JPS61219539A - Method of individually feeding thin sheet part - Google Patents
Method of individually feeding thin sheet partInfo
- Publication number
- JPS61219539A JPS61219539A JP5982985A JP5982985A JPS61219539A JP S61219539 A JPS61219539 A JP S61219539A JP 5982985 A JP5982985 A JP 5982985A JP 5982985 A JP5982985 A JP 5982985A JP S61219539 A JPS61219539 A JP S61219539A
- Authority
- JP
- Japan
- Prior art keywords
- suction
- thin plate
- thin sheet
- separating
- plate component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Sheets, Magazines, And Separation Thereof (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔概要〕
座金、小ねじ止めする端子片等のように小さい薄板部品
を組立個所に搬入するにあたり、積層され状態の薄板部
品を真空吸着手段により、1枚に分離した状態で取り出
して、自動供給を可能とする。[Detailed Description of the Invention] [Summary] When carrying small thin plate parts such as washers and terminal pieces to be fastened with small screws to an assembly location, the stacked thin plate parts are separated into one piece by vacuum suction means. It can be taken out in the same state and automatically supplied.
本発明は、座金状の小さい薄板部品の個別供給方法に関
する。The present invention relates to a method for individually supplying small sheet metal parts in the form of washers.
電子機器等には座金状の薄板部品、例えば座金。Washer-shaped thin plate parts, such as washers, are used for electronic devices.
端子片等が広く使用されている。Terminal pieces etc. are widely used.
このように小さく手で取付は困難な薄板部品は、組立作
業を自動化することの要求が強い。There is a strong demand for automation of assembly work for thin plate parts that are small and difficult to assemble by hand.
座金、ナンド、小ねじ等の小形の部品は、従来組立個所
への個別供給手段として、振動供給方法が広く行われて
いる。Conventionally, vibration feeding methods have been widely used as means for individually feeding small parts such as washers, pads, machine screws, etc. to assembly locations.
振動供給方法とは、下記のような個別供給方法である。The vibration supply method is an individual supply method as described below.
小形部品を多量に投入する円形容器と、容器の外周部に
接線状に連結して端末が下方に傾斜したガイド溝とを有
する設備を使用し、容器を振動させると、小形部品は振
動により容器の周辺に平面状に移動して1列に整列した
状態でガイド溝に送りこまれる。When equipment is used that has a circular container into which a large amount of small parts are put, and a guide groove connected tangentially to the outer circumference of the container and whose end is inclined downward, the container is vibrated, and the small parts are moved into the container due to the vibration. The guide grooves are fed into the guide groove while being aligned in a single line.
ガイド溝に送りこまれた小形部品は、自重と振動とによ
り、ガイド溝を降下してガイド溝端末に移動する。The small component fed into the guide groove moves down the guide groove to the end of the guide groove due to its own weight and vibration.
したがって、ガイド溝端末で、例えばロポ・ノ1〜ハン
ド等により把持することにより、小形部品を取出し、&
Mみ立てる所望の個所に位置合わせすることができる。Therefore, by grasping the guide groove end with a robot hand, etc., the small parts can be taken out and
M can be aligned to a desired location.
しかしながら上記従来の個別供給方法で、小さい薄板部
品を所望の個所に供給しようとすると、2枚重ねの状態
でガイド溝に送りこまれことがしばしばある。したがっ
て、このように2枚重ねの状態で送りこまれた薄板部品
は、ロボットハンド等で1枚毎に分離して把持すること
が困難であるという問題点がある。However, when trying to feed small thin plate parts to a desired location using the conventional individual feeding method described above, it is often the case that two sheets are fed into the guide groove in a stacked state. Therefore, there is a problem in that it is difficult to separate and grasp the thin plate parts one by one with a robot hand or the like when the two thin plate parts are fed in a stacked state.
上記従来の問題点を解決するため、第1図に示す如くに
、個別供給装置を、中心孔1aに垂直の心金2が貫通し
て積層されてなる薄板部品1と、取出本体4の下面に吸
着凹部6が形成され薄板部品1に対向した上下方向に駆
動される分離取出部3と、所望に水平・回動駆動するハ
ンド本体11の先端部に水平に突出し、分離取出部3が
」−死点にある状態で吸着凹部6に横方向より挿入され
る吸着突部12を有する移送ハンド10とを備えた構成
にする。In order to solve the above-mentioned conventional problems, as shown in FIG. A separating and extracting part 3 is formed with a suction recess 6 and is driven in the vertical direction facing the thin plate part 1, and a separating and extracting part 3 that protrudes horizontally from the tip of a hand body 11 that is horizontally and rotationally driven as desired. - The transfer hand 10 has a suction protrusion 12 that is laterally inserted into the suction recess 6 in a dead center state.
そして分離取出部3を降下して吸着凹部6の下面である
吸着面6八に、薄板部品1の上面を密接せしめ、積層さ
れた薄板部品1の最上部の1つを真空吸着取出して分離
取出部3を上昇した後に、吸着された薄板部品1の下面
に、吸着突部12の上面である吸着面12Aが密接する
如くに吸着面12八を挿入する。Then, the separating and extracting section 3 is lowered, and the upper surface of the thin plate component 1 is brought into close contact with the suction surface 68, which is the lower surface of the suction recess 6, and one of the uppermost parts of the stacked thin plate components 1 is taken out by vacuum suction and separated. After the part 3 is raised, the suction surface 128 is inserted into the lower surface of the thin plate component 1 that has been suctioned so that the suction surface 12A, which is the upper surface of the suction protrusion 12, comes into close contact with the lower surface of the thin plate component 1 that has been suctioned.
その後、薄板部品1を真空吸着して分離取出部3より、
移送ハンド10に転送する。次に移送ハンド10を駆動
して、所望の位置に薄板部品1を供給するようにしたも
のである。After that, the thin plate part 1 is vacuum-adsorbed and removed from the separation section 3.
Transfer to the transfer hand 10. Next, the transfer hand 10 is driven to feed the thin plate part 1 to a desired position.
上記本発明の手段によれば、薄板部品1の上面形状に合
わせた吸着面6八を有する吸着凹部6に、吸着面6Aに
吸引孔を設けることにより、薄板部品1を1つだけ吸着
することができる。According to the means of the present invention, only one thin plate component 1 can be sucked by providing a suction hole in the suction surface 6A of the suction recess 6 having the suction surface 68 that matches the top surface shape of the thin plate component 1. I can do it.
また、薄板部品1の下面形状に合わせた吸着面12^を
有する吸着突部12の吸着面12八に、吸引孔を設ける
ことにより、分離取出部3に吸着保持された薄板部品1
を、移送ハンド10に容易に転送することができる。In addition, by providing a suction hole in the suction surface 128 of the suction protrusion 12, which has a suction surface 12^ that matches the shape of the lower surface of the thin plate component 1, the thin plate component 1 held by suction in the separation/removal section 3 is
can be easily transferred to the transfer hand 10.
したがって、積層状態の薄板部品1を1枚毎に分離して
、所望の組立位置に搬送することができる。Therefore, the laminated thin plate parts 1 can be separated one by one and transported to a desired assembly position.
以下図示実施例により、本発明を具体的に説明する。 The present invention will be specifically explained below with reference to illustrated examples.
第1図は本発明の1実施例の構成図、第2図は分離取出
部の斜視図、第3図は移送ハンドの斜視図、第4図の(
al、 (b)、 (clはそれぞれ本発明の個別供給
方法の後工程を示す側面図である。Fig. 1 is a configuration diagram of one embodiment of the present invention, Fig. 2 is a perspective view of the separation and extraction section, Fig. 3 is a perspective view of the transfer hand, and Fig. 4 (
al, (b), (cl) are side views showing the subsequent steps of the individual supply method of the present invention, respectively.
第1図乃至第3図において、例えば薄い鋼板が湾曲した
円形に打ち抜かれてなるばね座金である薄板部品1には
、軸心に小ねじが遊貫する中心孔1aが設けられている
。In FIGS. 1 to 3, a thin plate component 1, which is a spring washer made by punching out a thin steel plate into a curved circle, for example, has a center hole 1a at its axis through which a machine screw loosely passes.
本発明の個別供給装置は、薄板部品1を積層保管する心
金2と、分離取出部3、及び移送ハンド10とより構成
されている。The individual supply device of the present invention is composed of a mandrel 2 for stacking and storing thin plate parts 1, a separation/take-out section 3, and a transfer hand 10.
基台に垂直に固着ささた心金2には、中心孔1aが嵌挿
することにより薄板部品1が、多数が積層されている。A large number of thin plate parts 1 are stacked on a mandrel 2 which is vertically fixed to a base and is fitted into a center hole 1a.
心金2の上方に装着された分離取出部3は、図示してな
い駆動機構(例えばエアシリンダ)により、上下方向に
往復駆動可能に構成されており、取出本体4の下部に吸
着凹部6を設けである。そして、吸着凹部6の上底面に
は、薄板部品1の上面の湾曲形状に等しい湾曲した吸着
面6Aが形成されている。The separation and extraction section 3 mounted above the mandrel 2 is configured to be able to be driven reciprocally in the vertical direction by a drive mechanism (for example, an air cylinder) not shown. It is a provision. A curved suction surface 6</b>A having the same curved shape as the top surface of the thin plate component 1 is formed on the upper bottom surface of the suction recess 6 .
また、取出本体4には、吸着凹部6を縦に貫11Tlす
る如くに一方の側面が開1]シた切込孔5を設け、心金
2の逃げを設けである。Further, the take-out main body 4 is provided with a cut hole 5 which is open on one side so as to extend vertically through the suction recess 6 (11Tl) to provide relief for the mandrel 2.
また、取出本体4には切込孔5により分割されたそれぞ
れに吸引孔7を設け、その端末は吸着面6へのそれぞれ
に開口しており、吸引孔7の他端には吸引プイプ8を設
け、図示してない真空ポンプにより、薄板部品1の−に
面と吸着面(涌の下面とのなす空隙の空気をII出する
ようになっている。In addition, suction holes 7 are provided in each of the parts divided by the cut holes 5 in the extraction main body 4, and the ends thereof are opened to the suction surface 6, respectively, and a suction pipe 8 is provided at the other end of the suction hole 7. A vacuum pump (not shown) is provided to expel air from the gap formed between the negative surface of the thin plate part 1 and the suction surface (the lower surface of the trough).
分離取出部3が上死点にある状態で、吸着凹部6に対向
した吸着突部12を有する移送ハンド10は、図示して
ない駆動機構により、水平面内で回転駆動し、且つ取出
本体4と薄板部品1の組立個所間を往復運動するように
構成されている。また、ハンド本体11にはエアシリン
ダ16を設け、吸着突部12を水平駆動して、吸着突部
12を吸着凹部6に水平方向より挿抜可能にしている。When the separating and extracting section 3 is at the top dead center, the transfer hand 10 having the suction protrusion 12 facing the suction recess 6 is rotated in a horizontal plane by a drive mechanism (not shown), and is connected to the extracting main body 4. It is configured to reciprocate between the assembly points of the thin plate part 1. Further, the hand main body 11 is provided with an air cylinder 16, and the suction protrusion 12 is horizontally driven so that the suction protrusion 12 can be inserted into and removed from the suction recess 6 from the horizontal direction.
吸着突部12の上面は、薄板部品1の下面の湾曲形状に
等しい湾曲した吸着面12Aが形成されている。On the upper surface of the suction protrusion 12, a curved suction surface 12A having the same curved shape as the lower surface of the thin plate component 1 is formed.
また、吸着突部12には、吸着突部12を縦に貫通する
如くに、吸着凹部6例の端面が開口した切込孔13を設
け、心金2の逃げを設けである。Further, the suction protrusion 12 is provided with a notch hole 13 in which the end faces of the six suction recesses are open so as to vertically pass through the suction protrusion 12, thereby providing relief for the mandrel 2.
また、吸着突部12には切込孔13により分割されたそ
れぞれに吸引孔14を設け、その端末は吸着面12Aの
それぞれに開口しており、吸引孔14の他端には吸引プ
イプ15を設け、図示してない真空ポンプにより、薄板
部品1の下面と吸着面12Aの下面とのなす空隙の空気
を排出可能にしている。In addition, suction holes 14 are provided in each of the suction protrusions 12 divided by the cut holes 13, the ends of which are opened on each of the suction surfaces 12A, and the other end of the suction holes 14 is provided with a suction pipe 15. A vacuum pump (not shown) is provided to make it possible to exhaust air from the gap formed between the lower surface of the thin plate component 1 and the lower surface of the suction surface 12A.
本発明の個別イバ給装置は上述のように構成されている
ので、分離取出部3を降下して吸着凹部6の下面である
吸着面6八に、薄板部品1の」二面を密接せしめ、吸引
孔7より空気を排出すると、積層された薄板部品1の最
上部の1つを真空吸着する。Since the individual fiber feeder of the present invention is configured as described above, the two surfaces of the thin plate component 1 are brought into close contact with the suction surface 68, which is the lower surface of the suction recess 6, by lowering the separating and extracting portion 3, When the air is discharged from the suction hole 7, one of the uppermost parts of the laminated thin plate parts 1 is vacuum-adsorbed.
そして、薄板部品1を吸着保持した状態で、分離取出部
3を上昇すると、薄板部品1は心金2より取り出される
。Then, when the separating and extracting section 3 is raised while the thin plate component 1 is being held by suction, the thin plate component 1 is removed from the mandrel 2.
分離取出部3を上死点に保持した状態で、エアシリンダ
J6を駆動して、吸着突部12を吸着凹部6に挿入する
如くに前進せしめる。吸着突部12が吸着凹部6に挿入
された状態で、吸引孔7の吸引を停止し、吸着突部12
の吸引孔14より空気を排出すると、薄板部品1は吸着
面12Aに吸着する。即ち、薄板部品1は分離取出部3
より移送ハンド10に転送される。With the separating and extracting section 3 held at the top dead center, the air cylinder J6 is driven to advance the suction protrusion 12 so as to insert it into the suction recess 6. With the suction protrusion 12 inserted into the suction recess 6, the suction of the suction hole 7 is stopped, and the suction protrusion 12
When air is discharged from the suction hole 14, the thin plate component 1 is attracted to the suction surface 12A. That is, the thin plate part 1 is removed from the separating section 3.
The data is then transferred to the transfer hand 10.
次にエアシリンダ16を駆動して吸着突部12を後退せ
しめ、薄板部品1を分離取出部3より引き出す。Next, the air cylinder 16 is driven to move the suction protrusion 12 backward, and the thin plate part 1 is pulled out from the separation and extraction section 3.
その後の工程は第4図に示す如くである。The subsequent steps are as shown in FIG.
第3図において、ケース20は例えばマイクロ波のフィ
ルタであって、上部には調整ねじ22を螺着するねし孔
20aが設りられ、ナツト23が螺合した調整ねし22
は、頭部がねしホルダ2jに保持されている。In FIG. 3, a case 20 is, for example, a microwave filter, and a threaded hole 20a into which an adjustment screw 22 is screwed is provided in the upper part, and a threaded hole 20a into which a nut 23 is screwed.
The head is held in the neck holder 2j.
薄板部品1を吸着した移送ハンド10を第4図(a)の
如くに、調整ねじ22の直下に中心孔1aが位置する如
く駆動する。そして、調整ねじ22の先端部が中心孔1
a、及び切込孔13を遊貫する如くに、ねじホルダ21
を降下せしめる。The transfer hand 10 that has picked up the thin plate part 1 is driven so that the center hole 1a is located directly below the adjustment screw 22, as shown in FIG. 4(a). Then, the tip of the adjustment screw 22 is connected to the center hole 1.
a, and the screw holder 21 so as to loosely pass through the notch hole 13.
to descend.
その後、第4図(blの如くにねじボルダ21と移送ハ
ンド10とを一体化した状態で降下せしめる。次に、ね
じホルダ21を回転駆動して、調整ねじ22の先端をね
し孔20aに螺着する。Thereafter, the screw boulder 21 and transfer hand 10 are lowered in an integrated state as shown in FIG. Screw on.
調整ねじ22をねじ孔20aに螺着後、第4図4C+の
如くに移送ハンド10を後退セしめると、調整ねじ22
は切込孔13で逃げることにより、移送ハンド10を、
ケース20の上部より引き出すことができる。After screwing the adjustment screw 22 into the screw hole 20a, when the transfer hand 10 is set backward as shown in FIG. 4, 4C+, the adjustment screw 22
By escaping through the cut hole 13, the transfer hand 10 is
It can be pulled out from the top of the case 20.
この際、薄板部品1の中心孔1aには、調整ねじ22が
遊貫しているので薄板部品1はねし孔20a部分に残る
ことは勿論である。At this time, since the adjustment screw 22 loosely passes through the center hole 1a of the thin plate part 1, the thin plate part 1 naturally remains in the tapped hole 20a.
以上説明したように本発明は、分離取出部及び移送ハン
トに薄板部品を真空吸着せしめることにより、積層され
た薄板部品を1枚毎に分離して、所定の個所に搬入する
ことができるという、実用上で優れた効果がある。As explained above, the present invention allows the laminated thin plate parts to be separated one by one and transported to a predetermined location by vacuum suctioning the thin plate parts to the separation and extraction section and the transfer hunt. It has excellent practical effects.
第1図は本発明の1実施例の構成図、
第2図は分離取出部の斜視図、
第3図は移送ハンドの斜視図、
第4図のfan、 fb)、 [C)はそれぞれ個別供
給方法の後工程を示す側面図である。
図において、
1は薄板部品、 2は心金、3は分離取出部
、 4は取出本体、6は吸着凹部、
7は吸引孔、10は移送ハンド、 11はハンド
本体、12は吸着突部、 ■4は吸引孔、20
はケース、 21番Jねしボルダ、22は
調整ねじを示ず。
(リFig. 1 is a configuration diagram of one embodiment of the present invention, Fig. 2 is a perspective view of the separation/take-out section, Fig. 3 is a perspective view of the transfer hand, and fan, fb), and [C] in Fig. 4 are shown individually. It is a side view which shows the post-process of a supply method. In the figure, 1 is a thin plate part, 2 is a mandrel, 3 is a separation extraction part, 4 is an extraction main body, 6 is a suction recess,
7 is a suction hole, 10 is a transfer hand, 11 is a hand body, 12 is a suction protrusion, ■4 is a suction hole, 20
No. 21 shows the case, No. 21 J thread bolt, and No. 22 does not show the adjustment screw. (Re
Claims (1)
板部品(1)と、 取出本体(4)の下面に吸着凹部(6)が形成され該薄
板部品に対向した上下方向に駆動される分離取出部(3
)と、所望に水平・回動駆動するハンド本体(11)の
先端部に水平に突出し、該分離取出部が上死点にある状
態で該吸着凹部に横方向より挿入される吸着突部(12
)を有する移送ハンド(10)とを備え、 該分離取出部(3)を降下して該吸着凹部(6)に該薄
板部品(1)の上面を密接せしめ、 積層された該薄板部品(1)の最上部の1つを真空吸着
取出して該分離取出部(3)を上昇した後に、吸着され
た該薄板部品(1)の下面に密接する如くに該吸着突部
(12)を挿入して、 該吸着突部(12)の吸着面に該薄板部品(1)を真空
吸着して転送し、 次に該移送ハンド(10)を駆動して、所望の位置に供
給することを特徴とする薄板部品の個別供給方法。[Claims] A thin plate component (1) in which a vertical mandrel (2) passes through a central hole and is stacked, and a suction recess (6) formed in the lower surface of a take-out main body (4). The separating and extracting section (3) is driven in the vertical direction facing the
), and a suction protrusion ( 12
), which lowers the separating and extracting section (3) to bring the upper surface of the thin plate component (1) into close contact with the suction recess (6), and the stacked thin plate component (1) ) is taken out by vacuum suction and the separation/take-out part (3) is raised, and then the suction protrusion (12) is inserted so as to be in close contact with the lower surface of the thin plate part (1) that has been suctioned. The thin plate component (1) is vacuum-suctioned and transferred to the suction surface of the suction protrusion (12), and then the transfer hand (10) is driven to supply it to a desired position. Individual supply method for thin plate parts.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5982985A JPS61219539A (en) | 1985-03-25 | 1985-03-25 | Method of individually feeding thin sheet part |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5982985A JPS61219539A (en) | 1985-03-25 | 1985-03-25 | Method of individually feeding thin sheet part |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS61219539A true JPS61219539A (en) | 1986-09-29 |
Family
ID=13124501
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP5982985A Pending JPS61219539A (en) | 1985-03-25 | 1985-03-25 | Method of individually feeding thin sheet part |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS61219539A (en) |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5633134B1 (en) * | 1971-05-05 | 1981-08-01 |
-
1985
- 1985-03-25 JP JP5982985A patent/JPS61219539A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5633134B1 (en) * | 1971-05-05 | 1981-08-01 |
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