected and assembled using a single big-and-place unit.

In the above embodiment, the chuck 21 is configured to clamp and hold the component from above and below.

The parts may be held by sandwiching them horizontally, or they may be held by suction from above.

In addition, although the base 5 is raised and lowered to take out and assemble parts, the base 5 is fixed, the chuck 21 is coupled to the base 15 or the block 15 so that it can be raised and lowered, and only the chuck 21 is moved up and down. You can also do this. Furthermore, if the chuck 21 is coupled to the base 15 so as to be movable up and down, the parts held by the chuck 21 can be assembled to the product from an oblique direction by swinging the base 15. Further, the cylinder 17 that swings the base 15 can be replaced with a gear.

Furthermore, we have explained the case where one of two types of parts is selected and assembled, but even if there are five or more types of parts to be supplied, if the supply positions are arranged in one row, the supply A stopper for stopping the slide pace 9 may be provided on the base 5 in accordance with the position. Further, the cylinder 7 for moving the slide pace 9 may be a feed screw.

As described above, according to the present invention, the holding means for holding the parts is raised and lowered at the supply position and assembly position of the parts, and also reciprocated between the respective positions, so that the parts supplied to the supply position are The assembly is performed using a pick-and-place unit that assembles the product onto a positioned product.

A moving means is provided to move the holding stage along a plurality of supply positions arranged in one row, so one assembly can be performed by selecting and taking out one part from a plurality of different parts without passing through the stage. , can be assembled into products. Moreover, the operating rate of the pick-and-place unit can be improved.

Furthermore, one assembly reduces the number of stages, making it possible to downsize and reduce the cost of the automatic assembly apparatus.

In addition, since a swinging means for swinging the holding means is provided, #
The degree of freedom in direction when assembling parts to the product is increased, and the range of use of the pick-and-place unit can be expanded.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an example of a pick and place unit according to the present invention, FIG. 2 is an a-side view showing the operation process of the chuck in FIG. 1, and FIGS. 5 and 4 are pick and place units shown in FIG. 1. Examples of parts handled by the and place unit are shown. (13tit plan view, (A) is the 11th plan view. 1.2... Parts feeder 1. 3.4... Parts, 5 rivers Pace, 6... Guide pa, 7... Cylinder. 8... Rod, 9... Slide base,
10... Cylinder, 11... Rod, 12... Guide pa, 15... Base 14... Shaft,
15...Bun Tsuk, 16...Bin 1
7...Cylinder. 18...rod, 19...piece. 20...Pin 21...Chuck. 22...Base 25...Guide Pa. 24...Finger, 25...Guide Pa. 26...Block, 27...Spring, 28...Finger 29...Rod, 30...Cylinder,
31...Link. Representative Patent Attorney Susuki 1) Interest<*. t'Igo, paumi; f-1 times j(t) ′''A=3WJ Fig. 4

Claims (1)

[Claims] 1. The holding means for holding nine items is moved back and forth between two points set above the parts supply position and assembling position, and is raised and lowered at each of the points. The parts supplied to the supply position are assembled into a big-and-place unit that is assembled to the manufactured LF& positioned at the position. A big-and-place unit characterized in that a moving means is provided for moving the holding means along an array of a plurality of supply positions arranged in one row. 2.11 The holding means for holding an item is moved back and forth between two points set above the position to reciprocate and assemble the part to the supply position. In the big-and-place unit, which is assembled to a product positioned at a certain position, the marking holding means is assembled into a plurality of supply positions arranged in one row [j
means of transportation. A big-and-place unit comprising: a swinging means for swinging the holding means; and a swinging means for swinging the holding means.