JPS62180883A - Posture changing method for bobbin in charging or discharging - Google Patents

Abstract

PURPOSE:To make it possible to change a bobbin posture by 180 deg. by the continuous operation by arranging a robot capable of changing the direction of a hand tip by 90 deg. and an intermediate pin stand having a guide pin in the supporting direction different from the holding direction by 90 deg. at the time of charging or discharging of a bobbin. CONSTITUTION:The posture of a finger is changed from 20b to 20c by 90 deg. to make a robot hand level and line is wound round a bobbin 4 while the bobbin 4 is held together with a jig 5 by a chuck 17 and the bobbin is turned by 180 deg. and returned to the robot side and then the line wound bobbin 4 is removed together with the jig 5 from the chuck 17. Next when the finger is opened after pushing out the finger to the intermediate pin stand 14 side while the jig 5 is locked on the hand side, the jig 5 remains on the hand side and only the bobbin 4 is inserted into a guide 14h. Hereupon the hand is turned by 90 deg. downward to close the finger and pulled out to the position of 21b while holding the bobbin 4. Thereafter the hand is made level and the bobbin is shifted to right above a pin 14v and then the hand is lowered to insert the pin 14v into a hollow part 4b. Next when the finger is opened and the hand is elevated, the bobbin 4 turned upside-down remains at the pin 14v.

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention uses a robot to supply bobbins to winding-related devices such as automatic winding machines, automatic taping machines, or automatic soldering machines, and When loading and unloading the bobbin of the automatic loading and unloading system that transfers the processed bobbin from these devices to the bobbin carrier, the bobbin attitude is adjusted to 180 degrees.
Concerning how to convert.

(Conventional technology) Conventionally, the feeding and discharging of bobbins to winding machines that make coils, etc.
It is done manually.

When the bobbin is brought in front of the worker on a belt conveyor, the worker picks up the bobbin by hand, inserts it into the bobbin chuck of the automatic winding machine, and when the predetermined winding is finished, the Generally, the wired bobbins are manually removed from the automatic winding machine and arranged in a parts storage case or the like in an orientation that is easy to work with in the next process.

In this way, all the feeding and discharging of the bobbin is done manually, so even if it is necessary to change the orientation of the bobbin midway through, this work is naturally done manually.

The above also applies to the supply and discharge of the bobbin to each device used in processes such as winding the terminal after winding, taping the winding exterior, and soldering the terminal. It is.

(Problem to be solved by the invention) In recent years, winding work and soldering of winding terminals have been automated, and it has become possible to process multiple bobbins simultaneously. It is being considered that a robot can automatically feed and discharge bobbins to and from the machine. In the process of feeding and discharging the bobbin, it may be necessary to change the attitude of the bobbin by 180 degrees in preparation for the next process. For example, when transporting bobbins from one process to the next, it is more convenient to arrange them with the side with the terminals facing up and the flat side without protrusions such as terminals facing down. On the other hand, it is better to position the terminal with the side facing down so that the terminal can be easily immersed in molten solder from below, so a 1''80'' position change is required between these positions.

However, when operating the bobbin with Roboso I, you have to pick it up from a flat surface and transfer it to another location to install it.
It is easy to change the position of the bobbin by 90 degrees while loading it in one place, removing it upwards or toward you, moving it to another place, and placing it on a flat surface.
When converting to 0°, the robot's arm or other parts of the robot often get in the way, making it impossible to place it on a flat surface or place it in the desired location. There is a point.

The present invention solves these problems, and by using an intermediate pin stand, the ordinary robot hand can be increased by 90 degrees.
゛A robot with a variable rotation function can rotate the bobbin 180° through a series of operations while feeding and discharging the bobbin to winding-related devices such as automatic winding machines, automatic taping machines, and automatic soldering machines. It is an object of the present invention to provide a method for changing the bobbin posture during feeding and discharging.

(Means for Solving the Problem) In order to achieve the above-mentioned object, the method for changing the bobbin posture at the time of feeding and discharging according to the present invention, when feeding and discharging the bobbin to the winding-related device by the robot, at least the orientation of the tip of the robot hand A robot capable of changing the winding-related device by 90° and an intermediate pin stand placed near the winding-related device to temporarily support the bobbin that is supplied to and discharged from the winding-related device are used.
The intermediate pin stand has a guide pin whose supporting direction differs by at least 90 degrees from the direction in which the winding-related device holds the bobbin when feeding and discharging the bobbin, and the robot moves the guide pin of the intermediate pin stand to the guide pin of the intermediate pin stand. , the bobbin supply/discharge operation of the winding-related device includes an operation of changing the direction of the tip of the robot hand of the robot by 90'' after supporting the bobbin, and then removing the coil bobbin from the guide pin. , the attitude of the bobbin 7 after being discharged is different from the attitude of the bobbin before being supplied to the winding-related device.
The method is to change the attitude of the engine by 180 degrees.

(Example) Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an explanatory diagram showing one embodiment of the present invention.

2 is a schematic plan view and a front view showing the arrangement of equipment used to carry out the embodiment of FIG. 1. FIG.

FIG. 1(a) shows the robot 3 using the finger 6a of the robot hand 6 to move the coil bobbin 4 fitted into the guide pin 15a fitted into the shuttle 13 arranged on the alignment supply bag W2 shown in FIG. The process of picking up the wire and holding it in the bobbin chuck 17 of the winding machine 1 is shown.

In Fig. 1, the coil bobbin that has been wound in the winding machine 1 is removed from the bobbin chuck 17 of the winding machine 1, its posture is changed using the intermediate pin stand 14, and the shuttles are arranged in the alignment and discharge device 12. The process up to insertion into the No. 13 guide pin 15b is shown.

The winding machine 1 shown in FIG. 2 rotates twice in succession at 90 degrees in the same direction indicated by the arrow in FIG. are provided on the side facing the alignment supply device 2 and on the opposite side thereof, with the rotation axis 18 as the axis of symmetry, and the alignment and supply device 2
While the coil bobbin 4 is being supplied and discharged on the aligning and discharging device side 12, winding is being carried out on the opposite side.

The intermediate pin stand 14 is fixed to one corner of the pedestal to which the winding tit is attached.

When the already wound coil bobbin 4 is grabbed by the robot hand 6 and sent to the next process, an automatic soldering machine that performs soldering, the vertical orientation is 180 degrees different.
You cannot solder immediately.

Therefore, at the end of the winding process, the orientation of the coil bobbin 4 is changed by the method according to the invention by placing it on the aligning and discharging device (by changing the orientation by 180' from the orientation when it was on the aligning and feeding device 2). , this intermediate pin stand is provided.

As shown in FIG. 1(b), the intermediate pin stand includes, in this embodiment, a horizontal guide pin 14h for horizontally inserting and temporarily supporting the coil bobbin 4, and a vertical guide pin for vertically inserting and temporarily supporting the coil bobbin 4. 14V is fixed.

The robot 3 adjusts the position of the robot hand 6 as shown in FIG.
or (bl can be moved in the left-right direction indicated by arrow X in the figure, in the front-rear direction indicated by arrow Y in the figure, and in the up-down direction indicated by arrow Z in the figure, The direction is horizontal (
It can be rotated 90 degrees between two orientations: forward) and vertical (directly below).

FIG. 3 shows the coil bobbin 4 being moved in the embodiment shown in FIG. FIG.

Figure 4 shows how the coil bobbin 4 is connected to the bobbin chuck 1 of the winding machine 1.
7 and the state in which it is held by the robot hand 6. In FIG.
5a and 15b are shown.

The jig 5 shown in FIG. 3(b) prevents the coil bobbin 4 from deforming when it is gripped by the fingers 6a of the robot hand 6 and the winding core inserted during winding due to insufficient strength of the bobbin when the shape of the coil bobbin 4 is reduced. The receiver is passed between the bobbin chuck 17 of the winding machine 1 and the robot hand 6 with the bobbin insertion part 5b inserted into the hollow part 4b of the coil bobbin 4.

For reference, FIG. 4(a) shows a state in which the coil bobbin 4 is held by the bobbin chuck 17 of the winding machine 1, and FIG. 4(b) shows a state in which the coil bobbin 4 is held by the robot hand 6.

As partially shown in FIG. 4(b), the robot hand 6 includes a pair of opposing fingers 6a and a work holder 6b.

The fingers 6a and the work holder 6b can each independently move forward and backward toward the tip of the robot hand 6, and the pair of fingers 6a can be used to hold the coil bobbin 4 alone or when the coil bobbin 4 is inserted into the jig 5. In addition, the held portion 5a of the jig 5 can be inserted into a hole provided in the work holder 6b and locked by the shirt flap plate 6c.

Next, a method of changing the attitude of the coil bobbin 4 shown in FIG. 1 will be explained step by step.

For example, when picking up the coil bobbin 4 inserted into the guide pin 15a as shown in FIG.
The position of the tip of the bobbin insertion part 5b of the jig 5 held at b is aligned with the tip of the guide pin 15a.

Next, the fingers 6a are extended to the position of the cylindrical portion of the coil bobbin 4 (20a in FIG. 1(a)), the fingers 6a are closed to sandwich the coil bobbin 4, and then the fingers 6a are pulled upward to form the bobbin hollow portion 4b. (Figure 3(a)
) is fitted into the bobbin insertion part 5b of the jig 5, the coil bobbin 4 is moved to the robot hand side, and the coil bobbin 4 is moved to the bobbin insertion part 5b of the jig 5.
b and fingers 6a, and can be picked up.

Next, when feeding the empty coil bobbin 4 held in this way to the winding machine 1, the robot hand 6 is held horizontally by changing the posture of the fingers 90 degrees from 20b to 20c as shown in Fig. 1+8). , bobbin chuck 17 of winding 1
After moving the robot body so that the tip of the bobbin insertion part 5b of the jig 5 directly faces the bobbin holding part of , the coil bobbin 4 is held together with the jig in the bobbin chuck 17 as shown in FIG. 4(a). let

Winding 1 is rotated 180°, winding is performed on bobbin 4 that is still inserted in the jig on the opposite side of the robot, and the winding is rotated 180° again.
When the robot rotates and returns to the robot side, the wound coil bobbin 4 and the jig 5 are removed from the bobbin chuck. The direction of the finger 6a at this time is 2 in Fig. 1(b).
1a, and the held state is shown in FIG. 4(b).

Next, in order to use the intermediate pin stand 14 to turn the coil bobbin 4 upside down compared to when it was on the shuttle of the alignment and supply device 2, the coil bobbin 4 and the jig 5 are removed from the bobbin chuck 17, and then the robot hand 6
While keeping the same orientation, move the tip of the bobbin insertion part 5b of the jig 5 held by the robot hand 6 to a position directly facing the tip of the horizontal bin guide 14h of the intermediate pin stand 14 shown in FIG. 1(b). Then, while locking the jig 5 on the robot hand 6 side, move the finger 6a onto the intermediate pin stand 14.
After pushing it out to the side, when the fingers 6a are opened, the jig 5 remains on the robot hand 6 side while being held by the work holder 6b, and only the coil bobbin 4 is inserted into the horizontal bin guide 14h of the intermediate pin stand 14.

Here, the direction of the robot hand 6 is rotated 90 degrees downward from the horizontal as shown at 21b, the finger 6a is moved to the position of the coil bobbin 4, the finger 6a is closed to hold the coil bobbin 4, and the coil bobbin 4 is pulled out to the position 21b.

Here, the direction of the robot hand 6 is shown in Figure 1 (21).
From b to 21c, turn the coil bobbin 4 downward by 90" to make it horizontal, move the coil bobbin 4 to a position directly above the vertical guide pin 14V of the intermediate pin stand 14, and lower the robot hand 6 to remove the coil bobbin 4 from the bobbin hollow. Part 4b
A vertical guide pin 14V is inserted into the vertical guide pin 14V.

If the fingers 6a are opened and the robot hand 6 is raised, the coil bobbin 4 remains on the vertical guide pin 14v.

At this time, the orientation of the coil bobbin 4 has already been determined as shown in FIG.
The position of the finger 6 in 8) is upside down compared to the orientation when it is at 20a.

After that, in the same way as when picking up the coil bobbin 4 from the state shown in Fig. 5(a), turn the robot hand downward and pick up the coil bobbin 4 from the vertical guide pin 14v, as shown in Fig. 1(b). The guide pin 15b into which the coil bobbins 4 with wires already wound on the shuttle plate 13 arranged on the alignment/discharge device 12 is inserted is inserted (move it to the D position, and perform the reverse operation to move the coil bobbin 4 to the guide pin 15b.
The lead wire 4a is pushed in with the lead wire 4a on the lower side as shown in Figure (b).

This attitude is shown in FIG. 5 (bl), but the vertical direction is reversed compared to the attitude of the empty coil bobbin 4 shown in FIG.

For convenience of explanation, FIGS. 1(a) and 1(b) show the situation where the coil bobbin 4 is inserted into each guide pin or the bobbin insertion part of the jig, but in a series of operations, Coil bobbins are not present in several locations at the same time □.

Furthermore, in this embodiment, due to the stroke of the robot 3 in the longitudinal direction (Y-axis direction) and the arrangement of the robot 3 and the winding machine 1, the fingers 6a of the robot hand 6 are vertical, and the bobbin chuck of the winding machine 1 is Since it is difficult to grasp the coil bobbin 4 held by the coil bobbin 17, make sure to grasp it with the fingers 6a in a horizontal position as shown in FIG. 1(b), or if the fingers 6a
If it is possible to hold the coil bobbin 4 vertically, as shown in FIG. Furthermore, the direction of the coil pobbin 4 can be changed easily.

In FIG. 6, the fingers 6 are oriented vertically as shown in 22a, the coil bobbin 4 is pinched, and the robot hand 6 is rotated 90' as shown in 22b after the coil bobbin 4 is held back as shown in 22b. is horizontal, and insert the bobbin hollow part 4b of the coil bobbin 4 into the vertical guide pin 14V of the intermediate pin stand 14 as shown in 22d.

All that is left to do is to change the direction of the fingers 6 vertically and insert them into the guide pins 15b on the shuttle 13 of the aligning and discharging device 12 as shown in FIG. 6 from 22e to 221 in the same manner as shown in FIG.

In the case of the embodiment shown in Fig. 6, no jig is used to transfer the coil bobbin 4, and the fingers of the robot hand are bent into an L-shape at the tip as shown in Figs. 1 and 4 ('b). Instead, they use a simple straight shape.

Although not particularly shown, depending on the shape of the coil bobbin, it is not necessary to insert it into the guide pins 15a, 15b on the shuttle 13 as shown in FIGS.
Some bobbins are transported on a pallet for supplying and discharging bobbins, placed within a frame divided by linear protrusions, and in such cases, the supplied empty bobbins are wound in exactly the same way and then transported for discharge after winding. The vertical orientation can be reversed before placing it on the pallet.

Furthermore, depending on the structure of the winding machine, the intermediate pin stand 1
An attitude change operation using 4 may be performed before the winding,
In addition, this method of changing the bobbin position should be widely used in applications other than winding machines, such as before and after taping in a taping machine to apply an exterior covering to a coil bobbin that has already been wound, or before soldering in an automatic soldering machine. I can do it.

(Effects of the Invention) As explained above, the method for changing the bobbin posture during feeding and discharging according to the present invention uses a robot that can change the direction of the robot hand by 90" and a winding-related device for temporarily supporting the bobbin. By using an intermediate bottle stand that has a guide pin whose supporting direction is 90 degrees different from the direction in which the bobbin is held during bobbin loading and unloading, and by changing the direction of the robot hands before and after the intermediate pin stand temporarily supports the bobbin by 90 degrees. In addition to changing the direction of the bobbin by turning it 90 degrees to the direction of the picked-up bobbin robot hand, the direction of the bobbin can be changed by 18 degrees during the operation of feeding and discharging the bobbin to the winding-related equipment.
Can be changed by 0°. Therefore, for example, when soldering the winding terminals after winding, the winding:・
The winding process and soldering require the troublesome operation of changing the orientation of the bobbin between processes, such as when it is necessary to change the position of the bobbin from one that makes it easier to solder to one with the terminal facing downwards to make it easier to solder. do not.

It becomes possible to automate the entire process such as bobbin feeding, winding, discharging the wound bobbin, and terminal soldering, which has the effect of improving mass production efficiency and helping to streamline production.

[Brief Description of the Drawings] Figure 1 shows an embodiment of the present invention, in which (a) shows the bobbin being fed to the winding machine, and (b) shows the bobbin being discharged from the winding machine. It is an explanatory view showing the relationship between the bobbin and the fingers of the robot hand when doing so. 2 is a schematic plan view and front view showing the arrangement of equipment used in the embodiment of FIG. 1. FIG. FIG. 3 is a perspective view showing a jig for transferring the coil bobbin and the receiver that are moved in the embodiment of FIG. 1. FIG. 4 is a front view showing the coil bobbin held by the bobbin chuck of the winding machine and the robot hand. FIG. 5 is a front view showing the coil bobbin inserted into the guide pin of the shuttle on the alignment supply device and the alignment discharge device. FIG. 6 is an explanatory diagram showing the relationship between the bobbin and the fingers of the robot hand when the bobbin is discharged from the winding machine of another embodiment different from that shown in FIG. 1. l...Winding machine 2...Alignment supply device 3...Robot 4...Coil bobbin 4a...Lead wire 4b...Bobbin hollow part 5...Jig 5a...Holded part 5b...Bobbin insertion part 6...Robot hand 6a...Finger 6b...Work holder 6C...Shutter 7...Robot hand support frame 8...Drive device 12...Alignment discharge device 13...Shuttle 14...Intermediate pin stand 14h...Horizontal guide pin 14V...Vertical guide pins 15a, 15b, 16-Guide pin 17...Bobbin chuck 18...Rotary shaft 20a, 20 b, 20 c, 20 d
. 21a, 21b, 21c, 21d. 22a, 22b, 22c, 22d.

Claims (1)

[Claims] A robot capable of changing the direction of the tip of the robot hand by at least 90 degrees when a bobbin is supplied to and discharged from a winding-related device by a robot, and a robot that can temporarily support the bobbin that is supplied to and discharged from a winding-related device by a robot. using an intermediate pin stand disposed near the device, the intermediate pin stand having a guide pin whose supporting direction of the bobbin differs by at least 90 degrees from the direction in which the winding-related device holds the bobbin during feeding and discharging; After the robot supports the bobbin on the guide pin of the intermediate pin stand,
By including the operation of changing the direction of the tip of the robot hand of the robot by 90 degrees and then taking out the bobbin from the guide pin in the supply/discharge operation of the winding-related device, the winding-related device can be A bobbin posture changing method during feeding and discharging, characterized in that the posture of the bobbin after being discharged is changed by 180 degrees with respect to the posture of the bobbin.