JPS5930684A - Controller for attitude of work in loader - 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 relates to a one-way attitude control device for a transfer device.

Conventionally, as a workpiece posture control device in this type of transfer device, there has been a structure shown in FIG. 1, for example. This is a bundle assembly 1T, and in the process the main floor panel and left and right σ
) with body side panels? This is an example of a posture control device for welding. 1 is a gate-shaped base, 2 is a conveyor placed in the center of the base 1, and this conveyor 2 allows the hanger 3 to be held in its own weight position. A pair of left and right body side panels S+, 82 supported by 11 are conveyed linearly.

4A and 4B are the supports of the base body 1]δ respectively.

This is a transfer unit arranged so as to be able to move up and down along the line 1b, and this transfer unit 4A, 4B&'! , 161 city h 5 for unit body 6 with guide roller 5
An arm 7 connected to the T OF, a tilt cylinder 8 for rotating this arm 7, a slider 9 that can slide along the arm 7, and a slider 9 that can be slid along the arm 7.
The I-IVC slider 9 is equipped with a slide cylinder 10 for sliding the body side panel S+, which is the workpiece.

S2'? 1 for support and adjustment is a finger 11 that can move once
A cylinder 12 for rotating the finger 11 and a clamp cylinder 13 for gripping and clamping the workpiece S1+82'1 are installed. Then, MM's 4'J 1 or Uni-Soto 4A and 4B are both simultaneously lowered along the pillars 1a and 1b via 15 chains by the force of the motor 14.

This is what Ill do.

Also, 16A and 16B are based on 17. , These assembly jigs PL+6A and 16B are installed so that they can slide, and the workpieces S1.82 to be transferred by the transfer units 48 and 4B are attached to the assembly jigs PL+6A and 16B, respectively. 1 is the one that must be placed on the main floor panel M when it is received.18 is a balance weight.

The equipment J agency related to the above structure is shown in Figure 1.
t j '1 When the VC44/control units 4A and 41B are at their limit positions, the slide cylinder 100 is operated to move the slider 9 forward to the workpiece S+, 82, and the fin f-11 is rotated upward. At the same time as the clamp cylinder moves, the workpiece (S+ + 82 'l me unit) 4A, 4 is supported by the hanger 3 in its own weight position until the clamp cylinder is moved.
Received on B11111. Next, due to the reverse operation of the five-slide cylinder 10, the slider 9, which has clamped the works S+ and F32, moves back. At this time, slider 9
The tilt cylinder 8 operates at the same time as or later than the backward movement of the arm 7, and as shown by the two-dot chain line in Fig. 1, the entire arm 7 is placed on one side of the workpiece 8+, 82%.
(IW Ill, the work S+, 82 is -F
Assembling jig 168, IfiB [that position to face each other? fItl1 period. Thus work 81 * 8
When the attitude control of step 2 is completed, the motor 14 is activated to move the transfer unit 4A.

4B descends along struts +a, +1) for both.

Then, the ++8 units 4A and 4B are at the lower limit (+7 t
When one thread is moved to ill, the corresponding transfer unit 4A, 4
Assembling jig 16A for workpiece S+, 82, which is temporarily suspended at +3.

+6Bf)'>Moves forward, and the finger 1+i:t and the clamp cylinder 13 are 17497107
Transfer unit 4A, 4B IHI
Workpiece B 11S2 of I are each assembled jig 16 A
, 16B +tllll. After this,
By further attaching the assembly jigs 16A and 16B, the workpiece S+ 82 is positioned and set relative to the main floor panel M, and predetermined welding is performed using a welding gun (not shown)6. However, according to the conventional configuration described above, in the transfer unit, the mechanism for moving the work backwards and the mechanism for tilting the work S+, 82 are the driving sources. Because each part is separate and independent, the structure of 4 is not only complicated and large, but also unconventionally large, which makes it difficult to save space and cost. There is a problem with being at a disadvantage. .

In view of the above points, this invention was made with the aim of simplifying the transfer unit and reducing global warming. The special feature is that the front/back aI#I movement and the tilting movement of the workpiece gripping part are simultaneously performed by a single mechanism based on the Linfke.

Embodiment 1 of the present invention will now be described in detail based on the first page 7. However, in explaining this embodiment, the same reference numerals will be used for the same parts as in the conventional example. shall be attached.

That is, FIGS. 2, F, and 3 show one embodiment of the present invention, and the transfer unit h 211 A, 711
The unit body 21 of B has a bracket 22 and a hinge 2.
A pair of links 24.2 that extend q lengths through 3 pieces.
Place 2 tons on each convex and 1 egg so that the 5's are parallel to each other.
ing. One link 25 is equipped with a turnbuckle mechanism 1t, and a threaded shaft 26alY.
By rotating the link 25, the length of the link 25 becomes o.
It has become J Noh.

Further, a frame 27 is connected to the lower ends of both links 24 and 25 by a pin 26. , this frame 27 has work body side Cs, S+, S2
'& A co-movable finger 28 for support and rotation, a cylinder 29 for rotating this finger 28, and a clamp claw 3OA for clamping the workpiece S+, 82.
The clamp cylinder 30 is attached to the cylinder, and these fingers 28. cylinder 29
Also, the workpiece is gripped 49 by the clamp cylinder 30, etc.
fM 3 t Y 4°, and furthermore, the unit body 2] has a work gripping mechanism 31 with respect to the conveyor 2 described above. A swing cylinder 32, which is a straight-type actuator for moving forward and backward, is installed, and its piston rod 32a is attached to the link 2.
4 is connected by a bottle 33 approximately in the center.

Therefore, according to the apparatus according to the configuration described below, while the conveyor 20 is running, the transfer unit 1-2OA is transferred.

The workpiece gripping mechanism 31 of 20B is waiting at the position Gγ1 advanced with respect to the conveyor 2, that is, the position shown by the solid line in FIG. When it reaches +h, conveyor 2 stops.
L, the finger 28 rotates in the t direction and the workpiece S, ,
Upper end of s2? At the same time as the support, the clamp cylinder 30 operates and the ℃ workpiece 8. ．． Clamp at 82%'sorL. Next, the swing cylinder 32 is moved and the workpiece gripping mechanism 31 is moved back to the position shown by the two-dot chain line in FIG. 3 as the center of rotation of the bin 23. At this time, since the lengths of the links 24 and 25 supporting the workpiece gripping mechanism 31 are different from each other, the entire workpiece gripping mechanism 31 including the workpieces S+ and 82 tilts upward to the right in FIG.
In other words, in the process of the backward movement of the workpiece gripping mechanism 31, the workpieces 8+ and 82, which had been in the self-weight position until then, were moved to the assembly jig +6A, 1fi13IJ! - L6 for the required inclination
Attitude control will be performed accordingly.

After this, the transfer unit 20 is moved by one movement of the motor 14.
A and 20B are lowered along the supports t'a and lfi to the lowering limit position, and from this point on, the workpiece S1 is moved to the lower limit position as described above.
+ 82 'riil jig 16A,] 6BVc transfer L
1. 6A, 16B's front a movement causes wa'! 7 S1+ 82 has 6t on main floor panel M
The position is set.

In this way, according to the present invention, the movable part of the transfer unit can be
A pair of links with different lengths? Retracting the workpiece and tilting the workpiece with one mechanism! By making it possible to carry out lrh production, the structure of the transfer unit is significantly simpler than before, making it possible to use lighter barrels, and space constraints are relaxed. , which is very advantageous in terms of cost.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing an example of a workpiece posture control device in a conventional transfer device, and FIG. 2 is an explanatory diagram showing an embodiment of the workpiece posture control device according to the present invention. FIG. 3 is an enlarged explanatory view of the clasp in FIG. 2. 2...conveyor CM sending means), 1f'tA, 11'i
B... Assembly jig, 20 A, 2 (l B...
transfer unit), 21...unit body, 24.25.
... Link, 27 ... Frame, 28 ... Finger, 29 ... Cylinder, 30 ... Clamp cylinder, 31 ... Work gripping mechanism, 32 ... Swing cylinder (drive source), 'B1 * 82...Hotey side panel (work) 1゜

Claims (1)

[Claims] HI'lr transfer of workpieces transported by fixed transport means @h oT #'? 1 received through a special transfer unit.
In a transfer device that transfers the workpiece to a predetermined jig, controls the posture of the workpiece to a desired posture, and transfers the workpiece to a specified jig, one end of the transfer unit is A pair of links are each rotatably connected to the main body, and are attached to the other ends of the links, and the links are rotatably connected to each other. * It consists of a work gripping machine jM that moves nil backwards with respect to the transport means by r+, and a drive source that rotates the link, and controls the posture of the workpiece jI in conjunction with the forward and backward movement of the work gripping mechanism. A workpiece posture control device in a transfer #1 device that takes the opportunity to tilt the workpiece gripping mechanism to perform the following steps.